Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

059678,000002:                                                                                                  ## Copyright:   Public domain.
059679,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
059680,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
059681,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
059682,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
059683,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
059684,000008:                                                                                                  ##              that the code format has been changed to conform to the
059685,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
059686,000010:                                                                                                  ##              original YUL assembler.
059687,000011:                                                                                                  ## Reference:   pp. 1413-1433
059688,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
059689,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
059690,000014:                                                                                                  ## Mod history: 06/07/03 RSB.   Began transcribing.
059691,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
059692,000016:                                                                                                  ##              2010-10-25 JL   Added missing # in comment. Indentation fixes.
059693,000017:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
059694,000018:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
059695,000019:                                                                                                  ##                              numbers in 1701.pdf.
059696,000020:                                                                                                  ##              2017-02-28 RSB  Proofed comment text using octopus/ProoferComments.
059697,000021:                                                                                                  ##              2017-03-01 RSB  Fixed lingering comment-text typos.
059698,000022:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
059699,000023:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
059700,000024:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
059701,000025: 

Page 1413

059703,000027: 16,2213                                           BANK     16                                    
059704,000028: 16,2000                                           SETLOC   DAPS1                                 
059705,000029: 16,2000                                           BANK                                           
059706,000030: 
059707,000031: 16,2213  E6,1464                                  EBANK=   PERROR                                
059708,000032: 16,2213                                           COUNT*   $$/DAPP                               
059709,000033: 
059710,000034:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059711,000035:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059712,000036: 
059713,000037: 16,2213           37732        PAXIS              CA       MS100                                 
059714,000038: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
059715,000039:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
059716,000040: 
059717,000041: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
059718,000042: 16,2216           00006                           EXTEND                                         
059719,000043: 16,2217           22012                           QXCH     QRUPT                                 
059720,000044: 
059721,000045:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
059722,000046: 
059723,000047: 16,2220           11756                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
059724,000048: 16,2221           05624                           TC       BAILOUT                               #  STILL IN PROGRESS AND A RESTART IS
059725,000049: 16,2222           32000                           OCT      32000                                 #  CALLED FOR.  IT IS NEVER ZERO
059726,000050: 
059727,000051: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059728,000052: 
059729,000053: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
059730,000054: 16,2225           55747                           TS       DAPTREG4                              
059731,000055: 16,2226           30033                           CA       CDUY                                  
059732,000056: 16,2227           55750                           TS       DAPTREG5                              
059733,000057: 16,2230           30034                           CA       CDUZ                                  
059734,000058: 16,2231           55751                           TS       DAPTREG6                              
059735,000059: 
059736,000060:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059737,000061: 
059738,000062:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059739,000063:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059740,000064: 
059741,000065: 16,2232           31634                           CA       CDUXD                                 
059742,000066: 16,2233           00006                           EXTEND                                         
059743,000067: 16,2234           21637                           MSU      DELCDUX                               
059744,000068: 16,2235           02256                           TC       1STOTWOS                              
059745,000069: 16,2236           55634                           TS       CDUXD                                 
059746,000070: 16,2237           31635                           CA       CDUYD                                 
059747,000071: 16,2240           00006                           EXTEND                                         
059748,000072: 16,2241           21640                           MSU      DELCDUY                               
059749,000073: 16,2242           02256                           TC       1STOTWOS                              
059750,000074: 16,2243           55635                           TS       CDUYD                                 
059751,000075: 16,2244           31636                           CA       CDUZD                                 
059752,000076: 16,2245           00006                           EXTEND                                         
059753,000077: 16,2246           21641                           MSU      DELCDUZ                               

Page 1414

059755,000079: 16,2247           02256                           TC       1STOTWOS                              
059756,000080: 16,2250           55636                           TS       CDUZD                                 
059757,000081: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
059758,000082: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
059759,000083: 16,2253           00006                           EXTEND                                         
059760,000084: 16,2254           27457                           DIM      TCQR                                  
059761,000085: 
059762,000086:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059763,000087:                                                                                                  #  RETURNS TO BACKP.
059764,000088: 
059765,000089:                                                                                                  #  JETRATE = 1JACC*NO.PJETS*TJP                  (NOTE TJ IS THE TIME FIRED DURING CSP)
059766,000090:                                                                                                  #  JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059767,000091:                                                                                                  #  JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059768,000092: 
059769,000093: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
059770,000094: 16,2256           10000        1STOTWOS           CCS      A                                     
059771,000095: 16,2257           64753                           AD       ONE                                   
059772,000096: 16,2260           00002                           TC       Q                                     
059773,000097: 16,2261           40000                           CS       A                                     
059774,000098: 16,2262           00002                           TC       Q                                     
059775,000099: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
059776,000100: 16,2264           71740                           MP       DAPTEMP3                              #  POSMAX OR NEGMAX IF THE DIVIDE WOULD
059777,000101: 16,2265           21427                           DAS      OMEGAU                                #  OVERFLOW
059778,000102: 
059779,000103: 16,2266           00006                 +3        EXTEND                                         
059780,000104: 16,2267           31427                           DCA      OMEGAU                                
059781,000105: 16,2270           53743                           DXCH     DAPTEMP5                              
059782,000106: 16,2271           11426                           CCS      OMEGAU                                
059783,000107: 16,2272           12274                           TCF      +2                                    
059784,000108: 16,2273           12304                           TCF      DIVIDER                               
059785,000109: 16,2274           62315                           AD       -OCT630                               
059786,000110: 16,2275           00006                           EXTEND                                         
059787,000111: 16,2276           62304                           BZMF     DIVIDER                               
059788,000112: 
059789,000113: 16,2277           11426                           CCS      OMEGAU                                
059790,000114: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
059791,000115: 16,2301           00002                           TC       Q                                     
059792,000116: 16,2302           44733                           CS       POSMAX                                
059793,000117: 16,2303           00002                           TC       Q                                     
059794,000118: 
059795,000119: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
059796,000120: 16,2305           00006                           EXTEND                                         
059797,000121: 16,2306           11747                           DV       DAPTREG4                              
059798,000122: 16,2307           00002                           TC       Q                                     
059799,000123: 
059800,000124: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
059801,000125: 16,2311           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
059802,000126: 16,2312           50000                           INDEX    A                                     
059803,000127: 16,2313           44734                           CS       BIT15      -1                         

Page 1415

059805,000129: 16,2314           00002                           TC       Q                                     
059806,000130: 
059807,000131: 16,2315           77147        -OCT630            OCT      77147                                 
059808,000132: 
059809,000133: 16,2316           31736        BACKP              CA       DAPTEMP1                              
059810,000134: 16,2317           00006                           EXTEND                                         
059811,000135: 16,2320           71530                           MP       1JACC                                 
059812,000136: 16,2321           55744                           TS       JETRATE                               
059813,000137: 
059814,000138:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
059815,000139:                                                                                                  #        OMEGAP,Q,R      BODY RATES SCALED AT PI/4
059816,000140:                                                                                                  #        TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059817,000141:                                                                                                  #        NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059818,000142:                                                                                                  #        AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
059819,000143:                                                                                                  #        JETRATE,Q,R     CHANGE IN RATE DUE TO JET ACCELLERATION.  (PI/4)
059820,000144:                                                                                                  #        TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059821,000145:                                                                                                  #        OMEGAU          DP-TEMPORARY STORAGE
059822,000146:                                                                                                  #  OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059823,000147: 
059824,000148: 16,2322           31747                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
059825,000149: 16,2323           54001                           TS       L                                     
059826,000150: 16,2324           00006                           EXTEND                                         
059827,000151: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
059828,000152: 16,2326           23440                           LXCH     OLDXFORP                              
059829,000153: 16,2327           55736                           TS       DAPTEMP1                              
059830,000154: 16,2330           33624                           CA       1/40                                  
059831,000155: 16,2331           55747                           TS       DAPTREG4                              
059832,000156: 16,2332           41744                           CS       JETRATE                               
059833,000157: 16,2333           00006                           EXTEND                                         
059834,000158: 16,2334           74736                           MP       BIT14                                 
059835,000159: 16,2335           27430                           ADS      TRAPEDP                               
059836,000160: 16,2336           31745                           CA       JETRATEQ                              
059837,000161: 16,2337           61544                           AD       AOSQTERM                              
059838,000162: 16,2340           00006                           EXTEND                                         
059839,000163: 16,2341           77741                           MP       -BIT14                                
059840,000164: 16,2342           27431                           ADS      TRAPEDQ                               
059841,000165: 16,2343           31746                           CA       JETRATER                              
059842,000166: 16,2344           61545                           AD       AOSRTERM                              
059843,000167: 16,2345           00006                           EXTEND                                         
059844,000168: 16,2346           77741                           MP       -BIT14                                
059845,000169: 16,2347           27432                           ADS      TRAPEDR                               
059846,000170: 
059847,000171: 16,2350           31750                           CA       DAPTREG5                              #  CDUY IS STORED HERE
059848,000172: 16,2351           54001                           TS       L                                     
059849,000173: 16,2352           00006                           EXTEND                                         
059850,000174: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
059851,000175: 16,2354           23441                           LXCH     OLDYFORP                              
059852,000176: 16,2355           55737                           TS       DAPTEMP2                              
059853,000177: 16,2356           00006                           EXTEND                                         
059854,000178: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1416

059856,000180: 16,2360           61736                           AD       DAPTEMP1                              
059857,000181: 16,2361           53427                           DXCH     OMEGAU                                
059858,000182: 
059859,000183: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
059860,000184: 
059861,000185: 16,2363           00006                           EXTEND                                         
059862,000186: 16,2364           61421                           SU       OMEGAP                                
059863,000187: 16,2365           27430                           ADS      TRAPEDP                               
059864,000188: 16,2366           02310                           TC       OVERSUB                               
059865,000189: 16,2367           55430                           TS       TRAPEDP                               
059866,000190: 16,2370           00006                           EXTEND                                         
059867,000191: 16,2371           31743                           DCA      DAPTEMP5                              
059868,000192: 16,2372           21447                           DAS      DXERROR                               
059869,000193: 16,2373           41454                           CS       PLAST                                 
059870,000194: 16,2374           00006                           EXTEND                                         
059871,000195: 16,2375           73624                           MP       1/40                                  
059872,000196: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
059873,000197: 16,2377           31751                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
059874,000198: 16,2400           54001                           TS       L                                     
059875,000199: 16,2401           00006                           EXTEND                                         
059876,000200: 16,2402           21442                           MSU      OLDZFORQ                              
059877,000201: 16,2403           55740                           TS       DAPTEMP3                              
059878,000202: 16,2404           23442                           LXCH     OLDZFORQ                              
059879,000203: 16,2405           31415                           CA       M21                                   
059880,000204: 16,2406           00006                           EXTEND                                         
059881,000205: 16,2407           71737                           MP       DAPTEMP2                              
059882,000206: 16,2410           53427                           DXCH     OMEGAU                                
059883,000207: 16,2411           31417                           CA       M22                                   
059884,000208: 16,2412           02263                           TC       SUBDIVDE                              
059885,000209: 
059886,000210: 16,2413           00006                           EXTEND                                         
059887,000211: 16,2414           61422                           SU       OMEGAQ                                
059888,000212: 16,2415           27431                           ADS      TRAPEDQ                               
059889,000213: 16,2416           02310                           TC       OVERSUB                               
059890,000214: 16,2417           55431                           TS       TRAPEDQ                               
059891,000215: 16,2420           00006                           EXTEND                                         
059892,000216: 16,2421           31743                           DCA      DAPTEMP5                              
059893,000217: 16,2422           21451                           DAS      DYERROR                               
059894,000218: 16,2423           41455                           CS       QLAST                                 
059895,000219: 16,2424           00006                           EXTEND                                         
059896,000220: 16,2425           73624                           MP       1/40                                  
059897,000221: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
059898,000222: 16,2427           31416                           CA       M31                                   
059899,000223: 16,2430           00006                           EXTEND                                         
059900,000224: 16,2431           71737                           MP       DAPTEMP2                              
059901,000225: 16,2432           53427                           DXCH     OMEGAU                                
059902,000226: 16,2433           31420                           CA       M32                                   
059903,000227: 
059904,000228: 16,2434           02263                           TC       SUBDIVDE                              

Page 1417

059906,000230: 16,2435           00006                           EXTEND                                         
059907,000231: 16,2436           61423                           SU       OMEGAR                                
059908,000232: 16,2437           27432                           ADS      TRAPEDR                               
059909,000233: 16,2440           02310                           TC       OVERSUB                               
059910,000234: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
059911,000235: 
059912,000236: 16,2442           00006                           EXTEND                                         
059913,000237: 16,2443           31743                           DCA      DAPTEMP5                              
059914,000238: 16,2444           21453                           DAS      DZERROR                               
059915,000239: 16,2445           41456                           CS       RLAST                                 
059916,000240: 16,2446           00006                           EXTEND                                         
059917,000241: 16,2447           73624                           MP       1/40                                  
059918,000242: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
059919,000243: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
059920,000244: 16,2452           74737                           MASK     CSMDOCKD                              
059921,000245: 16,2453           00006                           EXTEND                                         
059922,000246: 16,2454           12462                           BZF      LMONLY                                
059923,000247: 16,2455           00006                           EXTEND                                         #  DOCKED
059924,000248: 16,2456           31405                           DCA      DKOMEGAN                              
059925,000249: 16,2457           53750                           DXCH     DAPTREG4                              
059926,000250: 16,2460           31403                           CA       DKTRAP                                
059927,000251: 16,2461           12466                           TCF      +5                                    
059928,000252: 16,2462           00006        LMONLY             EXTEND                                         #  UNDOCKED
059929,000253: 16,2463           31410                           DCA      LMOMEGAN                              
059930,000254: 16,2464           53750                           DXCH     DAPTREG4                              
059931,000255: 16,2465           31406                           CA       LMTRAP                                
059932,000256: 16,2466           55751                 +5        TS       DAPTREG6                              
059933,000257: 16,2467           11430                           CCS      TRAPEDP                               
059934,000258: 16,2470           12472                           TCF      +2                                    
059935,000259: 16,2471           12507                           TCF      SMALPDIF                              
059936,000260: 16,2472           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059937,000261: 16,2473           00006                           EXTEND                                         
059938,000262: 16,2474           62507                           BZMF     SMALPDIF                              
059939,000263: 16,2475           22007                           ZL                                             
059940,000264: 16,2476           23430                           LXCH     TRAPEDP                               
059941,000265: 16,2477           34755                           CA       ZERO                                  
059942,000266: 16,2500           00006                           EXTEND                                         
059943,000267: 16,2501           11433                           DV       NPTRAPS                               
059944,000268: 16,2502           27421                           ADS      OMEGAP                                
059945,000269: 16,2503           02310                           TC       OVERSUB                               
059946,000270: 16,2504           55421                           TS       OMEGAP                                
059947,000271: 16,2505           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059948,000272: 16,2506           55433                           TS       NPTRAPS                               
059949,000273: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
059950,000274: 16,2510           31744        P-RATE             CA       JETRATE                               
059951,000275: 16,2511           27421                           ADS      OMEGAP                                
059952,000276: 16,2512           02310                           TC       OVERSUB                               
059953,000277: 16,2513           55421                           TS       OMEGAP                                
059954,000278: 
059955,000279: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1418

059957,000281: 16,2515           12517                           TCF      +2                                    
059958,000282: 16,2516           12544                           TCF      Q-RATE                                
059959,000283: 16,2517           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059960,000284: 16,2520           00006                           EXTEND                                         
059961,000285: 16,2521           62544                           BZMF     Q-RATE                                
059962,000286: 16,2522           22007                           ZL                                             
059963,000287: 16,2523           23431                           LXCH     TRAPEDQ                               
059964,000288: 16,2524           34755                           CA       ZERO                                  
059965,000289: 16,2525           00006                           EXTEND                                         
059966,000290: 16,2526           11434                           DV       NQTRAPS                               
059967,000291: 16,2527           55736                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
059968,000292: 16,2530           27422                           ADS      OMEGAQ                                
059969,000293: 16,2531           02310                           TC       OVERSUB                               
059970,000294: 16,2532           55422                           TS       OMEGAQ                                
059971,000295: 16,2533           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059972,000296: 16,2534           57434                           XCH      NQTRAPS                               
059973,000297: 16,2535           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
059974,000298: 16,2536           57736                           XCH      DAPTEMP1                              
059975,000299: 16,2537           00006                           EXTEND                                         
059976,000300: 16,2540           74756                           MP       FIVE                                  
059977,000301: 16,2541           00006                           EXTEND                                         
059978,000302: 16,2542           11736                           DV       DAPTEMP1                              
059979,000303: 16,2543           27536                           ADS      AOSQ                                  
059980,000304: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
059981,000305: 16,2545           31745                           CA       JETRATEQ                              
059982,000306: 16,2546           61544                           AD       AOSQTERM                              
059983,000307: 16,2547           27422                           ADS      OMEGAQ                                
059984,000308: 16,2550           02310                           TC       OVERSUB                               
059985,000309: 16,2551           55422                           TS       OMEGAQ                                
059986,000310: 
059987,000311: 16,2552           11432                           CCS      TRAPEDR                               
059988,000312: 16,2553           12555                           TCF      +2                                    
059989,000313: 16,2554           12602                           TCF      R-RATE                                
059990,000314: 16,2555           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059991,000315: 16,2556           00006                           EXTEND                                         
059992,000316: 16,2557           62602                           BZMF     R-RATE                                
059993,000317: 16,2560           22007                           ZL                                             
059994,000318: 16,2561           23432                           LXCH     TRAPEDR                               
059995,000319: 16,2562           34755                           CA       ZERO                                  
059996,000320: 16,2563           00006                           EXTEND                                         
059997,000321: 16,2564           11435                           DV       NRTRAPS                               
059998,000322: 16,2565           55737                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
059999,000323: 16,2566           27423                           ADS      OMEGAR                                
060000,000324: 16,2567           02310                           TC       OVERSUB                               
060001,000325: 16,2570           55423                           TS       OMEGAR                                
060002,000326: 16,2571           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060003,000327: 16,2572           57435                           XCH      NRTRAPS                               
060004,000328: 16,2573           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060005,000329: 16,2574           57737                           XCH      DAPTEMP2                              
060006,000330: 16,2575           00006                           EXTEND                                         

Page 1419

060008,000332: 16,2576           74756                           MP       FIVE                                  
060009,000333: 16,2577           00006                           EXTEND                                         
060010,000334: 16,2600           11737                           DV       DAPTEMP2                              
060011,000335: 16,2601           27540                           ADS      AOSR                                  
060012,000336: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060013,000337: 16,2603           31746                           CA       JETRATER                              
060014,000338: 16,2604           61545                           AD       AOSRTERM                              
060015,000339: 16,2605           27423                           ADS      OMEGAR                                
060016,000340: 16,2606           02310                           TC       OVERSUB                               
060017,000341: 16,2607           55423                           TS       OMEGAR                                
060018,000342: 
060019,000343:                                                                                                  #  END OF RATE DERIVATION
060020,000344:                                                                                                  #        BEGIN OFFSET ESTIMATER
060021,000345:                                                                                                  #                IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060022,000346:                                                                                                  #                        AOS = AOS + K*SUMRATE
060023,000347: 
060024,000348: 16,2610           40111                           CS       DAPBOOLS                              
060025,000349: 16,2611           74744                           MASK     DRIFTBIT                              
060026,000350: 16,2612           10000                           CCS      A                                     
060027,000351: 16,2613           12624                           TCF      WORKTIME                              
060028,000352: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060029,000353: 16,2615           55425                           TS       ALPHAR                                
060030,000354: 16,2616           55544                           TS       AOSQTERM                              
060031,000355: 16,2617           55545                           TS       AOSRTERM                              
060032,000356: 16,2620           55536                           TS       AOSQ                                  
060033,000357: 16,2621           55540                           TS       AOSR                                  
060034,000358: 16,2622           12667                           TCF      PRETIMCK                              
060035,000359: 16,2623           00074        KAOS               DEC      60         B-14                       
060036,000360: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060037,000361: 16,2625           00006                           EXTEND                                         
060038,000362: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060039,000363: 16,2627           21537                           DAS      AOSQ                                  
060040,000364: 16,2630           31536                           CA       AOSQ                                  
060041,000365: 16,2631           55424                           TS       ALPHAQ                                
060042,000366: 16,2632           00006                           EXTEND                                         
060043,000367: 16,2633           73622                           MP       200MS                                 #  .2 AT 1
060044,000368: 16,2634           55544                           TS       AOSQTERM                              
060045,000369: 16,2635           31512                           CA       RACCDOT                               
060046,000370: 16,2636           00006                           EXTEND                                         
060047,000371: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060048,000372: 16,2640           21541                           DAS      AOSR                                  
060049,000373: 16,2641           31540                           CA       AOSR                                  
060050,000374: 16,2642           55425                           TS       ALPHAR                                
060051,000375: 16,2643           00006                           EXTEND                                         
060052,000376: 16,2644           73622                           MP       200MS                                 #  .2 AT 1
060053,000377: 16,2645           55545                           TS       AOSRTERM                              
060054,000378: 16,2646           12667                           TCF      PRETIMCK                              
060055,000379: 

Page 1420

060057,000381: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060058,000382: 16,2650           71262                           MASK     RCSFLAGS                              
060059,000383: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060060,000384: 16,2652           03742                           TC       ACDT+C12                              #  VALID.
060061,000385: 
060062,000386: 16,2653           52011                           DXCH     ARUPT                                 
060063,000387: 16,2654           53753                           DXCH     DAPARUPT                              
060064,000388: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060065,000389: 16,2656           56017                           XCH      BRUPT                                 
060066,000390: 16,2657           22012                           LXCH     QRUPT                                 
060067,000391: 16,2660           53755                           DXCH     DAPBQRPT                              
060068,000392: 16,2661           32665                           CA       SUPERADR                              
060069,000393: 16,2662           52016                           DXCH     ZRUPT                                 
060070,000394: 16,2663           53757                           DXCH     DAPZRUPT                              
060071,000395: 16,2664           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060072,000396:                                                                                                  #        FORM OF A JASK, AT SUPERJOB.
060073,000397: 
060074,000398: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060075,000399: 
060076,000400:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060077,000401: 
060078,000402: 16,2666           13645        SUPERJOB           TCF      RATELOOP                              
060079,000403: 16,2667           11631        PRETIMCK           CCS      QGIMTIMR                              
060080,000404: 16,2670           12710                           TCF      DECQTIMR                              #  POSITIVE - COUNTING DOWN
060081,000405: 16,2671           12714                           TCF      TURNOFFQ                              #  NEGATIVE - DRIVE SHOULD BE ENDED
060082,000406: 16,2672           11633        CHKRTIMR           CCS      RGIMTIMR                              #  NEGATIVE - INACTIVE
060083,000407: 16,2673           12712                           TCF      DECRTIMR                              #  (NEG ZERO - IMPOSSIBLE)
060084,000408: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060085,000409: 
060086,000410: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060087,000411: 16,2676           27766                           DIM      PJETCTR                               
060088,000412: 16,2677           00006                           EXTEND                                         
060089,000413: 16,2700           27767                           DIM      UJETCTR                               
060090,000414: 16,2701           00006                           EXTEND                                         
060091,000415: 16,2702           27770                           DIM      VJETCTR                               
060092,000416: 16,2703           34740                           CA       BIT12                                 
060093,000417: 16,2704           71262                           MASK     RCSFLAGS                              
060094,000418: 16,2705           00006                           EXTEND                                         
060095,000419: 16,2706           12734                           BZF      SKIPPAXS                              
060096,000420: 16,2707           02740                           TC       CHKVISFZ                              
060097,000421: 16,2710           55631        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060098,000422: 16,2711           12672                           TCF      CHKRTIMR                              
060099,000423: 16,2712           55633        DECRTIMR           TS       RGIMTIMR                              
060100,000424: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060101,000425: 
060102,000426: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060103,000427: 16,2715           55510                           TS       QACCDOT                               
060104,000428: 16,2716           45007                           CS       QGIMBITS                              
060105,000429: 16,2717           00006                           EXTEND                                         

Page 1421

060107,000431: 16,2720           03012                           WAND     CHAN12                                
060108,000432: 16,2721           34735                           CAF      NEGMAX                                
060109,000433: 16,2722           55631                           TS       QGIMTIMR                              
060110,000434: 16,2723           12672                           TCF      CHKRTIMR                              
060111,000435: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060112,000436: 16,2725           55512                           TS       RACCDOT                               
060113,000437: 16,2726           45020                           CS       RGIMBITS                              
060114,000438: 16,2727           00006                           EXTEND                                         
060115,000439: 16,2730           03012                           WAND     CHAN12                                
060116,000440: 16,2731           34735                           CAF      NEGMAX                                
060117,000441: 16,2732           55633                           TS       RGIMTIMR                              
060118,000442: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060119,000443: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060120,000444: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060121,000445: 
060122,000446: 16,2734           41262        SKIPPAXS           CS       RCSFLAGS                              
060123,000447: 16,2735           74740                           MASK     BIT12                                 
060124,000448: 16,2736           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060125,000449: 16,2737           13630                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060126,000450: 
060127,000451:                                                                                                  #  Y-Z TRANSLATION
060128,000452: 
060129,000453:                                                                                                  #  INPUT:        BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060130,000454: 
060131,000455:                                                                                                  #  OUTPUT:       NEXTP
060132,000456:                                                                                                  #                NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060133,000457:                                                                                                  #                IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060134,000458:                                                                                                  #                (1) FOR DIAGONAL TRANS:         UNFAILED PAIR
060135,000459:                                                                                                  #                                                ALARM (IF NO PAIR)
060136,000460:                                                                                                  #                (2) FOR PRINCIPAL TRANS:        TRY TO TACK WITH DIAGONAL PAIRS
060137,000461:                                                                                                  #                                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
060138,000462: 
060139,000463: 16,2740           00006        CHKVISFZ           EXTEND                                         
060140,000464: 16,2741           00031                           READ     CHAN31                                
060141,000465: 16,2742           40000                           CS       A                                     
060142,000466: 16,2743           73617                           MASK     07400OCT                              
060143,000467: 16,2744           00006                           EXTEND                                         
060144,000468: 16,2745           13014                           BZF      TSNEXTP                               
060145,000469: 16,2746           00006                           EXTEND                                         
060146,000470: 16,2747           74745                           MP       BIT7                                  
060147,000471: 16,2750           50000                           INDEX    A                                     
060148,000472: 16,2751           33576                           CA       INDXYZ                                
060149,000473: 16,2752           55743                           TS       ROTINDEX                              
060150,000474: 16,2753           36245        TRYUORV            CA       SIX                                   
060151,000475: 16,2754           03555                           TC       SELECTYZ                              
060152,000476: 16,2755           46245                           CS       SIX                                   
060153,000477: 16,2756           61742                           AD       NUMBERT                               
060154,000478: 16,2757           00006                           EXTEND                                         

Page 1422

060156,000480: 16,2760           13013                           BZF      TSNEXTP    -1                         
060157,000481: 16,2761           44756                           CS       FIVE                                  
060158,000482: 16,2762           61743                           AD       ROTINDEX                              
060159,000483: 16,2763           00006                           EXTEND                                         
060160,000484: 16,2764           63002                           BZMF     ALTERYZ                               
060161,000485: 16,2765           41742                           CS       NUMBERT                               
060162,000486: 16,2766           64751                           AD       FOUR                                  
060163,000487: 16,2767           00006                           EXTEND                                         
060164,000488: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060165,000489: 16,2771           05567        ABORTYZ            TC       ALARM                                 
060166,000490: 16,2772           02001                           OCT      02001                                 
060167,000491: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060168,000492: 16,2774           23262                           LXCH     RCSFLAGS                              
060169,000493: 16,2775           00006                           EXTEND                                         
060170,000494: 16,2776           06001                           RXOR     1                                     
060171,000495: 16,2777           55262                           TS       RCSFLAGS                              
060172,000496: 16,3000           34755                           CA       ZERO                                  
060173,000497: 16,3001           13014                           TCF      TSNEXTP                               
060174,000498: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060175,000499: 16,3003           23262                           LXCH     RCSFLAGS                              
060176,000500: 16,3004           00006                           EXTEND                                         
060177,000501: 16,3005           06001                           RXOR     1                                     
060178,000502: 16,3006           55262                           TS       RCSFLAGS                              
060179,000503: 16,3007           74753                           MASK     BIT1                                  
060180,000504: 16,3010           64751                           AD       FOUR                                  
060181,000505: 16,3011           27743                           ADS      ROTINDEX                              
060182,000506: 16,3012           12753                           TCF      TRYUORV                               
060183,000507: 16,3013           31740                           CA       POLYTEMP                              
060184,000508: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060185,000509: 
060186,000510:                                                                                                  #  STATE LOGIC
060187,000511:                                                                                                  #        CHECK IN ORDER:         IF ON
060188,000512:                                                                                                  #        LPDPHASE                GO TO PURGENCY
060189,000513:                                                                                                  #        PULSES                  MINIMUM PULSE LOGIC
060190,000514:                                                                                                  #        DETENT(BIT15 CH31)      RATE COMMAND
060191,000515:                                                                                                  #        GO TO PURGENCY
060192,000516: 
060193,000517: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060194,000518: 16,3016           00006                           EXTEND                                         
060195,000519: 16,3017           02031                           RAND     CHAN31                                
060196,000520: 16,3020           00006                           EXTEND                                         
060197,000521: 16,3021           13027                           BZF      MANMODE                               
060198,000522: 
060199,000523: 16,3022           30111                           CA       DAPBOOLS                              
060200,000524: 16,3023           74743                           MASK     XOVINHIB                              
060201,000525: 16,3024           10000                           CCS      A                                     
060202,000526: 16,3025           13467                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060203,000527: 
060204,000528: 16,3026           13071                           TCF      DETENTCK                              
060205,000529: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060206,000530: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1423

060208,000532: 16,3031           00006                           EXTEND                                         
060209,000533: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060210,000534: 
060211,000535: 16,3033           34755                           CA       ZERO                                  
060212,000536: 16,3034           55464                           TS       PERROR                                
060213,000537: 
060214,000538:                                                                                                  #  MINIMUM IMPULSE MODE
060215,000539: 
060216,000540: 16,3035           30032                           CA       CDUX                                  
060217,000541: 16,3036           55634                           TS       CDUXD                                 
060218,000542: 
060219,000543: 16,3037           11460                           CCS      OLDPMIN                               
060220,000544: 16,3040           13054                           TCF      CHECKP                                
060221,000545: 
060222,000546: 16,3041           34751        FIREP              CA       BIT3                                  
060223,000547: 16,3042           00006                           EXTEND                                         
060224,000548: 16,3043           02031                           RAND     CHAN31                                
060225,000549: 16,3044           00006                           EXTEND                                         
060226,000550: 16,3045           13064                           BZF      +XMIN                                 
060227,000551: 
060228,000552: 16,3046           34750                           CA       BIT4                                  
060229,000553: 16,3047           00006                           EXTEND                                         
060230,000554: 16,3050           02031                           RAND     CHAN31                                
060231,000555: 16,3051           00006                           EXTEND                                         
060232,000556: 16,3052           13062                           BZF      -XMIN                                 
060233,000557: 
060234,000558: 16,3053           13446                           TCF      JETSOFF                               
060235,000559: 
060236,000560: 16,3054           00006        CHECKP             EXTEND                                         
060237,000561: 16,3055           00031                           READ     CHAN31                                
060238,000562: 16,3056           40000                           CS       A                                     
060239,000563: 16,3057           75741                           MASK     OCT14                                 
060240,000564: 16,3060           55460                           TS       OLDPMIN                               
060241,000565: 16,3061           13446                           TCF      JETSOFF                               
060242,000566: 
060243,000567: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS. CORRECTED
060244,000568: 16,3063           13065                           TCF      +2                                    #        IN JET SELECTION ROUTINE
060245,000569: 16,3064           34363        +XMIN              CA       TEN                                   
060246,000570: 16,3065           55524                           TS       TJP                                   
060247,000571: 16,3066           34753                           CA       ONE                                   
060248,000572: 16,3067           55460                           TS       OLDPMIN                               
060249,000573: 16,3070           13354                           TCF      PJETSLEC   -6                         
060250,000574: 
060251,000575:                                                                                                  #                                        MANUAL RATE COMMAND MODE
060252,000576:                                                                                                  #                                        ========================
060253,000577:                                                                                                  #                                          BY ROBERT F. STENGEL
060254,000578: 
060255,000579:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:  1) DIRECT RATE AND 2) PSEUDO-AUTO.
060256,000580:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT.  THE PSEUDO-AUTO MODE PROVIDES PRECISE
060257,000581:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060258,000582: 

Page 1424

060260,000584:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060261,000585:                                                                                                  #  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
060262,000586:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060263,000587: 
060264,000588:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060265,000589:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060266,000590:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060267,000591: 
060268,000592:                                                                                                  #  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,
060269,000593:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060270,000594:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060271,000595: 
060272,000596:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW.  FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060273,000597:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060274,000598:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE.  NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060275,000599:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES.  SCALING IS DETERMINED IN ROUTINE 3.
060276,000600: 
060277,000601:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060278,000602:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060279,000603: 
060280,000604: 16,3071           00006        DETENTCK           EXTEND                                         
060281,000605: 16,3072           00031                           READ     CHAN31                                
060282,000606: 16,3073           55443                           TS       CH31TEMP                              
060283,000607: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
060284,000608: 16,3075           00006                           EXTEND                                         
060285,000609: 16,3076           13223                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
060286,000610: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT.  CHECK THE RATE COMMAND BIT.
060287,000611: 16,3100           70111                           MASK     DAPBOOLS                              
060288,000612: 16,3101           00006                           EXTEND                                         
060289,000613: 16,3102           13467                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
060290,000614: 
060291,000615:                                                                                                  #  ........................................................................
060292,000616: 
060293,000617: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
060294,000618: 16,3104           71262                           MASK     RCSFLAGS                              
060295,000619: 16,3105           00006                           EXTEND                                         
060296,000620: 16,3106           13120                           BZF      RUTH                                  
060297,000621: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
060298,000622: 16,3110           00006                           EXTEND                                         
060299,000623: 16,3111           02031                           RAND     CHAN31                                
060300,000624: 16,3112           00006                           EXTEND                                         
060301,000625: 16,3113           13220                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
060302,000626: 
060303,000627: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
060304,000628: 16,3115           71262                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
060305,000629: 16,3116           55262                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060306,000630: 16,3117           13220                           TCF      RATEDAMP                              
060307,000631: 
060308,000632: 16,3120           31262        RUTH               CA       RCSFLAGS                              
060309,000633: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
060310,000634: 16,3122           00006                           EXTEND                                         
060311,000635: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
060312,000636: 16,3124           13220                           TCF      RATEDAMP                              
060313,000637: 

Page 1425

060315,000639: 16,3125           31262                           CA       RCSFLAGS                              
060316,000640: 16,3126           74741                           MASK     QRBIT                                 
060317,000641: 16,3127           00006                           EXTEND                                         
060318,000642: 16,3130           13134                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
060319,000643: 16,3131           13220                           TCF      RATEDAMP                              
060320,000644: 
060321,000645:                                                                                                  #  ============================================
060322,000646: 
060323,000647: 16,3132     4753               1/10SEC            =        BIT1                                  
060324,000648: 16,3132     4771               40CYC              =        OCT50                                 
060325,000649: 16,3132           74777        PQRBIT             OCT      74777                                 
060326,000650: 16,3133     5014               BITS9,11           EQUALS   EBANK5                                
060327,000651: 16,3133           00056        LINRATP            DEC      46         B-14                       
060328,000652: 
060329,000653:                                                                                                  #  ============================================
060330,000654: 
060331,000655: 16,3134           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
060332,000656: 16,3135           00004                           INHINT                                         #  ALL AXES.
060333,000657: 16,3136           70111                           MASK     DAPBOOLS                              
060334,000658: 16,3137           54111                           TS       DAPBOOLS                              
060335,000659: 
060336,000660:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
060337,000661: 
060338,000662: 16,3140           34737                           CAF      BIT13                                 
060339,000663: 16,3141           00006                           EXTEND                                         
060340,000664: 16,3142           02031                           RAND     CHAN31                                
060341,000665: 16,3143           00006                           EXTEND                                         
060342,000666: 16,3144           13150                           BZF      +4                                    
060343,000667: 16,3145           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
060344,000668: 16,3146           55634                           TS       CDUXD                                 
060345,000669: 16,3147           03152                           TC       +3                                    
060346,000670: 16,3150           04674                           TC       IBNKCALL                              
060347,000671: 16,3151           40154                           FCADR    ZATTEROR                              
060348,000672: 16,3152           00003                           RELINT                                         
060349,000673: 16,3153           13467                           TCF      PURGENCY                              
060350,000674: 
060351,000675: 16,3154           55464                           TS       PERROR                                
060352,000676: 16,3155           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
060353,000677: 16,3156           26111                           ADS      DAPBOOLS                              
060354,000678: 16,3157           34755                           CA       ZERO                                  
060355,000679: 16,3160           55446                           TS       DXERROR                               
060356,000680: 16,3161           55447                           TS       DXERROR    +1                         
060357,000681: 16,3162           55450                           TS       DYERROR                               
060358,000682: 16,3163           55451                           TS       DYERROR    +1                         
060359,000683: 16,3164           55452                           TS       DZERROR                               
060360,000684: 16,3165           55453                           TS       DZERROR    +1                         
060361,000685: 16,3166           55454                           TS       PLAST                                 
060362,000686: 16,3167           55455                           TS       QLAST                                 
060363,000687: 16,3170           55456                           TS       RLAST                                 
060364,000688: 16,3171           54042                           TS       Q-RHCCTR                              
060365,000689: 16,3172           54044                           TS       R-RHCCTR                              
060366,000690: 16,3173           33132                           CA       PQRBIT                                
060367,000691: 16,3174           71262                           MASK     RCSFLAGS                              
060368,000692: 16,3175           55262                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.

Page 1426

060370,000694: 16,3176           03201                           TC       ZEROENBL                              
060371,000695: 16,3177           00003                           RELINT                                         
060372,000696: 16,3200           13446                           TCF      JETSOFF                               
060373,000697: 16,3201           22044        ZEROENBL           LXCH     R-RHCCTR                              
060374,000698: 16,3202           30042                           CA       Q-RHCCTR                              
060375,000699: 16,3203           53463                           DXCH     SAVEHAND                              
060376,000700: 16,3204           34755                           CA       ZERO                                  
060377,000701: 16,3205           54043                           TS       P-RHCCTR                              
060378,000702: 16,3206           54042                           TS       Q-RHCCTR                              
060379,000703: 16,3207           54044                           TS       R-RHCCTR                              
060380,000704: 16,3210           00004                           INHINT                                         
060381,000705: 16,3211           00006                           EXTEND                                         
060382,000706: 16,3212           23265                           QXCH     C13QSAV                               
060383,000707: 16,3213           06022                           TC       C13STALL                              
060384,000708: 
060385,000709: 16,3214           33623                           CA       BITS8,9                               
060386,000710: 16,3215           00006                           EXTEND                                         
060387,000711: 16,3216           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
060388,000712: 16,3217           01265                           TC       C13QSAV                               
060389,000713: 
060390,000714: 16,3220           34755        RATEDAMP           CA       ZERO                                  
060391,000715: 16,3221           54043                           TS       P-RHCCTR                              
060392,000716: 16,3222           13232                           TCF      RATERROR                              
060393,000717: 
060394,000718: 16,3223           41262        RHCMOVED           CS       RCSFLAGS                              #  SET JUSTIN BIT TO 1
060395,000719: 16,3224           74743                           MASK     BIT9                                  
060396,000720: 16,3225           27262                           ADS      RCSFLAGS                              
060397,000721: 16,3226           34740                           CA       OURRCBIT                              #  P CONTROL
060398,000722: 16,3227           70111                           MASK     DAPBOOLS                              
060399,000723: 16,3230           00006                           EXTEND                                         
060400,000724: 16,3231           13154                           BZF      JUSTOUT    -1                         
060401,000725: 16,3232           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060402,000726: 16,3233           55634                           TS       CDUXD                                 #  X-AXIS OVERRIDE
060403,000727: 16,3234           10043                           CCS      P-RHCCTR                              
060404,000728: 16,3235           13240                           TCF      +3                                    
060405,000729: 16,3236           13240                           TCF      +2                                    
060406,000730: 16,3237           13240                           TCF      +1                                    
060407,000731: 16,3240           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
060408,000732: 16,3241           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
060409,000733: 16,3242           63133                           AD       LINRATP                               #  AUTOPILOT)
060410,000734: 16,3243           00006                           EXTEND                                         
060411,000735: 16,3244           70043                           MP       P-RHCCTR                              
060412,000736: 16,3245           30001                           CA       L                                     
060413,000737: 16,3246           00006                           EXTEND                                         
060414,000738: 16,3247           71444                           MP       STIKSENS                              
060415,000739: 16,3250           57454                           XCH      PLAST                                 
060416,000740: 16,3251           40000                           COM                                            
060417,000741: 16,3252           61454                           AD       PLAST                                 
060418,000742: 16,3253           55736                           TS       DAPTEMP1                              
060419,000743: 16,3254           03201                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.

Page 1427

060421,000745: 16,3255           00003                           RELINT                                         
060422,000746: 16,3256           41454                           CS       PLAST                                 
060423,000747: 16,3257           61421                           AD       OMEGAP                                
060424,000748: 16,3260           55427                           TS       EDOTP                                 
060425,000749: 16,3261           11736                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
060426,000750: 16,3262           13265                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL.  IF NOT
060427,000751: 16,3263           13273                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
060428,000752: 16,3264           13265                           TCF      +1                                    
060429,000753: 16,3265           61476                           AD       -RATEDB                               
060430,000754: 16,3266           00006                           EXTEND                                         
060431,000755: 16,3267           63273                           BZMF     +4                                    
060432,000756: 16,3270           34771                           CA       40CYC                                 
060433,000757: 16,3271           55445                           TS       TCP                                   
060434,000758: 16,3272           03304                           TC       PEGI                                  
060435,000759: 16,3273           31262                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
060436,000760: 16,3274           74742                           MASK     PBIT                                  
060437,000761: 16,3275           00006                           EXTEND                                         
060438,000762: 16,3276           13300                           BZF      +2                                    
060439,000763: 16,3277           03304                           TC       PEGI                                  #  TO PURE RATE COMMAND
060440,000764: 16,3300           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
060441,000765: 16,3301           55751                           TS       E                                     #  X-ATTITUDE ERROR (SP)
060442,000766: 16,3302           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060443,000767: 16,3303           03473                           TC       PURGENCY   +4                         
060444,000768: 16,3304           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
060445,000769: 16,3305           55634                           TS       CDUXD                                 
060446,000770: 16,3306           34755                           CA       ZERO                                  
060447,000771: 16,3307           55446                           TS       DXERROR                               
060448,000772: 16,3310           55447                           TS       DXERROR    +1                         
060449,000773: 16,3311           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060450,000774: 16,3312           11427                           CCS      EDOTP                                 
060451,000775: 16,3313           03316                           TC       +3                                    
060452,000776: 16,3314           03316                           TC       +2                                    
060453,000777: 16,3315           03316                           TC       +1                                    
060454,000778: 16,3316           55736                           TS       ABSEDOTP                              
060455,000779: 16,3317           61476                           AD       TARGETDB                              
060456,000780: 16,3320           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
060457,000781: 16,3321           63331                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
060458,000782: 16,3322           31445                           CA       TCP                                   
060459,000783: 16,3323           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060460,000784: 16,3324           63331                           BZMF     LAST                                  
060461,000785: 16,3325           41262                           CS       RCSFLAGS                              
060462,000786: 16,3326           74742                           MASK     PBIT                                  
060463,000787: 16,3327           27262                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
060464,000788: 16,3330           13334                           TCF      +4                                    
060465,000789: 16,3331           44742        LAST               CS       PBIT                                  
060466,000790: 16,3332           71262                           MASK     RCSFLAGS                              
060467,000791: 16,3333           55262                           TS       RCSFLAGS                              #  BIT 10 IS 0.
060468,000792: 16,3334           41427                           CS       EDOTP                                 
060469,000793: 16,3335           00006                           EXTEND                                         
060470,000794: 16,3336           71550                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI

Page 1428

060472,000796: 16,3337           20001                           DAS      A                                     
060473,000797: 16,3340           02310                           TC       OVERSUB                               
060474,000798: 16,3341           00006                           EXTEND                                         
060475,000799: 16,3342           77721                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060476,000800: 16,3343           55524                           TS       TJP                                   #  4.JET TIME
060477,000801: 16,3344           31736                           CA       ABSEDOTP                              
060478,000802: 16,3345           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
060479,000803: 16,3346           00006                           EXTEND                                         
060480,000804: 16,3347           63352                           BZMF     +3                                    
060481,000805: 
060482,000806: 16,3350           36245                           CA       SIX                                   
060483,000807: 16,3351           13361                           TCF      +8D                                   
060484,000808: 16,3352           31524                           CA       TJP                                   
060485,000809: 16,3353           27524                           ADS      TJP                                   
060486,000810: 
060487,000811:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
060488,000812:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
060489,000813: 
060490,000814:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
060491,000815:                                                                                                  #                TJP             + FOR +P ROTATION
060492,000816: 
060493,000817:                                                                                                  #  OUTPUT:       CHANNEL 6
060494,000818:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP
060495,000819:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
060496,000820: 
060497,000821:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060498,000822:                                                                                                  #        +P      -P
060499,000823:                                                                                                  #        7,15    8,16
060500,000824:                                                                                                  #        4,12    3,11
060501,000825:                                                                                                  #        4,7     8,11
060502,000826:                                                                                                  #        7,12    11,16
060503,000827:                                                                                                  #        12,15   3,16
060504,000828:                                                                                                  #        4,15    3,8
060505,000829:                                                                                                  #        ALARM   ALARM
060506,000830: 
060507,000831: 16,3354           34747                           CA       AORBSYST                              
060508,000832: 16,3355           70101                           MASK     FLAGWRD5                              
060509,000833: 16,3356           10000                           CCS      A                                     
060510,000834: 16,3357           34753                           CA       ONE                                   
060511,000835: 16,3360           64751                           AD       FOUR                                  
060512,000836: 16,3361           55742                           TS       NUMBERT                               
060513,000837: 16,3362           34753        PJETSLEC           CA       ONE                                   
060514,000838: 16,3363           54001                           TS       L                                     
060515,000839: 16,3364           11524                           CCS      TJP                                   
060516,000840: 16,3365           13372                           TCF      +5                                    
060517,000841: 16,3366           13446                           TCF      JETSOFF                               
060518,000842: 16,3367           13371                           TCF      +2                                    
060519,000843: 16,3370           13446                           TCF      JETSOFF                               
060520,000844: 16,3371           22007                           ZL                                             
060521,000845: 16,3372           64753                           AD       ONE                                   
060522,000846: 16,3373           55736                           TS       ABSTJ                                 

Page 1429

060524,000848: 16,3374           23743                           LXCH     ROTINDEX                              
060525,000849: 16,3375           03535                           TC       SELECTP                               
060526,000850: 16,3376           46245                           CS       SIX                                   
060527,000851: 16,3377           61742                           AD       NUMBERT                               
060528,000852: 16,3400           00006                           EXTEND                                         
060529,000853: 16,3401           13403                           BZF      +2                                    
060530,000854: 
060531,000855: 16,3402           44752                           CS       TWO                                   
060532,000856: 16,3403           64751                           AD       FOUR                                  
060533,000857: 16,3404           55521                           TS       NO.PJETS                              
060534,000858: 16,3405           31740                           CA       POLYTEMP                              
060535,000859: 16,3406           05744                           TC       WRITEP                                
060536,000860: 16,3407           41736                           CS       ABSTJ                                 
060537,000861: 16,3410           63616                           AD       +150MST6                              
060538,000862: 16,3411           00006                           EXTEND                                         
060539,000863: 16,3412           63630                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060540,000864: 
060541,000865: 16,3413           63576                           AD       -136MST6                              
060542,000866: 16,3414           00006                           EXTEND                                         
060543,000867: 16,3415           63422                           BZMF     +5                                    
060544,000868: 
060545,000869: 16,3416           27736                           ADS      ABSTJ                                 
060546,000870: 16,3417           51743                           INDEX    ROTINDEX                              
060547,000871: 16,3420           33625                           CA       MINTIMES                              
060548,000872: 16,3421           55524                           TS       TJP                                   
060549,000873: 
060550,000874: 16,3422           31736                           CA       ABSTJ                                 
060551,000875: 16,3423           22007                           ZL                                             
060552,000876: 16,3424           00004                           INHINT                                         
060553,000877: 16,3425           53471                           DXCH     T6FURTHA                              
060554,000878: 16,3426           04674                           TC       IBNKCALL                              
060555,000879: 16,3427           37143                           CADR     JTLST                                 
060556,000880: 16,3430           44740                           CS       BIT12                                 
060557,000881: 16,3431           71262                           MASK     RCSFLAGS                              
060558,000882: 16,3432           55262                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
060559,000883: 16,3433           03435                           TC       ALTSYST                               
060560,000884: 16,3434           13630                           TCF      QRAXIS                                
060561,000885: 
060562,000886: 16,3435           30101        ALTSYST            CA       FLAGWRD5                              #  ALTERNATE P-AXIS JETS
060563,000887: 16,3436           54001                           TS       L                                     
060564,000888: 16,3437           34747                           CA       AORBSYST                              
060565,000889: 16,3440           00006                           EXTEND                                         
060566,000890: 16,3441           06001                           RXOR     LCHAN                                 
060567,000891: 16,3442           54101                           TS       FLAGWRD5                              
060568,000892: 16,3443           00003                           RELINT                                         
060569,000893: 16,3444           00002                           TC       Q                                     
060570,000894: 
060571,000895: 16,3445           03435        DKALT              TC       ALTSYST                               
060572,000896: 
060573,000897: 16,3446           05743        JETSOFF            TC       WRITEP     -1                         

Page 1430

060575,000899: 16,3447           34755                           CA       ZERO                                  
060576,000900: 16,3450           55524                           TS       TJP                                   
060577,000901: 16,3451           13630                           TCF      QRAXIS                                
060578,000902: 
060579,000903:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060580,000904: 
060581,000905: 16,3452           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
060582,000906: 16,3453           00006                           EXTEND                                         
060583,000907: 16,3454           21635                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
060584,000908: 16,3455           00006                           EXTEND                                         
060585,000909: 16,3456           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060586,000910: 16,3457           57751                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
060587,000911: 16,3460           30032                           CA       CDUX                                  #  THIRD COMPONENT
060588,000912: 16,3461           00006                           EXTEND                                         
060589,000913: 16,3462           21634                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
060590,000914:                                                                                                  #                EXTEND
060591,000915:                                                                                                  #                MP      M13
060592,000916: 16,3463           61274                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
060593,000917: 16,3464           27751                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
060594,000918: 16,3465           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060595,000919: 16,3466           00002                           TC       Q                                     #  RETURN TO CALLER
060596,000920: 
060597,000921:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
060598,000922: 
060599,000923: 16,3467           03452        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
060600,000924: 16,3470           41642                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
060601,000925: 16,3471           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
060602,000926: 16,3472           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060603,000927: 
060604,000928: 16,3473           44753                           CS       ONE                                   
060605,000929: 16,3474           55505                           TS       AXISCTR                               
060606,000930: 16,3475           30111                           CA       DAPBOOLS                              
060607,000931: 16,3476           74737                           MASK     CSMDOCKD                              
060608,000932: 16,3477           00006                           EXTEND                                         
060609,000933: 16,3500           13511                           BZF      HEADTJET                              
060610,000934: 16,3501           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060611,000935: 16,3502           04674                           TC       IBNKCALL                              
060612,000936: 16,3503           43736                           CADR     SPSRCS                                
060613,000937: 
060614,000938: 16,3504           31524                           CA       TJP                                   
060615,000939: 16,3505           00006                           EXTEND                                         
060616,000940: 16,3506           13445                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
060617,000941: 16,3507           00003                           RELINT                                         
060618,000942: 16,3510           13354                           TCF      PJETSLEC   -6                         #  SELECT AORBSYST AND USE TWO JETS
060619,000943: 16,3511           34755        HEADTJET           CA       ZERO                                  
060620,000944: 16,3512           55500                           TS       SENSETYP                              
060621,000945: 16,3513           00004                           INHINT                                         
060622,000946: 16,3514           04674                           TC       IBNKCALL                              
060623,000947: 16,3515           37304                           CADR     TJETLAW                               
060624,000948: 16,3516           00003                           RELINT                                         

Page 1431

060626,000950: 16,3517           41740                           CS       FIREFCT                               
060627,000951: 16,3520           63534                           AD       -FOURDEG                              
060628,000952: 16,3521           00006                           EXTEND                                         
060629,000953: 16,3522           63354                           BZMF     PJETSLEC   -6                         
060630,000954: 16,3523           11524                           CCS      TJP                                   
060631,000955: 16,3524           13526                           TCF      +2                                    
060632,000956: 16,3525           13446                           TCF      JETSOFF                               
060633,000957: 16,3526           63533                           AD       -160MST6                              
060634,000958: 16,3527           00006                           EXTEND                                         
060635,000959: 16,3530           63354                           BZMF     PJETSLEC   -6                         
060636,000960: 16,3531           36245                           CA       SIX                                   
060637,000961: 16,3532           13361                           TCF      PJETSLEC   -1                         
060638,000962: 16,3533           77377        -160MST6           DEC      -256       B-14                       
060639,000963: 16,3534           75117        -FOURDEG           DEC      -.08888                               
060640,000964: 

Page 1432

060642,000966:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
060643,000967: 
060644,000968:                                                                                                  #  INPUT:        ROTINDEX, NUMBERT
060645,000969: 
060646,000970:                                                                                                  #  OUTPUT:       POLYTEMP (JET POLICY)
060647,000971: 
060648,000972:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060649,000973: 
060650,000974: 16,3535           36245        SELECTP            CA       SIX                                   
060651,000975: 16,3536           55741                           TS       TEMPNUM                               
060652,000976: 16,3537           51742                           INDEX    NUMBERT                               
060653,000977: 16,3540           33567                           CA       TYPEP                                 
060654,000978: 16,3541           51743                           INDEX    ROTINDEX                              
060655,000979: 16,3542           73560                           MASK     JETSALL                               
060656,000980: 16,3543           55740                           TS       POLYTEMP                              
060657,000981: 16,3544           71260                           MASK     CH6MASK                               
060658,000982: 16,3545           10000                           CCS      A                                     
060659,000983: 16,3546           13550                           TCF      +2                                    
060660,000984: 16,3547           00002                           TC       Q                                     
060661,000985: 16,3550           11741                           CCS      TEMPNUM                               
060662,000986: 16,3551           13555                           TCF      +4                                    
060663,000987: 16,3552           05567                           TC       ALARM                                 
060664,000988: 16,3553           02003                           OCT      02003                                 
060665,000989: 16,3554           13446                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
060666,000990: 16,3555           55742        SELECTYZ           TS       NUMBERT                               
060667,000991: 16,3556           13536                           TCF      SELECTP    +1                         
060668,000992: 16,3557           12773                 -1        TCF      ABORTYZ    +2                         
060669,000993: 16,3560           00252        JETSALL            OCT      00252                                 
060670,000994: 16,3561           00125                           OCT      00125                                 #  +P
060671,000995: 16,3562           00140                           OCT      00140                                 #  -Y
060672,000996: 16,3563           00006                           OCT      00006                                 #  -Z
060673,000997: 16,3564           00220                           OCT      00220                                 #  +Y
060674,000998: 16,3565           00011                           OCT      00011                                 #  +Z
060675,000999: 16,3566           00151                           OCT      00151                                 #  +V
060676,001000: 16,3567           00146        TYPEP              OCT      00146                                 #  -U
060677,001001: 16,3570           00226                           OCT      00226                                 #  -V
060678,001002: 16,3571           00231                           OCT      00231                                 #  +U
060679,001003: 16,3572           00151                           OCT      00151                                 #  +V
060680,001004: 16,3573           00132                           OCT      00132                                 #  1-3
060681,001005: 16,3574           00245                           OCT      00245                                 #  2-4
060682,001006: 16,3575           00377                           OCT      00377                                 #  ALL
060683,001007: 16,3576  16,3576               INDXYZ             =        -136MST6                              
060684,001008: 16,3576           77445        -136MST6           DEC      -218       B-14                       
060685,001009: 16,3577           00004                           DEC      4          B-14                       
060686,001010: 16,3600           00002                           DEC      2          B-14                       
060687,001011: 16,3601           07776                           OCT      07776                                 
060688,001012: 16,3602           00005                           DEC      5          B-14                       
060689,001013: 16,3603           00011                           DEC      9          B-14                       
060690,001014: 16,3604           00012                           DEC      10         B-14                       
060691,001015: 16,3605           07776                           OCT      07776                                 
060692,001016: 16,3606           00003                           DEC      3          B-14                       

Page 1433

060694,001018: 16,3607           00010                           DEC      8          B-14                       
060695,001019: 16,3610           00007                           DEC      7          B-14                       
060696,001020: 16,3611           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
060697,001021: 16,3612           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
060698,001022: 16,3613           07776                           OCT      07776                                 #  TO BE         TC JETSALL -1
060699,001023: 16,3614           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
060700,001024: 16,3615           07776                           OCT      07776                                 
060701,001025: 16,3616           00360        +150MST6           DEC      240        B-14                       
060702,001026: 16,3617           07400        07400OCT           OCT      07400                                 
060703,001027: 
060704,001028:                                                                                                  #  T-JET LAW FIXED CONSTANTS
060705,001029: 
060706,001030: 16,3620           00266        NORMSCL            OCT      266                                   
060707,001031: 16,3621           74631        -100MS             DEC      -.1                                   
060708,001032: 16,3622           06315        200MS              DEC      .2                                    
060709,001033: 16,3623     7721               25/32              =        PRIO31                                #  (DEC .78125)
060710,001034: 16,3623           00600        BITS8,9            OCTAL    00600                                 
060711,001035: 16,3624           00632        1/40               DEC      .02500                                
060712,001036: 16,3625           77751        MINTIMES           DEC      -22        B-14                       
060713,001037: 16,3626           00026                           DEC      22         B-14                       
060714,001038: 16,3627           02734        PSKIPADR           GENADR   SKIPPAXS                              
060715,001039: 
060716,001040:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
060717,001041: 
060718,001042: 16,3630           41644        QRAXIS             CS       OMEGARD                               
060719,001043: 16,3631           61423                           AD       OMEGAR                                
060720,001044: 16,3632           02310                           TC       OVERSUB                               
060721,001045: 16,3633           55437                           TS       EDOTR                                 
060722,001046: 16,3634           41643                           CS       OMEGAQD                               
060723,001047: 16,3635           61422                           AD       OMEGAQ                                
060724,001048: 16,3636           02310                           TC       OVERSUB                               
060725,001049: 16,3637           55436                           TS       EDOTQ                                 
060726,001050: 16,3640           00006                           EXTEND                                         
060727,001051: 16,3641           33644                           DCA      QERRCALL                              
060728,001052: 16,3642           52006                           DTCB                                           
060729,001053: 
060730,001054: 16,3643  E6,1536                                  EBANK=   AOSQ                                  
060731,001055: 16,3643           02124 36106  QERRCALL           2CADR    CALLQERR                              

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