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.

060734,000002:                                                                                                  ## Copyright:   Public domain.
060735,000003:                                                                                                  ## Filename:    Q_R-AXIS_RCS_AUTOPILOT.agc
060736,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
060737,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
060738,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
060739,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
060740,000008:                                                                                                  ##              that the code format has been changed to conform to the
060741,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
060742,000010:                                                                                                  ##              original YUL assembler.
060743,000011:                                                                                                  ## Reference:   pp. 1434-1451
060744,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060745,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060746,000014:                                                                                                  ## Mod history: 06/07/03 RSB.   Began transcribing.
060747,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
060748,000016:                                                                                                  ##              2010-10-25 JL   Indentation fixes.
060749,000017:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
060750,000018:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
060751,000019:                                                                                                  ##                              numbers in 1701.pdf.
060752,000020:                                                                                                  ##              2017-02-28 RSB  Proofed comment text using octopus/ProoferComments.
060753,000021:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
060754,000022:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
060755,000023:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
060756,000024:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
060757,000025: 

Page 1434

060759,000027: 17,2124                                           BANK     17                                    
060760,000028: 17,2000                                           SETLOC   DAPS2                                 
060761,000029: 17,2000                                           BANK                                           
060762,000030: 
060763,000031: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
060764,000032: 
060765,000033: 17,2124                                           COUNT*   $$/DAPQR                              
060766,000034: 
060767,000035: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
060768,000036: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
060769,000037: 17,2126           02031                           RAND     CHAN31                                
060770,000038: 17,2127           10000                           CCS      A                                     
060771,000039: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
060772,000040: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
060773,000041: 17,2132           74740                           MASK     OURRCBIT                              
060774,000042: 17,2133           00006                           EXTEND                                         
060775,000043: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
060776,000044: 17,2135           02655                           TC       QERRCALC                              
060777,000045: 
060778,000046: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060779,000047: 17,2137           12636                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
060780,000048: 17,2140           12623                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
060781,000049: 17,2141           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
060782,000050: 17,2142           55630                           TS       COTROLER                              
060783,000051: 
060784,000052: 17,2143           53437                           DXCH     EDOTQ                                 
060785,000053: 17,2144           03200                           TC       ROT-TOUV                              
060786,000054: 17,2145           53427                           DXCH     OMEGAU                                
060787,000055: 
060788,000056:                                                                                                  #  X - TRANSLATION:
060789,000057: 
060790,000058:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060791,000059:                                                                                                  #                ULLAGER
060792,000060:                                                                                                  #                APSFLAG, DRIFTBIT
060793,000061:                                                                                                  #                ACC40R2X, ACRBTRAN
060794,000062: 
060795,000063:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
060796,000064:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
060797,000065: 
060798,000066:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
060799,000067:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060800,000068: 
060801,000069: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
060802,000070: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
060803,000071: 17,2150           02031                           RAND     CHAN31                                
060804,000072: 17,2151           00006                           EXTEND                                         
060805,000073: 17,2152           12200                           BZF      +XORULGE                              

Page 1435

060807,000075: 17,2153           34744                           CA       BIT8                                  
060808,000076: 17,2154           00006                           EXTEND                                         
060809,000077: 17,2155           02031                           RAND     CHAN31                                
060810,000078: 17,2156           00006                           EXTEND                                         
060811,000079: 17,2157           12201                           BZF      -XTRANS                               
060812,000080: 
060813,000081: 17,2160           34746                           CA       ULLAGER                               
060814,000082: 17,2161           70111                           MASK     DAPBOOLS                              
060815,000083: 17,2162           10000                           CCS      A                                     
060816,000084: 17,2163           12200                           TCF      +XORULGE                              
060817,000085: 
060818,000086: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
060819,000087: 17,2165           55474                           TS       NEXTV                                 
060820,000088: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
060821,000089: 17,2167           74744                           MASK     DRIFTBIT                              
060822,000090: 17,2170           00006                           EXTEND                                         
060823,000091: 17,2171           12176                           BZF      TSENSE                                
060824,000092: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
060825,000093: 17,2173           74737                           MASK     APSFLBIT                              
060826,000094: 17,2174           10000                           CCS      A                                     
060827,000095: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
060828,000096: 17,2176           55500        TSENSE             TS       SENSETYP                              
060829,000097: 17,2177           12232                           TCF      QRCONTRL                              
060830,000098: 
060831,000099: 17,2200           34753        +XORULGE           CAF      ONE                                   
060832,000100: 17,2201           64751        -XTRANS            AD       FOUR                                  
060833,000101: 17,2202           55743                           TS       ROTINDEX                              
060834,000102: 17,2203           67750                           AD       NEG3                                  
060835,000103: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
060836,000104: 17,2205           30111                           CA       DAPBOOLS                              
060837,000105: 17,2206           74741                           MASK     ACC4OR2X                              
060838,000106: 17,2207           10000                           CCS      A                                     
060839,000107: 17,2210           12352                           TCF      TRANS4                                
060840,000108: 
060841,000109: 17,2211           30111                           CA       DAPBOOLS                              
060842,000110: 17,2212           74742                           MASK     AORBTRAN                              
060843,000111: 17,2213           10000                           CCS      A                                     
060844,000112: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
060845,000113: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
060846,000114: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
060847,000115: 
060848,000116: 17,2217           03225                           TC       SELCTSUB                              
060849,000117: 
060850,000118: 17,2220           11740                           CCS      POLYTEMP                              
060851,000119: 17,2221           12224                           TCF      +3                                    
060852,000120: 17,2222           05567                           TC       ALARM                                 
060853,000121: 17,2223           02002                           OCT      02002                                 
060854,000122: 17,2224           35764                           CA       00314OCT                              
060855,000123: 17,2225           71740                           MASK     POLYTEMP                              
060856,000124: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1436

060858,000126: 17,2227           45764                           CS       00314OCT                              
060859,000127: 17,2230           71740                           MASK     POLYTEMP                              
060860,000128: 17,2231           55474                           TS       NEXTV                                 
060861,000129: 
060862,000130:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
060863,000131:                                                                                                  #        SWITCHES        INDICATION WHEN SET
060864,000132:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
060865,000133:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
060866,000134:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
060867,000135: 
060868,000136: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
060869,000137: 17,2233           00006                           EXTEND                                         
060870,000138: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
060871,000139: 17,2235           10000                           CCS      A                                     
060872,000140: 17,2236           12710                           TCF      ATTSTEER                              
060873,000141: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
060874,000142: 17,2240           70111                           MASK     DAPBOOLS                              
060875,000143: 17,2241           00006                           EXTEND                                         
060876,000144: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060877,000145: 
060878,000146:                                                                                                  #  MINIMUM IMPULSE MODE
060879,000147: 
060880,000148: 17,2243           00004                           INHINT                                         
060881,000149: 17,2244           04674                           TC       IBNKCALL                              
060882,000150: 17,2245           40154                           CADR     ZATTEROR                              
060883,000151: 17,2246           34755                           CA       ZERO                                  
060884,000152: 17,2247           55450                           TS       QERROR                                
060885,000153: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
060886,000154: 17,2251           00003                           RELINT                                         
060887,000155: 
060888,000156: 17,2252           00006                           EXTEND                                         
060889,000157: 17,2253           00031                           READ     CHAN31                                
060890,000158: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
060891,000159: 17,2255           11461                           CCS      OLDQRMIN                              
060892,000160: 17,2256           12300                           TCF      CHECKIN                               
060893,000161: 
060894,000162: 17,2257           31736        FIREQR             CA       TEMP31                                
060895,000163: 17,2260           74753                           MASK     BIT1                                  
060896,000164: 17,2261           00006                           EXTEND                                         
060897,000165: 17,2262           12304                           BZF      +QMIN                                 
060898,000166: 
060899,000167: 17,2263           31736                           CA       TEMP31                                
060900,000168: 17,2264           74752                           MASK     BIT2                                  
060901,000169: 17,2265           00006                           EXTEND                                         
060902,000170: 17,2266           12310                           BZF      -QMIN                                 
060903,000171: 
060904,000172: 17,2267           31736                           CA       TEMP31                                
060905,000173: 17,2270           74747                           MASK     BIT5                                  

Page 1437

060907,000175: 17,2271           00006                           EXTEND                                         
060908,000176: 17,2272           12314                           BZF      +RMIN                                 
060909,000177: 
060910,000178: 17,2273           31736                           CA       TEMP31                                
060911,000179: 17,2274           74746                           MASK     BIT6                                  
060912,000180: 17,2275           00006                           EXTEND                                         
060913,000181: 17,2276           12316                           BZF      -RMIN                                 
060914,000182: 
060915,000183: 17,2277           13112                           TCF      XTRANS                                
060916,000184: 
060917,000185: 17,2300           41736        CHECKIN            CS       TEMP31                                
060918,000186: 17,2301           72351                           MASK     OCT63                                 
060919,000187: 17,2302           55461                           TS       OLDQRMIN                              
060920,000188: 17,2303           13112                           TCF      XTRANS                                
060921,000189: 
060922,000190: 17,2304           33136        +QMIN              CA       14MS                                  
060923,000191: 17,2305           55525                           TS       TJU                                   
060924,000192: 17,2306           43136                           CS       14MS                                  
060925,000193: 17,2307           12320                           TCF      MINQR                                 
060926,000194: 17,2310           43136        -QMIN              CS       14MS                                  
060927,000195: 17,2311           55525                           TS       TJU                                   
060928,000196: 17,2312           33136                           CA       14MS                                  
060929,000197: 17,2313           12320                           TCF      MINQR                                 
060930,000198: 17,2314           33136        +RMIN              CA       14MS                                  
060931,000199: 17,2315           12317                           TCF      +2                                    
060932,000200: 17,2316           43136        -RMIN              CS       14MS                                  
060933,000201: 17,2317           55525                           TS       TJU                                   
060934,000202: 17,2320           55526        MINQR              TS       TJV                                   
060935,000203: 17,2321           32350                           CA       MINADR                                
060936,000204: 17,2322           55477                           TS       RETJADR                               
060937,000205: 17,2323           34753                           CA       ONE                                   
060938,000206: 17,2324           55461                           TS       OLDQRMIN                              
060939,000207: 17,2325           55505        MINRTN             TS       AXISCTR                               
060940,000208: 17,2326           30111                           CA       DAPBOOLS                              
060941,000209: 17,2327           74737                           MASK     CSMDOCKD                              
060942,000210: 17,2330           00006                           EXTEND                                         
060943,000211: 17,2331           12341                           BZF      MIMRET                                
060944,000212: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
060945,000213: 17,2333           11525                           CCS      TJU                                   
060946,000214: 17,2334           34776                           CA       60MS                                  
060947,000215: 17,2335           12337                           TCF      +2                                    
060948,000216: 17,2336           44776                           CS       60MS                                  
060949,000217: 17,2337           51505                           INDEX    AXISCTR                               
060950,000218: 17,2340           55525                           TS       TJU                                   
060951,000219: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
060952,000220: 17,2342           74742                           MASK     AORBTRAN                              
060953,000221: 17,2343           10000                           CCS      A                                     
060954,000222: 17,2344           34753                           CA       ONE                                   
060955,000223: 17,2345           64752                           AD       TWO                                   
060956,000224: 17,2346           55742                           TS       NUMBERT                               

Page 1438

060958,000226: 17,2347           12756                           TCF      AFTERTJ                               
060959,000227: 
060960,000228: 17,2350     4776               60MS               =        OCT140                                
060961,000229: 17,2350           02325        MINADR             GENADR   MINRTN                                
060962,000230: 17,2351           00063        OCT63              OCT      63                                    
060963,000231: 17,2352  17,3136               14MS               =        +TJMINT6                              
060964,000232: 
060965,000233: 17,2352           34751        TRANS4             CA       FOUR                                  
060966,000234: 17,2353           12216                           TCF      TSNUMBRT                              
060967,000235: 
060968,000236:                                                                                                  #  RATE COMMAND MODE:
060969,000237: 
060970,000238:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
060971,000239: 
060972,000240: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
060973,000241: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
060974,000242: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
060975,000243: 17,2357           34735                           CA       BIT15                                 
060976,000244: 17,2360           71443                           MASK     CH31TEMP                              
060977,000245: 17,2361           00006                           EXTEND                                         
060978,000246: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
060979,000247: 17,2363           34740                           CA       OURRCBIT                              #  ***********
060980,000248: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
060981,000249: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
060982,000250: 17,2366           12710                           BZF      STILLRCS                              
060983,000251: 17,2367           44743                           CS       BIT9                                  
060984,000252: 17,2370           71262                           MASK     RCSFLAGS                              
060985,000253: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
060986,000254: 17,2372           12374                           TCF      DAMPING                               
060987,000255: 17,2373     4771               40CYCL             =        OCT50                                 
060988,000256: 17,2373     4753               1/10S              =        BIT1                                  
060989,000257: 17,2373           00056        LINRAT             DEC      46         B-14                       
060990,000258: 
060991,000259:                                                                                                  #  ================================
060992,000260: 
060993,000261: 17,2374           34755        DAMPING            CA       ZERO                                  
060994,000262: 17,2375           55462                           TS       SAVEHAND                              
060995,000263: 17,2376           55463                           TS       SAVEHAND   +1                         
060996,000264: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
060997,000265: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL   WC = A*(B+|D|)*D
060998,000266: 17,2401           12403                           TCF      +2                                    #  *******************
060999,000267: 17,2402           12403                           TCF      +1                                    
061000,000268: 17,2403           60000                           DOUBLE                                         #  WHERE
061001,000269: 17,2404           60000                           DOUBLE                                         
061002,000270: 17,2405           62373                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
061003,000271: 17,2406           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
061004,000272: 17,2407           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
061005,000273: 17,2410           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
061006,000274: 17,2411           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
061007,000275: 17,2412           71444                           MP       STIKSENS                              
061008,000276: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE    SCALED 45 DEG/SEC
061009,000277: 17,2414           40000                           COM                                            

Page 1439

061011,000279: 17,2415           61455                           AD       QLAST                                 
061012,000280: 17,2416           55740                           TS       DAPTEMP3                              
061013,000281: 17,2417           11463                           CCS      SAVEHAND   +1                         
061014,000282: 17,2420           12423                           TCF      +3                                    
061015,000283: 17,2421           12423                           TCF      +2                                    
061016,000284: 17,2422           12423                           TCF      +1                                    
061017,000285: 17,2423           60000                           DOUBLE                                         
061018,000286: 17,2424           60000                           DOUBLE                                         
061019,000287: 17,2425           62373                           AD       LINRAT                                
061020,000288: 17,2426           00006                           EXTEND                                         
061021,000289: 17,2427           71463                           MP       SAVEHAND   +1                         
061022,000290: 17,2430           30001                           CA       L                                     
061023,000291: 17,2431           00006                           EXTEND                                         
061024,000292: 17,2432           71444                           MP       STIKSENS                              
061025,000293: 17,2433           57456                           XCH      RLAST                                 
061026,000294: 17,2434           40000                           COM                                            
061027,000295: 17,2435           61456                           AD       RLAST                                 
061028,000296: 17,2436           55741                           TS       DAPTEMP4                              
061029,000297: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
061030,000298: 17,2440           61422                           AD       OMEGAQ                                
061031,000299: 17,2441           55436                           TS       QRATEDIF                              
061032,000300: 17,2442           41456                           CS       RLAST                                 
061033,000301: 17,2443           61423                           AD       OMEGAR                                
061034,000302: 17,2444           55437                           TS       RRATEDIF                              
061035,000303: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061036,000304: 17,2446           03200                           TC       ROT-TOUV                              
061037,000305: 17,2447           53427                           DXCH     URATEDIF                              
061038,000306: 17,2450           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061039,000307: 17,2451           02454                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061040,000308: 17,2452           02454                           TC       +2                                    
061041,000309: 17,2453           02454                           TC       +1                                    
061042,000310: 17,2454           61476                           AD       -RATEDB                               
061043,000311: 17,2455           00006                           EXTEND                                         
061044,000312: 17,2456           62460                           BZMF     +2                                    
061045,000313: 17,2457           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061046,000314: 17,2460           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061047,000315: 17,2461           02464                           TC       +3                                    
061048,000316: 17,2462           02464                           TC       +2                                    
061049,000317: 17,2463           02464                           TC       +1                                    
061050,000318: 17,2464           61476                           AD       -RATEDB                               
061051,000319: 17,2465           00006                           EXTEND                                         
061052,000320: 17,2466           62470                           BZMF     +2                                    
061053,000321: 17,2467           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061054,000322: 17,2470           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061055,000323: 17,2471           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061056,000324: 17,2472           00006                           EXTEND                                         
061057,000325: 17,2473           12475                           BZF      +2                                    
061058,000326: 17,2474           12500                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061059,000327: 17,2475           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061060,000328: 17,2476           34771                           CA       40CYCL                                

Page 1440

061062,000330: 17,2477           55457                           TS       TCQR                                  
061063,000331: 17,2500           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
061064,000332: 17,2501           04674                           TC       IBNKCALL                              
061065,000333: 17,2502           40154                           FCADR    ZATTEROR                              
061066,000334: 17,2503           00003                           RELINT                                         
061067,000335: 17,2504           34755                           CA       ZERO                                  
061068,000336: 17,2505           55450                           TS       DYERROR                               
061069,000337: 17,2506           55451                           TS       DYERROR    +1                         
061070,000338: 17,2507           55452                           TS       DZERROR                               
061071,000339: 17,2510           55453                           TS       DZERROR    +1                         
061072,000340: 17,2511           11426                           CCS      URATEDIF                              
061073,000341: 17,2512           12515                           TCF      +3                                    
061074,000342: 17,2513           12515                           TCF      +2                                    
061075,000343: 17,2514           12515                           TCF      +1                                    
061076,000344: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061077,000345: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061078,000346: 17,2517           62533                           BZMF     VDB                                   
061079,000347: 17,2520           11427                           CCS      VRATEDIF                              
061080,000348: 17,2521           12524                           TCF      +3                                    
061081,000349: 17,2522           12524                           TCF      +2                                    
061082,000350: 17,2523           12524                           TCF      +1                                    
061083,000351: 17,2524           61476                           AD       TARGETDB                              
061084,000352: 17,2525           00006                           EXTEND                                         
061085,000353: 17,2526           62530                           BZMF     +2                                    
061086,000354: 17,2527           12544                           TCF      QRTIME                                
061087,000355: 17,2530           34755                           CA       ZERO                                  
061088,000356: 17,2531           55427                           TS       VRATEDIF                              
061089,000357: 17,2532           12544                           TCF      QRTIME                                
061090,000358: 17,2533           11427        VDB                CCS      VRATEDIF                              
061091,000359: 17,2534           02537                           TC       +3                                    
061092,000360: 17,2535           02537                           TC       +2                                    
061093,000361: 17,2536           02537                           TC       +1                                    
061094,000362: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061095,000363: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061096,000364: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061097,000365: 17,2542           34755                           CA       ZERO                                  #  PASS.
061098,000366: 17,2543           55426                           TS       URATEDIF                              
061099,000367: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061100,000368: 17,2545           00006                           EXTEND                                         
061101,000369: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061102,000370: 17,2547           41262                           CS       RCSFLAGS                              
061103,000371: 17,2550           74741                           MASK     QRBIT                                 
061104,000372: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061105,000373: 17,2552           02556                           TC       +4                                    
061106,000374: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
061107,000375: 17,2554           71262                           MASK     RCSFLAGS                              
061108,000376: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061109,000377: 17,2556           32622                           CA       HANDADR                               
061110,000378: 17,2557           55477                           TS       RETJADR                               
061111,000379: 17,2560           34753                           CA       ONE                                   
061112,000380: 

Page 1441

061114,000382: 17,2561           55505        BACKHAND           TS       AXISCTR                               
061115,000383: 
061116,000384: 17,2562           34751                           CA       FOUR                                  
061117,000385: 17,2563           55742                           TS       NUMBERT                               
061118,000386: 
061119,000387: 17,2564           51505                           INDEX    AXISCTR                               
061120,000388: 17,2565           51534                           INDEX    SKIPU                                 
061121,000389: 17,2566           12567                           TCF      +1                                    
061122,000390: 17,2567           34751                           CA       FOUR                                  
061123,000391: 17,2570           51505                           INDEX    AXISCTR                               
061124,000392: 17,2571           55534                           TS       SKIPU                                 
061125,000393: 17,2572           13034                           TCF      LOOPER                                
061126,000394: 
061127,000395: 17,2573           51505                           INDEX    AXISCTR                               
061128,000396: 17,2574           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
061129,000397: 17,2575           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
061130,000398: 17,2576           12600                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
061131,000399: 17,2577           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
061132,000400: 17,2600           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
061133,000401: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061134,000402: 
061135,000403: 17,2602           50000                           INDEX    A                                     
061136,000404: 17,2603           41570                           CS       1/ANET2    +1                         
061137,000405: 17,2604           00006                           EXTEND                                         
061138,000406: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061139,000407: 17,2606           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
061140,000408: 17,2607           54002                           TS       Q                                     
061141,000409: 17,2610           20001                           DAS      A                                     
061142,000410: 17,2611           60002                           AD       Q                                     
061143,000411: 17,2612           54000                           TS       A                                     #  OVERFLOW SKIP
061144,000412: 17,2613           12615                           TCF      +2                                    
061145,000413: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061146,000414: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
061147,000415: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061148,000416: 17,2617           12756                           TCF      AFTERTJ                               
061149,000417: 
061150,000418: 17,2620           34755        ZEROTJ             CA       ZERO                                  
061151,000419: 17,2621           12615                           TCF      SETTIME                               
061152,000420: 
061153,000421: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
061154,000422: 
061155,000423:                                                                                                  #  GTS WILL BE TRIED IF
061156,000424:                                                                                                  #        1. USEQRJTS = 0,
061157,000425:                                                                                                  #        2. ALLOWGTS POS,
061158,000426:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
061159,000427: 
061160,000428: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
061161,000429: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061162,000430: 17,2625           10000                           CCS      A                                     
061163,000431: 17,2626           12141                           TCF      RCS                                   
061164,000432: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1442

061166,000434: 17,2630           12632                           TCF      +2                                    
061167,000435: 17,2631           12141                           TCF      RCS                                   
061168,000436: 17,2632           00006                           EXTEND                                         
061169,000437: 17,2633           00005                           READ     CHAN5                                 
061170,000438: 17,2634           10000                           CCS      A                                     
061171,000439: 17,2635           12641                           TCF      CHKINGTS                              
061172,000440: 17,2636           00006        GOTOGTS            EXTEND                                         
061173,000441: 17,2637           32654                           DCA      GTSCADR                               
061174,000442: 17,2640           52006                           DTCB                                           
061175,000443: 
061176,000444: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061177,000445: 17,2642           12644                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
061178,000446: 17,2643           12141                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE. DO RCS
061179,000447: 17,2644           00004                           INHINT                                         
061180,000448: 17,2645           04674                           TC       IBNKCALL                              
061181,000449: 17,2646           43327                           CADR     TIMEGMBL                              
061182,000450: 17,2647           00003                           RELINT                                         
061183,000451: 17,2650           34755                           CAF      ZERO                                  
061184,000452: 17,2651           55632                           TS       INGTS                                 
061185,000453: 17,2652           12141                           TCF      RCS                                   
061186,000454: 
061187,000455: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
061188,000456: 17,2653           03076 42106  GTSCADR            2CADR    GTS                                   
061189,000457: 

Page 1443

061191,000459:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061192,000460: 
061193,000461: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
061194,000462: 17,2656           00006                           EXTEND                                         
061195,000463: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061196,000464: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
061197,000465: 17,2661           00006                           EXTEND                                         
061198,000466: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061199,000467: 17,2663           55751                           TS       E                                     
061200,000468: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
061201,000469: 17,2665           00006                           EXTEND                                         
061202,000470: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061203,000471: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
061204,000472: 17,2670           00006                           EXTEND                                         
061205,000473: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061206,000474: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
061207,000475: 17,2673           61751                           AD       E                                     
061208,000476: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061209,000477: 
061210,000478: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
061211,000479: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061212,000480: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061213,000481: 17,2700           55751                           TS       E                                     
061214,000482: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
061215,000483: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061216,000484: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061217,000485: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
061218,000486: 17,2705           61751                           AD       E                                     
061219,000487: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061220,000488: 17,2707           00002                           TC       Q                                     
061221,000489: 

Page 1444

061223,000491:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061224,000492: 
061225,000493: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061226,000494: 
061227,000495: 17,2710           31452        STILLRCS           CA       RERROR                                
061228,000496: 17,2711           22000                           LXCH     A                                     
061229,000497: 17,2712           31450                           CA       QERROR                                
061230,000498: 17,2713           03200                           TC       ROT-TOUV                              
061231,000499: 17,2714           53751                           DXCH     UERROR                                
061232,000500: 
061233,000501:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061234,000502:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061235,000503: 
061236,000504: 17,2715           33142        TJLAW              CA       TJLAWADR                              
061237,000505: 17,2716           55477                           TS       RETJADR                               
061238,000506: 17,2717           34753                           CA       ONE                                   
061239,000507: 17,2720           55505                           TS       AXISCTR                               
061240,000508: 17,2721           51505                           INDEX    AXISCTR                               
061241,000509: 17,2722           51534                           INDEX    SKIPU                                 
061242,000510: 17,2723           12724                           TCF      +1                                    
061243,000511: 17,2724           34751                           CA       FOUR                                  
061244,000512: 17,2725           51505                           INDEX    AXISCTR                               
061245,000513: 17,2726           55534                           TS       SKIPU                                 
061246,000514: 17,2727           13034                           TCF      LOOPER                                
061247,000515: 17,2730           51505                           INDEX    AXISCTR                               
061248,000516: 17,2731           31750                           CA       UERROR                                
061249,000517: 17,2732           55751                           TS       E                                     
061250,000518: 17,2733           51505                           INDEX    AXISCTR                               
061251,000519: 17,2734           31426                           CA       OMEGAU                                
061252,000520: 17,2735           55427                           TS       EDOT                                  
061253,000521: 17,2736           30111                           CA       DAPBOOLS                              
061254,000522: 17,2737           74737                           MASK     CSMDOCKD                              
061255,000523: 17,2740           10000                           CCS      A                                     
061256,000524: 17,2741           12744                           TCF      +3                                    
061257,000525: 17,2742           03304                           TC       TJETLAW                               
061258,000526: 17,2743           12756                           TCF      AFTERTJ                               
061259,000527: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
061260,000528: 17,2745           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
061261,000529: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
061262,000530: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
061263,000531: 17,2750           00004                           INHINT                                         
061264,000532: 17,2751           04674                           TC       IBNKCALL                              
061265,000533: 17,2752           43736                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
061266,000534: 17,2753           00003                           RELINT                                         
061267,000535: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061268,000536: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
061269,000537: 
061270,000538:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
061271,000539: 
061272,000540:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
061273,000541:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1445

061275,000543:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
061276,000544:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
061277,000545:                                                                                                  #                RETJADR         WHERE TO RETURN TO
061278,000546: 
061279,000547:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
061280,000548:                                                                                                  #                CHANNEL 5
061281,000549:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
061282,000550: 
061283,000551:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061284,000552:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
061285,000553:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
061286,000554:                                                                                                  #                IF NONE CAN BE FOUND.
061287,000555: 
061288,000556:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061289,000557:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061290,000558: 
061291,000559: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
061292,000560: 17,2757           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
061293,000561: 17,2760           00006                           EXTEND                                         
061294,000562: 17,2761           12772                           BZF      DOROTAT                               
061295,000563: 17,2762           40106                           CS       FLGWRD10                              
061296,000564: 17,2763           74737                           MASK     APSFLBIT                              
061297,000565: 17,2764           00006                           EXTEND                                         
061298,000566: 17,2765           12772                           BZF      DOROTAT                               
061299,000567: 17,2766           30111                           CA       DAPBOOLS                              
061300,000568: 17,2767           74744                           MASK     DRIFTBIT                              
061301,000569: 17,2770           00006                           EXTEND                                         
061302,000570: 17,2771           13112                           BZF      XTRANS                                
061303,000571: 
061304,000572: 17,2772           34752        DOROTAT            CAF      TWO                                   
061305,000573: 17,2773           54001                           TS       L                                     
061306,000574: 17,2774           51505                           INDEX    AXISCTR                               
061307,000575: 17,2775           11525                           CCS      TJU                                   
061308,000576: 17,2776           13003                           TCF      +5                                    
061309,000577: 17,2777           13026                           TCF      NOROTAT                               
061310,000578: 17,3000           13002                           TCF      +2                                    
061311,000579: 17,3001           13026                           TCF      NOROTAT                               
061312,000580: 17,3002           22007                           ZL                                             
061313,000581: 17,3003           64753                           AD       ONE                                   
061314,000582: 17,3004           55736                           TS       ABSTJ                                 
061315,000583: 
061316,000584: 17,3005           31505                           CA       AXISCTR                               
061317,000585: 17,3006           60001                           AD       L                                     
061318,000586: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
061319,000587: 
061320,000588: 17,3010           31736                           CA       ABSTJ                                 
061321,000589: 17,3011           63137                           AD       -150MS                                
061322,000590: 17,3012           00006                           EXTEND                                         
061323,000591: 17,3013           63037                           BZMF     DOSKIP                                

Page 1446

061325,000593: 17,3014           03225                           TC       SELCTSUB                              
061326,000594: 
061327,000595: 17,3015           51505                           INDEX    AXISCTR                               
061328,000596: 17,3016           33134                           CA       INDEXES                               
061329,000597: 17,3017           54001                           TS       L                                     
061330,000598: 
061331,000599: 17,3020           31740                           CA       POLYTEMP                              
061332,000600: 17,3021           00004                           INHINT                                         
061333,000601: 17,3022           50001                           INDEX    L                                     
061334,000602: 17,3023           05744                           TC       WRITEP                                
061335,000603: 
061336,000604: 17,3024           00003                           RELINT                                         
061337,000605: 17,3025           13100                           TCF      FEEDBACK                              
061338,000606: 
061339,000607: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
061340,000608: 17,3027           33134                           CA       INDEXES                               
061341,000609: 17,3030           00004                           INHINT                                         
061342,000610: 17,3031           50000                           INDEX    A                                     
061343,000611: 17,3032           05743                           TC       WRITEP     -1                         
061344,000612: 
061345,000613: 17,3033           00003                           RELINT                                         
061346,000614: 17,3034           11505        LOOPER             CCS      AXISCTR                               
061347,000615: 17,3035           01477                           TC       RETJADR                               
061348,000616: 17,3036           13270                           TCF      CLOSEOUT                              
061349,000617: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
061350,000618: 17,3040           63136                           AD       +TJMINT6                              #  14MS
061351,000619: 17,3041           00006                           EXTEND                                         
061352,000620: 17,3042           63061                           BZMF     NOTMIN                                
061353,000621: 
061354,000622: 17,3043           27736                           ADS      ABSTJ                                 
061355,000623: 17,3044           51505                           INDEX    AXISCTR                               
061356,000624: 17,3045           11525                           CCS      TJU                                   
061357,000625: 17,3046           33136                           CA       +TJMINT6                              
061358,000626: 17,3047           13051                           TCF      +2                                    
061359,000627: 17,3050           43136                           CS       +TJMINT6                              
061360,000628: 17,3051           51505                           INDEX    AXISCTR                               
061361,000629: 17,3052           55525                           TS       TJU                                   
061362,000630: 
061363,000631: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
061364,000632: 17,3054           13060                           TCF      NOTMIN     -1                         
061365,000633: 17,3055           00006                           EXTEND                                         
061366,000634: 17,3056           00004                           READ     LOSCALAR                              
061367,000635: 17,3057           74753                           MASK     ONE                                   
061368,000636: 17,3060           55742                           TS       NUMBERT                               
061369,000637: 
061370,000638: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
061371,000639: 
061372,000640: 17,3062           51505                           INDEX    AXISCTR                               
061373,000641: 17,3063           33134                           CA       INDEXES                               
061374,000642: 17,3064           00004                           INHINT                                         

Page 1447

061376,000644: 17,3065           55471                           TS       T6FURTHA   +1                         
061377,000645: 17,3066           31740                           CA       POLYTEMP                              
061378,000646: 17,3067           51471                           INDEX    T6FURTHA   +1                         
061379,000647: 17,3070           05744                           TC       WRITEP                                
061380,000648: 
061381,000649: 17,3071           31736                           CA       ABSTJ                                 
061382,000650: 17,3072           55470                           TS       T6FURTHA                              
061383,000651: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
061384,000652: 
061385,000653: 17,3074           00003                           RELINT                                         
061386,000654: 
061387,000655: 17,3075           34755                           CA       ZERO                                  
061388,000656: 17,3076           51505                           INDEX    AXISCTR                               
061389,000657: 17,3077           55534                           TS       SKIPU                                 
061390,000658: 
061391,000659: 17,3100           46250        FEEDBACK           CS       THREE                                 
061392,000660: 17,3101           61742                           AD       NUMBERT                               
061393,000661: 17,3102           00006                           EXTEND                                         
061394,000662: 17,3103           63106                           BZMF     +3                                    
061395,000663: 
061396,000664: 17,3104           34752                           CA       TWO                                   
061397,000665: 17,3105           13107                           TCF      +2                                    
061398,000666: 17,3106           34753                           CA       ONE                                   
061399,000667: 17,3107           51505                           INDEX    AXISCTR                               
061400,000668: 17,3110           55522                           TS       NO.UJETS                              
061401,000669: 17,3111           13034                           TCF      LOOPER                                
061402,000670: 
061403,000671: 17,3112           34755        XTRANS             CA       ZERO                                  
061404,000672: 17,3113           55525                           TS       TJU                                   
061405,000673: 17,3114           55526                           TS       TJV                                   
061406,000674: 17,3115           34751                           CA       FOUR                                  
061407,000675: 17,3116           00004                           INHINT                                         
061408,000676: 17,3117           57534                           XCH      SKIPU                                 
061409,000677: 17,3120           00006                           EXTEND                                         
061410,000678: 17,3121           13123                           BZF      +2                                    
061411,000679: 17,3122           05747                           TC       WRITEU     -1                         
061412,000680: 17,3123           34751                           CA       FOUR                                  
061413,000681: 17,3124           57535                           XCH      SKIPV                                 
061414,000682: 17,3125           00003                           RELINT                                         
061415,000683: 
061416,000684: 17,3126           00006                           EXTEND                                         
061417,000685: 17,3127           13270                           BZF      CLOSEOUT                              
061418,000686: 17,3130           00004                           INHINT                                         
061419,000687: 17,3131           05760                           TC       WRITEV     -1                         
061420,000688: 17,3132           00003                           RELINT                                         
061421,000689: 
061422,000690: 17,3133           13270                           TCF      CLOSEOUT                              
061423,000691: 17,3134           00004        INDEXES            DEC      4          B-14                       
061424,000692: 17,3135           00015                           DEC      13         B-14                       
061425,000693: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1448

061427,000695: 17,3137           77417        -150MS             DEC      -240       B-14                       
061428,000696: 17,3140           00600        BIT8,9             OCT      00600                                 
061429,000697: 17,3141           00266        SCLNORM            OCT      266                                   
061430,000698: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061431,000699: 
061432,000700:                                                                                                  #  THE JET LIST:
061433,000701:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
061434,000702: 
061435,000703:                                                                                                  #  CALLED BY:
061436,000704:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
061437,000705:                                                                                                  #                TS      T6FURTHA
061438,000706:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061439,000707:                                                                                                  #                TS      T6FURTHA +1
061440,000708:                                                                                                  #                TC      JTLST
061441,000709: 
061442,000710:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061443,000711:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061444,000712:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061445,000713:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061446,000714:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061447,000715: 
061448,000716:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061449,000717:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
061450,000718: 
061451,000719:                                                                                                  #  RETURNS BY:
061452,000720:                                                                                                  #        +       TC      Q
061453,000721: 
061454,000722:                                                                                                  #  DEFINITIONS:  (OUTPUT)
061455,000723:                                                                                                  #        TIME6           TIME OF NEXT RUPT
061456,000724:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
061457,000725:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
061458,000726:                                                                                                  #        NXT6ADR         AXIS INDEX      Q - P-AXIS
061459,000727:                                                                                                  #        T6NEXT +1       AXIS INDEX      4 - U-AXIS
061460,000728:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
061461,000729: 
061462,000730: 17,3143           41470        JTLST              CS       T6FURTHA                              
061463,000731: 17,3144           60031                           AD       TIME6                                 
061464,000732: 17,3145           00006                           EXTEND                                         
061465,000733: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
061466,000734: 
061467,000735: 17,3147           23465                           LXCH     NXT6ADR                               
061468,000736: 17,3150           53467                           DXCH     T6NEXT                                
061469,000737: 17,3151           53471                           DXCH     T6FURTHA                              
061470,000738: 17,3152           54031                           TS       TIME6                                 
061471,000739: 17,3153           23465                           LXCH     NXT6ADR                               
061472,000740: 
061473,000741: 17,3154           00006        TURNON             EXTEND                                         
061474,000742: 17,3155           23265                           QXCH     C13QSAV                               
061475,000743: 17,3156           06022                           TC       C13STALL                              
061476,000744: 
061477,000745: 17,3157           34735                           CA       BIT15                                 

Page 1449

061479,000747: 17,3160           00006                           EXTEND                                         
061480,000748: 17,3161           05013                           WOR      CHAN13                                
061481,000749: 17,3162           01265                           TC       C13QSAV                               
061482,000750: 
061483,000751: 17,3163           61466        MIDORLST           AD       T6NEXT                                
061484,000752: 17,3164           00006                           EXTEND                                         
061485,000753: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
061486,000754: 
061487,000755: 17,3166           23467                           LXCH     T6NEXT     +1                         
061488,000756: 17,3167           53471                           DXCH     T6FURTHA                              
061489,000757: 17,3170           00006                           EXTEND                                         
061490,000758: 17,3171           60031                           SU       TIME6                                 
061491,000759: 17,3172           53467                           DXCH     T6NEXT                                
061492,000760: 
061493,000761: 17,3173           00002                           TC       Q                                     
061494,000762: 
061495,000763: 17,3174           40000        LASTCHG            CS       A                                     
061496,000764: 17,3175           64754                           AD       NEG0                                  
061497,000765: 17,3176           55470                           TS       T6FURTHA                              
061498,000766: 
061499,000767: 17,3177           00002                           TC       Q                                     
061500,000768: 
061501,000769:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061502,000770:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
061503,000771:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061504,000772:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
061505,000773: 
061506,000774: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
061507,000775: 17,3201           00006                           EXTEND                                         
061508,000776: 17,3202           71626                           MP       COEFFQ                                
061509,000777: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061510,000778: 17,3204           00006                           EXTEND                                         
061511,000779: 17,3205           71627                           MP       COEFFR                                
061512,000780: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
061513,000781: 17,3207           61737                           AD       ROTEMP2                               
061514,000782: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061515,000783: 17,3211           13215                           TCF      +4                                    
061516,000784: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061517,000785: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061518,000786: 17,3214           55736                           TS       ROTEMP1                               
061519,000787: 17,3215           41737                           CS       ROTEMP2                               
061520,000788: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061521,000789: 17,3217           54007                           TS       7                                     
061522,000790: 17,3220           13223                           TCF      +3                                    
061523,000791: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061524,000792: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061525,000793: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061526,000794: 17,3224           00002                           TC       Q                                     
061527,000795: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              

Page 1450

061529,000797: 17,3226           33257                           CA       ALLJETS                               
061530,000798: 17,3227           51742                           INDEX    NUMBERT                               
061531,000799: 17,3230           73263                           MASK     TYPEPOLY                              
061532,000800: 17,3231           55740                           TS       POLYTEMP                              
061533,000801: 
061534,000802: 17,3232           71257                           MASK     CH5MASK                               
061535,000803: 17,3233           10000                           CCS      A                                     
061536,000804: 17,3234           13236                           TCF      +2                                    
061537,000805: 
061538,000806: 17,3235           00002                           TC       Q                                     
061539,000807: 
061540,000808: 17,3236           36250                           CA       THREE                                 
061541,000809: 17,3237           55742        FAILOOP            TS       NUMBERT                               
061542,000810: 17,3240           51743                           INDEX    ROTINDEX                              
061543,000811: 17,3241           33257                           CA       ALLJETS                               
061544,000812: 17,3242           51742                           INDEX    NUMBERT                               
061545,000813: 17,3243           73263                           MASK     TYPEPOLY                              
061546,000814: 17,3244           55740                           TS       POLYTEMP                              
061547,000815: 17,3245           71257                           MASK     CH5MASK                               
061548,000816: 17,3246           00006                           EXTEND                                         
061549,000817: 17,3247           13235                           BZF      FAILOOP    -2                         
061550,000818: 17,3250           11742                           CCS      NUMBERT                               
061551,000819: 17,3251           13237                           TCF      FAILOOP                               
061552,000820: 17,3252           51505                           INDEX    AXISCTR                               
061553,000821: 17,3253           55525                           TS       TJU                                   
061554,000822: 17,3254           05567                           TC       ALARM                                 
061555,000823: 17,3255           02004                           OCT      02004                                 
061556,000824: 17,3256           13026                           TCF      NOROTAT                               
061557,000825: 17,3257           00110        ALLJETS            OCT      00110                                 #        -U      6 13
061558,000826: 17,3260           00022                           OCT      00022                                 #        -V      2 9
061559,000827: 17,3261           00204                           OCT      00204                                 #        +U      5 14
061560,000828: 
061561,000829: 17,3262           00041                           OCT      00041                                 #        +V      1 10
061562,000830: 17,3263           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
061563,000831: 17,3264           00252                           OCT      00252                                 #        +X      2 6 10 14
061564,000832: 17,3265           00146                           OCT      00146                                 #        A       2 5 10 13
061565,000833: 17,3266           00231                           OCT      00231                                 #        B       1 6 9 14
061566,000834: 17,3267           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
061567,000835: 
061568,000836:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061569,000837: 
061570,000838: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
061571,000839: 17,3271           07757                           TC       MAKERUPT                              
061572,000840: 
061573,000841: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
061574,000842: 
061575,000843: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
061576,000844: 17,3274           52011                           DXCH     ARUPT                                 
061577,000845: 17,3275           53755                           DXCH     DAPBQRPT                              
061578,000846: 17,3276           56017                           XCH      BRUPT                                 

Page 1451

061580,000848: 17,3277           22002                           LXCH     Q                                     
061581,000849: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061582,000850: 17,3301           53757                           DXCH     DAPZRUPT                              
061583,000851: 17,3302           52016                           DXCH     ZRUPT                                 
061584,000852: 17,3303           15272                           TCF      NOQRSM                                
061585,000853:    7757                                           BLOCK    3                                     
061586,000854:    6000                                           SETLOC   FFTAG6                                
061587,000855:    6000                                           BANK                                           
061588,000856: 
061589,000857:    7757                                           COUNT*   $$/DAP                                
061590,000858: 
061591,000859:    7757           00006        MAKERUPT           EXTEND                                         
061592,000860:    7760           07757                           EDRUPT   MAKERUPT                              
061593,000861: 

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