Source Code

These source-code files are part of a reconstructed copy of Luminary 173, the second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 178. Changes between revision 173 and 178 were backed out, as described by Luminary memo 167 (revision 1). The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152N. Note that page numbers in the reconstructed code match those for the baseline log section mentioned in each file's changelog; the page numbers for a real Luminary 173 listing would be different.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

060407,000002:                                                                                                  ## Copyright:   Public domain.
060408,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
060409,000004:                                                                                                  ## Purpose:     A section of Luminary revision 173.
060410,000005:                                                                                                  ##              It is part of the reconstructed source code for the second
060411,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
060412,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
060413,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
060414,000009:                                                                                                  ##              Luminary 178, as well as Luminary memo 167 (revision 1).
060415,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
060416,000011:                                                                                                  ##              exactly match those specified for Luminary 173 in NASA
060417,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
060418,000013:                                                                                                  ##              that the reconstruction is correct.
060419,000014:                                                                                                  ## Reference:   pp. 1409-1429
060420,000015:                                                                                                  ## Assembler:   yaYUL
060421,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060422,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060423,000018:                                                                                                  ## Mod history: 2019-09-18 MAS  Created from Luminary 178.
060424,000019:                                                                                                  ##              2021-05-30 ABS  +8 -> +8D
060425,000020: 

Page 1409

060427,000022: 16,2213                                           BANK     16                                    
060428,000023: 16,2000                                           SETLOC   DAPS1                                 
060429,000024: 16,2000                                           BANK                                           
060430,000025: 
060431,000026: 16,2213  E6,1464                                  EBANK=   PERROR                                
060432,000027: 16,2213                                           COUNT*   $$/DAPP                               
060433,000028: 
060434,000029:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060435,000030:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060436,000031: 
060437,000032: 16,2213           37732        PAXIS              CA       MS100                                 
060438,000033: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
060439,000034:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
060440,000035: 
060441,000036: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
060442,000037: 16,2216           00006                           EXTEND                                         
060443,000038: 16,2217           22012                           QXCH     QRUPT                                 
060444,000039: 
060445,000040:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
060446,000041: 
060447,000042: 16,2220           11756                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
060448,000043: 16,2221           05635                           TC       BAILOUT                               #     STILL IN PROGRESS AND A RESTART IS
060449,000044: 16,2222           32000                           OCT      32000                                 #    CALLED FOR.  IT IS NEVER ZERO
060450,000045: 
060451,000046: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060452,000047: 
060453,000048: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
060454,000049: 16,2225           55747                           TS       DAPTREG4                              
060455,000050: 16,2226           30033                           CA       CDUY                                  
060456,000051: 16,2227           55750                           TS       DAPTREG5                              
060457,000052: 16,2230           30034                           CA       CDUZ                                  
060458,000053: 16,2231           55751                           TS       DAPTREG6                              
060459,000054:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060460,000055: 
060461,000056:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060462,000057:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060463,000058: 
060464,000059: 16,2232           31634                           CA       CDUXD                                 
060465,000060: 16,2233           00006                           EXTEND                                         
060466,000061: 16,2234           21637                           MSU      DELCDUX                               
060467,000062: 16,2235           02256                           TC       1STOTWOS                              
060468,000063: 16,2236           55634                           TS       CDUXD                                 
060469,000064: 16,2237           31635                           CA       CDUYD                                 
060470,000065: 16,2240           00006                           EXTEND                                         
060471,000066: 16,2241           21640                           MSU      DELCDUY                               
060472,000067: 16,2242           02256                           TC       1STOTWOS                              
060473,000068: 16,2243           55635                           TS       CDUYD                                 
060474,000069: 16,2244           31636                           CA       CDUZD                                 
060475,000070: 16,2245           00006                           EXTEND                                         
060476,000071: 16,2246           21641                           MSU      DELCDUZ                               
060477,000072: 

Page 1410

060479,000074: 16,2247           02256                           TC       1STOTWOS                              
060480,000075: 16,2250           55636                           TS       CDUZD                                 
060481,000076: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
060482,000077: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
060483,000078: 16,2253           00006                           EXTEND                                         
060484,000079: 16,2254           27457                           DIM      TCQR                                  
060485,000080:                                                                                                  #                                          RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060486,000081:                                                                                                  #                                            RETURNS TO BACKP.
060487,000082: 
060488,000083:                                                                                                  #                                            JETRATE = 1JACC*NO.PJETS*TJP  (NOTE TJ IS THE TIME FIRED DURING CSP)
060489,000084: 
060490,000085:                                                                                                  #                                            JETRATEQ= 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060491,000086: 
060492,000087:                                                                                                  #                                            JETRATER= 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060493,000088: 
060494,000089: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
060495,000090: 16,2256           10000        1STOTWOS           CCS      A                                     
060496,000091: 16,2257           64753                           AD       ONE                                   
060497,000092: 16,2260           00002                           TC       Q                                     
060498,000093: 16,2261           40000                           CS       A                                     
060499,000094: 16,2262           00002                           TC       Q                                     
060500,000095: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
060501,000096: 16,2264           71740                           MP       DAPTEMP3                              #    POSMAX OR NEGMAX IF THE DIVIDE WOULD
060502,000097: 16,2265           21427                           DAS      OMEGAU                                #    OVERFLOW
060503,000098: 
060504,000099: 16,2266           00006                 +3        EXTEND                                         
060505,000100: 16,2267           31427                           DCA      OMEGAU                                
060506,000101: 16,2270           53743                           DXCH     DAPTEMP5                              
060507,000102: 16,2271           11426                           CCS      OMEGAU                                
060508,000103: 16,2272           12274                           TCF      +2                                    
060509,000104: 16,2273           12304                           TCF      DIVIDER                               
060510,000105: 16,2274           62315                           AD       -OCT630                               
060511,000106: 16,2275           00006                           EXTEND                                         
060512,000107: 16,2276           62304                           BZMF     DIVIDER                               
060513,000108: 
060514,000109: 16,2277           11426                           CCS      OMEGAU                                
060515,000110: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
060516,000111: 16,2301           00002                           TC       Q                                     
060517,000112: 16,2302           44733                           CS       POSMAX                                
060518,000113: 16,2303           00002                           TC       Q                                     
060519,000114: 
060520,000115: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
060521,000116: 16,2305           00006                           EXTEND                                         
060522,000117: 16,2306           11747                           DV       DAPTREG4                              
060523,000118: 16,2307           00002                           TC       Q                                     
060524,000119: 
060525,000120: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
060526,000121: 16,2311           00002                           TC       Q                                     #    POSMAX OR NEGMAX IF A HAS OVERFLOW
060527,000122: 16,2312           50000                           INDEX    A                                     
060528,000123: 16,2313           44734                           CS       BIT15      -1                         
060529,000124: 

Page 1411

060531,000126: 16,2314           00002                           TC       Q                                     
060532,000127: 
060533,000128: 16,2315           77147        -OCT630            OCT      77147                                 
060534,000129: 
060535,000130: 16,2316           31736        BACKP              CA       DAPTEMP1                              
060536,000131: 16,2317           00006                           EXTEND                                         
060537,000132: 16,2320           71530                           MP       1JACC                                 
060538,000133: 16,2321           55744                           TS       JETRATE                               
060539,000134:                                                                                                  #                                          BEGINNING OF THE RATE DERIVATION
060540,000135:                                                                                                  #                                          OMEGAP,Q,R      BODY RATES SCALED AT PI/4
060541,000136:                                                                                                  #                                          TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060542,000137:                                                                                                  #                                          NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060543,000138:                                                                                                  #                                          AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
060544,000139:                                                                                                  #                                          JETRATE,Q,R     CHANGE IN RATE DUE TO  JET   ACCELLERATION. (PI/4)
060545,000140:                                                                                                  #                                          TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP,ECT.
060546,000141:                                                                                                  #                                          OMEGAU          DP-TEMPORARY STORAGE
060547,000142: 
060548,000143:                                                                                                  #                                              OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060549,000144: 
060550,000145: 16,2322           31747                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
060551,000146: 16,2323           54001                           TS       L                                     
060552,000147: 16,2324           00006                           EXTEND                                         
060553,000148: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
060554,000149: 16,2326           23440                           LXCH     OLDXFORP                              
060555,000150: 16,2327           55736                           TS       DAPTEMP1                              
060556,000151: 16,2330           33623                           CA       1/40                                  
060557,000152: 16,2331           55747                           TS       DAPTREG4                              
060558,000153: 16,2332           41744                           CS       JETRATE                               
060559,000154: 16,2333           00006                           EXTEND                                         
060560,000155: 16,2334           74736                           MP       BIT14                                 
060561,000156: 16,2335           27430                           ADS      TRAPEDP                               
060562,000157: 16,2336           31745                           CA       JETRATEQ                              
060563,000158: 16,2337           61544                           AD       AOSQTERM                              
060564,000159: 16,2340           00006                           EXTEND                                         
060565,000160: 16,2341           77741                           MP       -BIT14                                
060566,000161: 16,2342           27431                           ADS      TRAPEDQ                               
060567,000162: 16,2343           31746                           CA       JETRATER                              
060568,000163: 16,2344           61545                           AD       AOSRTERM                              
060569,000164: 16,2345           00006                           EXTEND                                         
060570,000165: 16,2346           77741                           MP       -BIT14                                
060571,000166: 16,2347           27432                           ADS      TRAPEDR                               
060572,000167: 
060573,000168: 16,2350           31750                           CA       DAPTREG5                              #  CDUY IS STORED HERE
060574,000169: 16,2351           54001                           TS       L                                     
060575,000170: 16,2352           00006                           EXTEND                                         
060576,000171: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
060577,000172: 16,2354           23441                           LXCH     OLDYFORP                              
060578,000173: 16,2355           55737                           TS       DAPTEMP2                              
060579,000174: 16,2356           00006                           EXTEND                                         
060580,000175: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1412

060582,000177: 16,2360           61736                           AD       DAPTEMP1                              
060583,000178: 16,2361           53427                           DXCH     OMEGAU                                
060584,000179: 
060585,000180: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
060586,000181: 
060587,000182: 16,2363           00006                           EXTEND                                         
060588,000183: 16,2364           61421                           SU       OMEGAP                                
060589,000184: 16,2365           27430                           ADS      TRAPEDP                               
060590,000185: 16,2366           02310                           TC       OVERSUB                               
060591,000186: 16,2367           55430                           TS       TRAPEDP                               
060592,000187: 16,2370           00006                           EXTEND                                         
060593,000188: 16,2371           31743                           DCA      DAPTEMP5                              
060594,000189: 16,2372           21447                           DAS      DXERROR                               
060595,000190: 16,2373           41454                           CS       PLAST                                 
060596,000191: 16,2374           00006                           EXTEND                                         
060597,000192: 16,2375           73623                           MP       1/40                                  
060598,000193: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
060599,000194: 16,2377           31751                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
060600,000195: 16,2400           54001                           TS       L                                     
060601,000196: 16,2401           00006                           EXTEND                                         
060602,000197: 16,2402           21442                           MSU      OLDZFORQ                              
060603,000198: 16,2403           55740                           TS       DAPTEMP3                              
060604,000199: 16,2404           23442                           LXCH     OLDZFORQ                              
060605,000200: 16,2405           31415                           CA       M21                                   
060606,000201: 16,2406           00006                           EXTEND                                         
060607,000202: 16,2407           71737                           MP       DAPTEMP2                              
060608,000203: 16,2410           53427                           DXCH     OMEGAU                                
060609,000204: 16,2411           31417                           CA       M22                                   
060610,000205: 16,2412           02263                           TC       SUBDIVDE                              
060611,000206: 
060612,000207: 16,2413           00006                           EXTEND                                         
060613,000208: 16,2414           61422                           SU       OMEGAQ                                
060614,000209: 16,2415           27431                           ADS      TRAPEDQ                               
060615,000210: 16,2416           02310                           TC       OVERSUB                               
060616,000211: 16,2417           55431                           TS       TRAPEDQ                               
060617,000212: 16,2420           00006                           EXTEND                                         
060618,000213: 16,2421           31743                           DCA      DAPTEMP5                              
060619,000214: 16,2422           21451                           DAS      DYERROR                               
060620,000215: 16,2423           41455                           CS       QLAST                                 
060621,000216: 16,2424           00006                           EXTEND                                         
060622,000217: 16,2425           73623                           MP       1/40                                  
060623,000218: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
060624,000219: 16,2427           31416                           CA       M31                                   
060625,000220: 16,2430           00006                           EXTEND                                         
060626,000221: 16,2431           71737                           MP       DAPTEMP2                              
060627,000222: 16,2432           53427                           DXCH     OMEGAU                                
060628,000223: 16,2433           31420                           CA       M32                                   
060629,000224: 
060630,000225: 16,2434           02263                           TC       SUBDIVDE                              

Page 1413

060632,000227: 16,2435           00006                           EXTEND                                         
060633,000228: 16,2436           61423                           SU       OMEGAR                                
060634,000229: 16,2437           27432                           ADS      TRAPEDR                               
060635,000230: 16,2440           02310                           TC       OVERSUB                               
060636,000231: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
060637,000232: 
060638,000233: 16,2442           00006                           EXTEND                                         
060639,000234: 16,2443           31743                           DCA      DAPTEMP5                              
060640,000235: 16,2444           21453                           DAS      DZERROR                               
060641,000236: 16,2445           41456                           CS       RLAST                                 
060642,000237: 16,2446           00006                           EXTEND                                         
060643,000238: 16,2447           73623                           MP       1/40                                  
060644,000239: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
060645,000240: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
060646,000241: 16,2452           74737                           MASK     CSMDOCKD                              
060647,000242: 16,2453           00006                           EXTEND                                         
060648,000243: 16,2454           12462                           BZF      LMONLY                                
060649,000244: 16,2455           00006                           EXTEND                                         #     DOCKED
060650,000245: 16,2456           31405                           DCA      DKOMEGAN                              
060651,000246: 16,2457           53750                           DXCH     DAPTREG4                              
060652,000247: 16,2460           31403                           CA       DKTRAP                                
060653,000248: 16,2461           12466                           TCF      +5                                    
060654,000249: 16,2462           00006        LMONLY             EXTEND                                         #     UNDOCKED
060655,000250: 16,2463           31410                           DCA      LMOMEGAN                              
060656,000251: 16,2464           53750                           DXCH     DAPTREG4                              
060657,000252: 16,2465           31406                           CA       LMTRAP                                
060658,000253: 16,2466           55751                 +5        TS       DAPTREG6                              
060659,000254: 16,2467           11430                           CCS      TRAPEDP                               
060660,000255: 16,2470           12472                           TCF      +2                                    
060661,000256: 16,2471           12507                           TCF      SMALPDIF                              
060662,000257: 16,2472           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060663,000258: 16,2473           00006                           EXTEND                                         
060664,000259: 16,2474           62507                           BZMF     SMALPDIF                              
060665,000260: 16,2475           22007                           ZL                                             
060666,000261: 16,2476           23430                           LXCH     TRAPEDP                               
060667,000262: 16,2477           34755                           CA       ZERO                                  
060668,000263: 16,2500           00006                           EXTEND                                         
060669,000264: 16,2501           11433                           DV       NPTRAPS                               
060670,000265: 16,2502           27421                           ADS      OMEGAP                                
060671,000266: 16,2503           02310                           TC       OVERSUB                               
060672,000267: 16,2504           55421                           TS       OMEGAP                                
060673,000268: 16,2505           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060674,000269: 16,2506           55433                           TS       NPTRAPS                               
060675,000270: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
060676,000271: 16,2510           31744        P-RATE             CA       JETRATE                               
060677,000272: 16,2511           27421                           ADS      OMEGAP                                
060678,000273: 16,2512           02310                           TC       OVERSUB                               
060679,000274: 16,2513           55421                           TS       OMEGAP                                
060680,000275: 
060681,000276: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1414

060683,000278: 16,2515           12517                           TCF      +2                                    
060684,000279: 16,2516           12544                           TCF      Q-RATE                                
060685,000280: 16,2517           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060686,000281: 16,2520           00006                           EXTEND                                         
060687,000282: 16,2521           62544                           BZMF     Q-RATE                                
060688,000283: 16,2522           22007                           ZL                                             
060689,000284: 16,2523           23431                           LXCH     TRAPEDQ                               
060690,000285: 16,2524           34755                           CA       ZERO                                  
060691,000286: 16,2525           00006                           EXTEND                                         
060692,000287: 16,2526           11434                           DV       NQTRAPS                               
060693,000288: 16,2527           55736                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
060694,000289: 16,2530           27422                           ADS      OMEGAQ                                
060695,000290: 16,2531           02310                           TC       OVERSUB                               
060696,000291: 16,2532           55422                           TS       OMEGAQ                                
060697,000292: 16,2533           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060698,000293: 16,2534           57434                           XCH      NQTRAPS                               
060699,000294: 16,2535           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060700,000295: 16,2536           57736                           XCH      DAPTEMP1                              
060701,000296: 16,2537           00006                           EXTEND                                         
060702,000297: 16,2540           74756                           MP       FIVE                                  
060703,000298: 16,2541           00006                           EXTEND                                         
060704,000299: 16,2542           11736                           DV       DAPTEMP1                              
060705,000300: 16,2543           27536                           ADS      AOSQ                                  
060706,000301: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
060707,000302: 16,2545           31745                           CA       JETRATEQ                              
060708,000303: 16,2546           61544                           AD       AOSQTERM                              
060709,000304: 16,2547           27422                           ADS      OMEGAQ                                
060710,000305: 16,2550           02310                           TC       OVERSUB                               
060711,000306: 16,2551           55422                           TS       OMEGAQ                                
060712,000307: 
060713,000308: 16,2552           11432                           CCS      TRAPEDR                               
060714,000309: 16,2553           12555                           TCF      +2                                    
060715,000310: 16,2554           12602                           TCF      R-RATE                                
060716,000311: 16,2555           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060717,000312: 16,2556           00006                           EXTEND                                         
060718,000313: 16,2557           62602                           BZMF     R-RATE                                
060719,000314: 16,2560           22007                           ZL                                             
060720,000315: 16,2561           23432                           LXCH     TRAPEDR                               
060721,000316: 16,2562           34755                           CA       ZERO                                  
060722,000317: 16,2563           00006                           EXTEND                                         
060723,000318: 16,2564           11435                           DV       NRTRAPS                               
060724,000319: 16,2565           55737                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
060725,000320: 16,2566           27423                           ADS      OMEGAR                                
060726,000321: 16,2567           02310                           TC       OVERSUB                               
060727,000322: 16,2570           55423                           TS       OMEGAR                                
060728,000323: 16,2571           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060729,000324: 16,2572           57435                           XCH      NRTRAPS                               
060730,000325: 16,2573           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060731,000326: 16,2574           57737                           XCH      DAPTEMP2                              
060732,000327: 16,2575           00006                           EXTEND                                         

Page 1415

060734,000329: 16,2576           74756                           MP       FIVE                                  
060735,000330: 16,2577           00006                           EXTEND                                         
060736,000331: 16,2600           11737                           DV       DAPTEMP2                              
060737,000332: 16,2601           27540                           ADS      AOSR                                  
060738,000333: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060739,000334: 16,2603           31746                           CA       JETRATER                              
060740,000335: 16,2604           61545                           AD       AOSRTERM                              
060741,000336: 16,2605           27423                           ADS      OMEGAR                                
060742,000337: 16,2606           02310                           TC       OVERSUB                               
060743,000338: 16,2607           55423                           TS       OMEGAR                                
060744,000339: 
060745,000340:                                                                                                  #                                          END OF RATE DERIVATION
060746,000341: 
060747,000342:                                                                                                  #                                           BEGIN OFFSET ESTIMATER
060748,000343: 
060749,000344:                                                                                                  #                                            IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060750,000345: 
060751,000346:                                                                                                  #                                            AOS = AOS + K*SUMRATE
060752,000347: 
060753,000348: 16,2610           40111                           CS       DAPBOOLS                              
060754,000349: 16,2611           74744                           MASK     DRIFTBIT                              
060755,000350: 16,2612           10000                           CCS      A                                     
060756,000351: 16,2613           12624                           TCF      WORKTIME                              
060757,000352: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060758,000353: 16,2615           55425                           TS       ALPHAR                                
060759,000354: 16,2616           55544                           TS       AOSQTERM                              
060760,000355: 16,2617           55545                           TS       AOSRTERM                              
060761,000356: 16,2620           55536                           TS       AOSQ                                  
060762,000357: 16,2621           55540                           TS       AOSR                                  
060763,000358: 16,2622           12667                           TCF      PRETIMCK                              
060764,000359: 16,2623           00074        KAOS               DEC      60         B-14                       
060765,000360: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060766,000361: 16,2625           00006                           EXTEND                                         
060767,000362: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060768,000363: 16,2627           21537                           DAS      AOSQ                                  
060769,000364: 16,2630           31536                           CA       AOSQ                                  
060770,000365: 16,2631           55424                           TS       ALPHAQ                                
060771,000366: 16,2632           00006                           EXTEND                                         
060772,000367: 16,2633           73621                           MP       200MS                                 #   .2 AT 1
060773,000368: 16,2634           55544                           TS       AOSQTERM                              
060774,000369: 16,2635           31512                           CA       RACCDOT                               
060775,000370: 16,2636           00006                           EXTEND                                         
060776,000371: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060777,000372: 16,2640           21541                           DAS      AOSR                                  
060778,000373: 16,2641           31540                           CA       AOSR                                  
060779,000374: 16,2642           55425                           TS       ALPHAR                                
060780,000375: 16,2643           00006                           EXTEND                                         
060781,000376: 16,2644           73621                           MP       200MS                                 #   .2 AT 1
060782,000377: 16,2645           55545                           TS       AOSRTERM                              
060783,000378: 16,2646           12667                           TCF      PRETIMCK                              
060784,000379: 

Page 1416

060786,000381: 
060787,000382: 
060788,000383: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060789,000384: 16,2650           71262                           MASK     RCSFLAGS                              
060790,000385: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060791,000386: 16,2652           03741                           TC       ACDT+C12                              #  VALID.
060792,000387: 
060793,000388: 16,2653           52011                           DXCH     ARUPT                                 
060794,000389: 16,2654           53753                           DXCH     DAPARUPT                              
060795,000390: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060796,000391: 16,2656           56017                           XCH      BRUPT                                 
060797,000392: 16,2657           22012                           LXCH     QRUPT                                 
060798,000393: 16,2660           53755                           DXCH     DAPBQRPT                              
060799,000394: 16,2661           32665                           CA       SUPERADR                              
060800,000395: 16,2662           52016                           DXCH     ZRUPT                                 
060801,000396: 16,2663           53757                           DXCH     DAPZRUPT                              
060802,000397: 16,2664           15306                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060803,000398:                                                                                                  #    FORM OF A JASK, AT SUPERJOB.
060804,000399: 
060805,000400: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060806,000401:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060807,000402: 
060808,000403: 16,2666           13644        SUPERJOB           TCF      RATELOOP                              
060809,000404: 16,2667           11631        PRETIMCK           CCS      QGIMTIMR                              
060810,000405: 16,2670           12710                           TCF      DECQTIMR                              #    POSITIVE- COUNTING DOWN
060811,000406: 16,2671           12714                           TCF      TURNOFFQ                              #    NEGATIVE- DRIVE SHOULD BE ENDED
060812,000407: 16,2672           11633        CHKRTIMR           CCS      RGIMTIMR                              #    NEGATIVE- INACTIVE
060813,000408: 16,2673           12712                           TCF      DECRTIMR                              #   (NEG ZERO- IMPOSSIBLE)
060814,000409: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060815,000410: 
060816,000411: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060817,000412: 16,2676           27766                           DIM      PJETCTR                               
060818,000413: 16,2677           00006                           EXTEND                                         
060819,000414: 16,2700           27767                           DIM      UJETCTR                               
060820,000415: 16,2701           00006                           EXTEND                                         
060821,000416: 16,2702           27770                           DIM      VJETCTR                               
060822,000417: 16,2703           34740                           CA       BIT12                                 
060823,000418: 16,2704           71262                           MASK     RCSFLAGS                              
060824,000419: 16,2705           00006                           EXTEND                                         
060825,000420: 16,2706           12734                           BZF      SKIPPAXS                              
060826,000421: 16,2707           02740                           TC       CHKVISFZ                              
060827,000422: 16,2710           55631        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060828,000423: 16,2711           12672                           TCF      CHKRTIMR                              
060829,000424: 16,2712           55633        DECRTIMR           TS       RGIMTIMR                              
060830,000425: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060831,000426: 
060832,000427: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060833,000428: 16,2715           55510                           TS       QACCDOT                               
060834,000429: 16,2716           45007                           CS       QGIMBITS                              
060835,000430: 16,2717           00006                           EXTEND                                         

Page 1417

060837,000432: 16,2720           03012                           WAND     CHAN12                                
060838,000433: 16,2721           34735                           CAF      NEGMAX                                
060839,000434: 16,2722           55631                           TS       QGIMTIMR                              
060840,000435: 16,2723           12672                           TCF      CHKRTIMR                              
060841,000436: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060842,000437: 16,2725           55512                           TS       RACCDOT                               
060843,000438: 16,2726           45020                           CS       RGIMBITS                              
060844,000439: 16,2727           00006                           EXTEND                                         
060845,000440: 16,2730           03012                           WAND     CHAN12                                
060846,000441: 16,2731           34735                           CAF      NEGMAX                                
060847,000442: 16,2732           55633                           TS       RGIMTIMR                              
060848,000443: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060849,000444: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060850,000445: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060851,000446: 
060852,000447: 16,2734           41262        SKIPPAXS           CS       RCSFLAGS                              
060853,000448: 16,2735           74740                           MASK     BIT12                                 
060854,000449: 16,2736           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060855,000450: 16,2737           13627                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060856,000451: 
060857,000452:                                                                                                  #                                          Y-Z TRANSLATION
060858,000453: 
060859,000454:                                                                                                  #                                          INPUT:  BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060860,000455: 
060861,000456:                                                                                                  #                                          OUTPUT: NEXTP
060862,000457: 
060863,000458:                                                                                                  #                                            NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060864,000459:                                                                                                  #                                            IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060865,000460: 
060866,000461:                                                                                                  #                                               (1) FOR DIAGONAL TRANS:  UNFAILED PAIR
060867,000462:                                                                                                  #                                                                        ALARM (IF NO PAIR)
060868,000463: 
060869,000464:                                                                                                  #                                               (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060870,000465:                                                                                                  #                                                                        ALARM (IF DIAGONAL PAIRS ARE FAILED)
060871,000466: 16,2740           00006        CHKVISFZ           EXTEND                                         
060872,000467: 16,2741           00031                           READ     CHAN31                                
060873,000468: 16,2742           40000                           CS       A                                     
060874,000469: 16,2743           73616                           MASK     07400OCT                              
060875,000470: 16,2744           00006                           EXTEND                                         
060876,000471: 16,2745           13014                           BZF      TSNEXTP                               
060877,000472: 16,2746           00006                           EXTEND                                         
060878,000473: 16,2747           74745                           MP       BIT7                                  
060879,000474: 16,2750           50000                           INDEX    A                                     
060880,000475: 16,2751           33575                           CA       INDXYZ                                
060881,000476: 16,2752           55743                           TS       ROTINDEX                              
060882,000477: 16,2753           36245        TRYUORV            CA       SIX                                   
060883,000478: 16,2754           03554                           TC       SELECTYZ                              
060884,000479: 16,2755           46245                           CS       SIX                                   
060885,000480: 16,2756           61742                           AD       NUMBERT                               
060886,000481: 16,2757           00006                           EXTEND                                         

Page 1418

060888,000483: 16,2760           13013                           BZF      TSNEXTP    -1                         
060889,000484: 16,2761           44756                           CS       FIVE                                  
060890,000485: 16,2762           61743                           AD       ROTINDEX                              
060891,000486: 16,2763           00006                           EXTEND                                         
060892,000487: 16,2764           63002                           BZMF     ALTERYZ                               
060893,000488: 16,2765           41742                           CS       NUMBERT                               
060894,000489: 16,2766           64751                           AD       FOUR                                  
060895,000490: 16,2767           00006                           EXTEND                                         
060896,000491: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060897,000492: 16,2771           05600        ABORTYZ            TC       ALARM                                 
060898,000493: 16,2772           02001                           OCT      02001                                 
060899,000494: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060900,000495: 16,2774           23262                           LXCH     RCSFLAGS                              
060901,000496: 16,2775           00006                           EXTEND                                         
060902,000497: 16,2776           06001                           RXOR     1                                     
060903,000498: 16,2777           55262                           TS       RCSFLAGS                              
060904,000499: 16,3000           34755                           CA       ZERO                                  
060905,000500: 16,3001           13014                           TCF      TSNEXTP                               
060906,000501: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060907,000502: 16,3003           23262                           LXCH     RCSFLAGS                              
060908,000503: 16,3004           00006                           EXTEND                                         
060909,000504: 16,3005           06001                           RXOR     1                                     
060910,000505: 16,3006           55262                           TS       RCSFLAGS                              
060911,000506: 16,3007           74753                           MASK     BIT1                                  
060912,000507: 16,3010           64751                           AD       FOUR                                  
060913,000508: 16,3011           27743                           ADS      ROTINDEX                              
060914,000509: 16,3012           12753                           TCF      TRYUORV                               
060915,000510: 16,3013           31740                           CA       POLYTEMP                              
060916,000511: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060917,000512:                                                                                                  #                                          STATE LOGIC
060918,000513: 
060919,000514:                                                                                                  #                                            CHECK IN ORDER:               IF ON
060920,000515:                                                                                                  #                                              LPDPHASE                    GO TO PURGENCY
060921,000516:                                                                                                  #                                              PULSES                      MINIMUM PULSE LOGIC
060922,000517:                                                                                                  #                                              DETENT(BIT15 CH31)          RATE COMMAND
060923,000518:                                                                                                  #                                              GO TO PURGENCY
060924,000519: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060925,000520: 16,3016           00006                           EXTEND                                         
060926,000521: 16,3017           02031                           RAND     CHAN31                                
060927,000522: 16,3020           00006                           EXTEND                                         
060928,000523: 16,3021           13027                           BZF      MANMODE                               
060929,000524: 
060930,000525: 16,3022           30111                           CA       DAPBOOLS                              
060931,000526: 16,3023           74743                           MASK     XOVINHIB                              
060932,000527: 16,3024           10000                           CCS      A                                     
060933,000528: 16,3025           13466                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060934,000529: 
060935,000530: 16,3026           13071                           TCF      DETENTCK                              
060936,000531: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060937,000532: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1419

060939,000534: 16,3031           00006                           EXTEND                                         
060940,000535: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060941,000536: 
060942,000537: 16,3033           34755                           CA       ZERO                                  
060943,000538: 16,3034           55464                           TS       PERROR                                
060944,000539:                                                                                                  #  MINIMUM IMPULSE MODE
060945,000540: 
060946,000541: 16,3035           30032                           CA       CDUX                                  
060947,000542: 16,3036           55634                           TS       CDUXD                                 
060948,000543: 
060949,000544: 16,3037           11460                           CCS      OLDPMIN                               
060950,000545: 16,3040           13054                           TCF      CHECKP                                
060951,000546: 
060952,000547: 16,3041           34751        FIREP              CA       BIT3                                  
060953,000548: 16,3042           00006                           EXTEND                                         
060954,000549: 16,3043           02031                           RAND     CHAN31                                
060955,000550: 16,3044           00006                           EXTEND                                         
060956,000551: 16,3045           13064                           BZF      +XMIN                                 
060957,000552: 
060958,000553: 16,3046           34750                           CA       BIT4                                  
060959,000554: 16,3047           00006                           EXTEND                                         
060960,000555: 16,3050           02031                           RAND     CHAN31                                
060961,000556: 16,3051           00006                           EXTEND                                         
060962,000557: 16,3052           13062                           BZF      -XMIN                                 
060963,000558: 
060964,000559: 16,3053           13445                           TCF      JETSOFF                               
060965,000560: 
060966,000561: 16,3054           00006        CHECKP             EXTEND                                         
060967,000562: 16,3055           00031                           READ     CHAN31                                
060968,000563: 16,3056           40000                           CS       A                                     
060969,000564: 16,3057           75752                           MASK     OCT14                                 
060970,000565: 16,3060           55460                           TS       OLDPMIN                               
060971,000566: 16,3061           13445                           TCF      JETSOFF                               
060972,000567: 
060973,000568: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS.  CORRECTED
060974,000569: 16,3063           13065                           TCF      +2                                    #    IN JET SELECTION ROUTINE
060975,000570: 16,3064           34363        +XMIN              CA       TEN                                   
060976,000571: 16,3065           55524                           TS       TJP                                   
060977,000572: 16,3066           34753                           CA       ONE                                   
060978,000573: 16,3067           55460                           TS       OLDPMIN                               
060979,000574: 16,3070           13353                           TCF      PJETSLEC   -6                         
060980,000575: 
060981,000576:                                                                                                  #                  MANUAL RATE COMMAND MODE
060982,000577:                                                                                                  #                  ========================
060983,000578:                                                                                                  #                    BY ROBERT F. STENGEL
060984,000579: 
060985,000580:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:                   1) DIRECT RATE AND 2) PSEUDO-AUTO.
060986,000581:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060987,000582:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060988,000583: 

Page 1420

060990,000585:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060991,000586:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060992,000587:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060993,000588:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060994,000589:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060995,000590:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060996,000591: 
060997,000592:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060998,000593:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060999,000594:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
061000,000595: 
061001,000596:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
061002,000597:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
061003,000598:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
061004,000599:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
061005,000600:                                                                                                  #                                          ZEROENBL        ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
061006,000601:                                                                                                  #                                          JUSTOUT         FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
061007,000602: 
061008,000603: 
061009,000604: 16,3071           00006        DETENTCK           EXTEND                                         
061010,000605: 16,3072           00031                           READ     CHAN31                                
061011,000606: 16,3073           55443                           TS       CH31TEMP                              
061012,000607: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
061013,000608: 16,3075           00006                           EXTEND                                         
061014,000609: 16,3076           13222                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
061015,000610: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT. CHECK THE RATE COMMAND BIT.
061016,000611: 16,3100           70111                           MASK     DAPBOOLS                              
061017,000612: 16,3101           00006                           EXTEND                                         
061018,000613: 16,3102           13466                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
061019,000614:                                                                                                  #  ........................................................................
061020,000615: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
061021,000616: 16,3104           71262                           MASK     RCSFLAGS                              
061022,000617: 16,3105           00006                           EXTEND                                         
061023,000618: 16,3106           13120                           BZF      RUTH                                  
061024,000619: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
061025,000620: 16,3110           00006                           EXTEND                                         
061026,000621: 16,3111           02031                           RAND     CHAN31                                
061027,000622: 16,3112           00006                           EXTEND                                         
061028,000623: 16,3113           13217                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
061029,000624: 
061030,000625: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
061031,000626: 16,3115           71262                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
061032,000627: 16,3116           55262                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
061033,000628: 16,3117           13217                           TCF      RATEDAMP                              
061034,000629: 
061035,000630: 16,3120           31262        RUTH               CA       RCSFLAGS                              
061036,000631: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
061037,000632: 16,3122           00006                           EXTEND                                         
061038,000633: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
061039,000634: 16,3124           13217                           TCF      RATEDAMP                              

Page 1421

061041,000636: 16,3125           31262                           CA       RCSFLAGS                              
061042,000637: 16,3126           74741                           MASK     QRBIT                                 
061043,000638: 16,3127           00006                           EXTEND                                         
061044,000639: 16,3130           13134                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
061045,000640: 16,3131           13217                           TCF      RATEDAMP                              
061046,000641:                                                                                                  #  ============================================
061047,000642: 16,3132     4753               1/10SEC            =        BIT1                                  
061048,000643: 16,3132     4771               40CYC              =        OCT50                                 
061049,000644: 16,3132           74777        PQRBIT             OCT      74777                                 
061050,000645: 16,3133     5014               BITS9,11           EQUALS   EBANK5                                
061051,000646: 16,3133           00056        LINRATP            DEC      46         B-14                       
061052,000647:                                                                                                  #  ============================================
061053,000648: 16,3134           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
061054,000649: 16,3135           00004                           INHINT                                         #  ALL AXES.
061055,000650: 16,3136           70111                           MASK     DAPBOOLS                              
061056,000651: 16,3137           54111                           TS       DAPBOOLS                              
061057,000652: 
061058,000653:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
061059,000654: 
061060,000655: 16,3140           34737                           CAF      BIT13                                 
061061,000656: 16,3141           00006                           EXTEND                                         
061062,000657: 16,3142           02031                           RAND     CHAN31                                
061063,000658: 16,3143           00006                           EXTEND                                         
061064,000659: 16,3144           13150                           BZF      +4                                    
061065,000660: 16,3145           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
061066,000661: 16,3146           55634                           TS       CDUXD                                 
061067,000662: 16,3147           03152                           TC       +3                                    
061068,000663: 16,3150           04674                           TC       IBNKCALL                              
061069,000664: 16,3151           40154                           FCADR    ZATTEROR                              
061070,000665: 16,3152           00003                           RELINT                                         
061071,000666: 16,3153           13466                           TCF      PURGENCY                              
061072,000667: 
061073,000668: 16,3154           55464        JUSTOUT            TS       PERROR                                #  INITIALIZATION - FIRST MANUAL PASS (A=0)
061074,000669: 16,3155           55446                           TS       DXERROR                               
061075,000670: 16,3156           55447                           TS       DXERROR    +1                         
061076,000671: 16,3157           55450                           TS       DYERROR                               
061077,000672: 16,3160           55451                           TS       DYERROR    +1                         
061078,000673: 16,3161           55452                           TS       DZERROR                               
061079,000674: 16,3162           55453                           TS       DZERROR    +1                         
061080,000675: 16,3163           55454                           TS       PLAST                                 
061081,000676: 16,3164           55455                           TS       QLAST                                 
061082,000677: 16,3165           55456                           TS       RLAST                                 
061083,000678: 16,3166           54042                           TS       Q-RHCCTR                              
061084,000679: 16,3167           54044                           TS       R-RHCCTR                              
061085,000680: 16,3170           33132                           CA       PQRBIT                                
061086,000681: 16,3171           71262                           MASK     RCSFLAGS                              
061087,000682: 16,3172           55262                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.
061088,000683: 16,3173           03200                           TC       ZEROENBL                              
061089,000684: 16,3174           34740                           CA       OURRCBIT                              #  SET INTERNAL RATE COMMAND FLAG (WHICH
061090,000685: 16,3175           26111                           ADS      DAPBOOLS                              #    WAS FOUND TO BE ZERO EARLIER)

Page 1422

061092,000687: 16,3176           00003                           RELINT                                         
061093,000688: 16,3177           13445                           TCF      JETSOFF                               
061094,000689: 16,3200           22044        ZEROENBL           LXCH     R-RHCCTR                              
061095,000690: 16,3201           30042                           CA       Q-RHCCTR                              
061096,000691: 16,3202           53463                           DXCH     SAVEHAND                              
061097,000692: 16,3203           34755                           CA       ZERO                                  
061098,000693: 16,3204           54043                           TS       P-RHCCTR                              
061099,000694: 16,3205           54042                           TS       Q-RHCCTR                              
061100,000695: 16,3206           54044                           TS       R-RHCCTR                              
061101,000696: 16,3207           00004                           INHINT                                         
061102,000697: 16,3210           00006                           EXTEND                                         
061103,000698: 16,3211           23265                           QXCH     C13QSAV                               
061104,000699: 16,3212           06022                           TC       C13STALL                              
061105,000700: 
061106,000701: 16,3213           33622                           CA       BITS8,9                               
061107,000702: 16,3214           00006                           EXTEND                                         
061108,000703: 16,3215           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
061109,000704: 16,3216           01265                           TC       C13QSAV                               
061110,000705: 
061111,000706: 16,3217           34755        RATEDAMP           CA       ZERO                                  
061112,000707: 16,3220           54043                           TS       P-RHCCTR                              
061113,000708: 16,3221           13231                           TCF      RATERROR                              
061114,000709: 
061115,000710: 16,3222           41262        RHCMOVED           CS       RCSFLAGS                              #  SET JUSTIN BIT TO 1
061116,000711: 16,3223           74743                           MASK     BIT9                                  
061117,000712: 16,3224           27262                           ADS      RCSFLAGS                              
061118,000713: 16,3225           34740                           CA       OURRCBIT                              #  P CONTROL
061119,000714: 16,3226           70111                           MASK     DAPBOOLS                              
061120,000715: 16,3227           00006                           EXTEND                                         
061121,000716: 16,3230           13154                           BZF      JUSTOUT                               
061122,000717: 16,3231           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061123,000718: 16,3232           55634                           TS       CDUXD                                 #  X-AXIS OVERRIDE
061124,000719: 16,3233           10043                           CCS      P-RHCCTR                              
061125,000720: 16,3234           13237                           TCF      +3                                    
061126,000721: 16,3235           13237                           TCF      +2                                    
061127,000722: 16,3236           13237                           TCF      +1                                    
061128,000723: 16,3237           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
061129,000724: 16,3240           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
061130,000725: 16,3241           63133                           AD       LINRATP                               #   AUTOPILOT)
061131,000726: 16,3242           00006                           EXTEND                                         
061132,000727: 16,3243           70043                           MP       P-RHCCTR                              
061133,000728: 16,3244           30001                           CA       L                                     
061134,000729: 16,3245           00006                           EXTEND                                         
061135,000730: 16,3246           71444                           MP       STIKSENS                              
061136,000731: 16,3247           57454                           XCH      PLAST                                 
061137,000732: 16,3250           40000                           COM                                            
061138,000733: 16,3251           61454                           AD       PLAST                                 
061139,000734: 16,3252           55736                           TS       DAPTEMP1                              
061140,000735: 16,3253           03200                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.
061141,000736: 16,3254           00003                           RELINT                                         

Page 1423

061143,000738: 16,3255           41454                           CS       PLAST                                 
061144,000739: 16,3256           61421                           AD       OMEGAP                                
061145,000740: 16,3257           55427                           TS       EDOTP                                 
061146,000741: 16,3260           11736                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
061147,000742: 16,3261           13264                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061148,000743: 16,3262           13272                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
061149,000744: 16,3263           13264                           TCF      +1                                    
061150,000745: 16,3264           61476                           AD       -RATEDB                               
061151,000746: 16,3265           00006                           EXTEND                                         
061152,000747: 16,3266           63272                           BZMF     +4                                    
061153,000748: 16,3267           34771                           CA       40CYC                                 
061154,000749: 16,3270           55445                           TS       TCP                                   
061155,000750: 16,3271           03303                           TC       PEGI                                  
061156,000751: 16,3272           31262                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
061157,000752: 16,3273           74742                           MASK     PBIT                                  
061158,000753: 16,3274           00006                           EXTEND                                         
061159,000754: 16,3275           13277                           BZF      +2                                    
061160,000755: 16,3276           03303                           TC       PEGI                                  #  TO PURE RATE COMMAND
061161,000756: 16,3277           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
061162,000757: 16,3300           55751                           TS       E                                     #  X-ATTITUDE ERROR (SP)
061163,000758: 16,3301           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061164,000759: 16,3302           03472                           TC       PURGENCY   +4                         
061165,000760: 16,3303           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
061166,000761: 16,3304           55634                           TS       CDUXD                                 
061167,000762: 16,3305           34755                           CA       ZERO                                  
061168,000763: 16,3306           55446                           TS       DXERROR                               
061169,000764: 16,3307           55447                           TS       DXERROR    +1                         
061170,000765: 16,3310           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061171,000766: 16,3311           11427                           CCS      EDOTP                                 
061172,000767: 16,3312           03315                           TC       +3                                    
061173,000768: 16,3313           03315                           TC       +2                                    
061174,000769: 16,3314           03315                           TC       +1                                    
061175,000770: 16,3315           55736                           TS       ABSEDOTP                              
061176,000771: 16,3316           61476                           AD       TARGETDB                              
061177,000772: 16,3317           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
061178,000773: 16,3320           63330                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
061179,000774: 16,3321           31445                           CA       TCP                                   
061180,000775: 16,3322           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061181,000776: 16,3323           63330                           BZMF     LAST                                  
061182,000777: 16,3324           41262                           CS       RCSFLAGS                              
061183,000778: 16,3325           74742                           MASK     PBIT                                  
061184,000779: 16,3326           27262                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
061185,000780: 16,3327           13333                           TCF      +4                                    
061186,000781: 16,3330           44742        LAST               CS       PBIT                                  
061187,000782: 16,3331           71262                           MASK     RCSFLAGS                              
061188,000783: 16,3332           55262                           TS       RCSFLAGS                              #  BIT 10 IS 0.
061189,000784: 16,3333           41427                           CS       EDOTP                                 
061190,000785: 16,3334           00006                           EXTEND                                         
061191,000786: 16,3335           71550                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI
061192,000787: 16,3336           20001                           DAS      A                                     

Page 1424

061194,000789: 16,3337           02310                           TC       OVERSUB                               
061195,000790: 16,3340           00006                           EXTEND                                         
061196,000791: 16,3341           77721                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061197,000792: 16,3342           55524                           TS       TJP                                   #  4.JET TIME
061198,000793: 16,3343           31736                           CA       ABSEDOTP                              
061199,000794: 16,3344           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
061200,000795: 16,3345           00006                           EXTEND                                         
061201,000796: 16,3346           63351                           BZMF     +3                                    
061202,000797: 
061203,000798: 16,3347           36245                           CA       SIX                                   
061204,000799: 16,3350           13360                           TCF      +8D                                   
061205,000800: 16,3351           31524                           CA       TJP                                   
061206,000801: 16,3352           27524                           ADS      TJP                                   
061207,000802:                                                                                                  #                                           GOES TO PJETSLEC FOR TWO JETS
061208,000803: 
061209,000804:                                                                                                  #                                          P-JET-SELECTION-ROUTINE (ROTATION)
061210,000805: 
061211,000806:                                                                                                  #                                          INPUT:   NUMBERT     4,5,6 FOR WHICH PAIR OR 4 JETS
061212,000807:                                                                                                  #                                                   TJP         + FOR +P ROTATION
061213,000808: 
061214,000809:                                                                                                  #                                          OUTPUT:  CHANNEL 6
061215,000810:                                                                                                  #                                                   PJUMPADR              FOR P-AXIS SKIP
061216,000811:                                                                                                  #                                                   (JTLST CALL)          (SMALL TJP)
061217,000812: 
061218,000813:                                                                                                  #                                            ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061219,000814:                                                                                                  #                                                   +P             -P
061220,000815:                                                                                                  #                                                   7,15           8,16
061221,000816:                                                                                                  #                                                   4,12           3,11
061222,000817:                                                                                                  #                                                   4,7            8,11
061223,000818:                                                                                                  #                                                   7,12           11,16
061224,000819:                                                                                                  #                                                   12,15          3,16
061225,000820:                                                                                                  #                                                   4,15           3,8
061226,000821:                                                                                                  #                                                   ALARM          ALARM
061227,000822: 16,3353           34747                           CA       AORBSYST                              
061228,000823: 16,3354           70101                           MASK     FLAGWRD5                              
061229,000824: 16,3355           10000                           CCS      A                                     
061230,000825: 16,3356           34753                           CA       ONE                                   
061231,000826: 16,3357           64751                           AD       FOUR                                  
061232,000827: 16,3360           55742                           TS       NUMBERT                               
061233,000828: 16,3361           34753        PJETSLEC           CA       ONE                                   
061234,000829: 16,3362           54001                           TS       L                                     
061235,000830: 16,3363           11524                           CCS      TJP                                   
061236,000831: 16,3364           13371                           TCF      +5                                    
061237,000832: 16,3365           13445                           TCF      JETSOFF                               
061238,000833: 16,3366           13370                           TCF      +2                                    
061239,000834: 16,3367           13445                           TCF      JETSOFF                               
061240,000835: 16,3370           22007                           ZL                                             
061241,000836: 16,3371           64753                           AD       ONE                                   
061242,000837: 16,3372           55736                           TS       ABSTJ                                 
061243,000838: 16,3373           23743                           LXCH     ROTINDEX                              

Page 1425

061245,000840: 16,3374           03534                           TC       SELECTP                               
061246,000841: 16,3375           46245                           CS       SIX                                   
061247,000842: 16,3376           61742                           AD       NUMBERT                               
061248,000843: 16,3377           00006                           EXTEND                                         
061249,000844: 16,3400           13402                           BZF      +2                                    
061250,000845: 
061251,000846: 16,3401           44752                           CS       TWO                                   
061252,000847: 16,3402           64751                           AD       FOUR                                  
061253,000848: 16,3403           55521                           TS       NO.PJETS                              
061254,000849: 16,3404           31740                           CA       POLYTEMP                              
061255,000850: 16,3405           05755                           TC       WRITEP                                
061256,000851: 16,3406           41736                           CS       ABSTJ                                 
061257,000852: 16,3407           63615                           AD       +150MST6                              
061258,000853: 16,3410           00006                           EXTEND                                         
061259,000854: 16,3411           63627                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
061260,000855: 
061261,000856: 16,3412           63575                           AD       -136MST6                              
061262,000857: 16,3413           00006                           EXTEND                                         
061263,000858: 16,3414           63421                           BZMF     +5                                    
061264,000859: 
061265,000860: 16,3415           27736                           ADS      ABSTJ                                 
061266,000861: 16,3416           51743                           INDEX    ROTINDEX                              
061267,000862: 16,3417           33624                           CA       MINTIMES                              
061268,000863: 16,3420           55524                           TS       TJP                                   
061269,000864: 
061270,000865: 16,3421           31736                           CA       ABSTJ                                 
061271,000866: 16,3422           22007                           ZL                                             
061272,000867: 16,3423           00004                           INHINT                                         
061273,000868: 16,3424           53471                           DXCH     T6FURTHA                              
061274,000869: 16,3425           04674                           TC       IBNKCALL                              
061275,000870: 16,3426           37143                           CADR     JTLST                                 
061276,000871: 16,3427           44740                           CS       BIT12                                 
061277,000872: 16,3430           71262                           MASK     RCSFLAGS                              
061278,000873: 16,3431           55262                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
061279,000874: 16,3432           03434                           TC       ALTSYST                               
061280,000875: 16,3433           13627                           TCF      QRAXIS                                
061281,000876: 
061282,000877: 16,3434           30101        ALTSYST            CA       FLAGWRD5                              #  ALTERNATE P-AXIS JETS
061283,000878: 16,3435           54001                           TS       L                                     
061284,000879: 16,3436           34747                           CA       AORBSYST                              
061285,000880: 16,3437           00006                           EXTEND                                         
061286,000881: 16,3440           06001                           RXOR     LCHAN                                 
061287,000882: 16,3441           54101                           TS       FLAGWRD5                              
061288,000883: 16,3442           00003                           RELINT                                         
061289,000884: 16,3443           00002                           TC       Q                                     
061290,000885: 
061291,000886: 16,3444           03434        DKALT              TC       ALTSYST                               
061292,000887: 
061293,000888: 16,3445           05754        JETSOFF            TC       WRITEP     -1                         
061294,000889: 16,3446           34755                           CA       ZERO                                  

Page 1426

061296,000891: 16,3447           55524                           TS       TJP                                   
061297,000892: 16,3450           13627                           TCF      QRAXIS                                
061298,000893:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
061299,000894: 
061300,000895: 16,3451           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
061301,000896: 16,3452           00006                           EXTEND                                         
061302,000897: 16,3453           21635                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
061303,000898: 16,3454           00006                           EXTEND                                         
061304,000899: 16,3455           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
061305,000900: 16,3456           57751                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
061306,000901: 16,3457           30032                           CA       CDUX                                  #  THIRD COMPONENT
061307,000902: 16,3460           00006                           EXTEND                                         
061308,000903: 16,3461           21634                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
061309,000904:                                                                                                  #                EXTEND
061310,000905:                                                                                                  #                MP      M13
061311,000906: 16,3462           61274                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
061312,000907: 16,3463           27751                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
061313,000908: 16,3464           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
061314,000909: 16,3465           00002                           TC       Q                                     #  RETURN TO CALLER
061315,000910: 
061316,000911:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
061317,000912: 
061318,000913: 16,3466           03451        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
061319,000914: 16,3467           41642                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
061320,000915: 16,3470           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
061321,000916: 16,3471           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
061322,000917: 
061323,000918: 
061324,000919: 16,3472           44753                           CS       ONE                                   
061325,000920: 16,3473           55505                           TS       AXISCTR                               
061326,000921: 16,3474           30111                           CA       DAPBOOLS                              
061327,000922: 16,3475           74737                           MASK     CSMDOCKD                              
061328,000923: 16,3476           00006                           EXTEND                                         
061329,000924: 16,3477           13510                           BZF      HEADTJET                              
061330,000925: 16,3500           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
061331,000926: 16,3501           04674                           TC       IBNKCALL                              
061332,000927: 16,3502           43721                           CADR     SPSRCS                                
061333,000928: 
061334,000929: 16,3503           31524                           CA       TJP                                   
061335,000930: 16,3504           00006                           EXTEND                                         
061336,000931: 16,3505           13444                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
061337,000932: 16,3506           00003                           RELINT                                         
061338,000933: 16,3507           13353                           TCF      PJETSLEC   -6                         #     SELECT AORBSYST AND USE TWO JETS
061339,000934: 16,3510           34755        HEADTJET           CA       ZERO                                  
061340,000935: 16,3511           55500                           TS       SENSETYP                              
061341,000936: 16,3512           00004                           INHINT                                         
061342,000937: 16,3513           04674                           TC       IBNKCALL                              
061343,000938: 16,3514           37304                           CADR     TJETLAW                               
061344,000939: 16,3515           00003                           RELINT                                         
061345,000940: 

Page 1427

061347,000942: 16,3516           41740                           CS       FIREFCT                               
061348,000943: 16,3517           63533                           AD       -FOURDEG                              
061349,000944: 16,3520           00006                           EXTEND                                         
061350,000945: 16,3521           63353                           BZMF     PJETSLEC   -6                         
061351,000946: 16,3522           11524                           CCS      TJP                                   
061352,000947: 16,3523           13525                           TCF      +2                                    
061353,000948: 16,3524           13445                           TCF      JETSOFF                               
061354,000949: 16,3525           63532                           AD       -160MST6                              
061355,000950: 16,3526           00006                           EXTEND                                         
061356,000951: 16,3527           63353                           BZMF     PJETSLEC   -6                         
061357,000952: 16,3530           36245                           CA       SIX                                   
061358,000953: 16,3531           13360                           TCF      PJETSLEC   -1                         
061359,000954: 16,3532           77377        -160MST6           DEC      -256       B-14                       
061360,000955: 16,3533           75117        -FOURDEG           DEC      -.08888                               
061361,000956: 

Page 1428

061363,000958:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
061364,000959: 
061365,000960:                                                                                                  #                                             INPUT: ROTINDEX, NUMBERT
061366,000961: 
061367,000962:                                                                                                  #                                             OUTPUT: POLYTEMP (JET POLICY)
061368,000963: 
061369,000964:                                                                                                  #                                          THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061370,000965: 16,3534           36245        SELECTP            CA       SIX                                   
061371,000966: 16,3535           55741                           TS       TEMPNUM                               
061372,000967: 16,3536           51742                           INDEX    NUMBERT                               
061373,000968: 16,3537           33566                           CA       TYPEP                                 
061374,000969: 16,3540           51743                           INDEX    ROTINDEX                              
061375,000970: 16,3541           73557                           MASK     JETSALL                               
061376,000971: 16,3542           55740                           TS       POLYTEMP                              
061377,000972: 16,3543           71260                           MASK     CH6MASK                               
061378,000973: 16,3544           10000                           CCS      A                                     
061379,000974: 16,3545           13547                           TCF      +2                                    
061380,000975: 16,3546           00002                           TC       Q                                     
061381,000976: 16,3547           11741                           CCS      TEMPNUM                               
061382,000977: 16,3550           13554                           TCF      +4                                    
061383,000978: 16,3551           05600                           TC       ALARM                                 
061384,000979: 16,3552           02003                           OCT      02003                                 
061385,000980: 16,3553           13445                           TCF      JETSOFF                               #  *****TCF   ALARMJET *********************
061386,000981: 16,3554           55742        SELECTYZ           TS       NUMBERT                               
061387,000982: 16,3555           13535                           TCF      SELECTP    +1                         
061388,000983: 16,3556           12773                 -1        TCF      ABORTYZ    +2                         
061389,000984: 16,3557           00252        JETSALL            OCT      00252                                 
061390,000985: 16,3560           00125                           OCT      00125                                 #    +P
061391,000986: 16,3561           00140                           OCT      00140                                 #    -Y
061392,000987: 16,3562           00006                           OCT      00006                                 #    -Z
061393,000988: 16,3563           00220                           OCT      00220                                 #    +Y
061394,000989: 16,3564           00011                           OCT      00011                                 #    +Z
061395,000990: 16,3565           00151                           OCT      00151                                 #    +V
061396,000991: 16,3566           00146        TYPEP              OCT      00146                                 #    -U
061397,000992: 16,3567           00226                           OCT      00226                                 #    -V
061398,000993: 16,3570           00231                           OCT      00231                                 #    +U
061399,000994: 16,3571           00151                           OCT      00151                                 #    +V
061400,000995: 16,3572           00132                           OCT      00132                                 #    1-3
061401,000996: 16,3573           00245                           OCT      00245                                 #    2-4
061402,000997: 16,3574           00377                           OCT      00377                                 #    ALL
061403,000998: 16,3575  16,3575               INDXYZ             =        -136MST6                              
061404,000999: 16,3575           77445        -136MST6           DEC      -218       B-14                       
061405,001000: 16,3576           00004                           DEC      4          B-14                       
061406,001001: 16,3577           00002                           DEC      2          B-14                       
061407,001002: 16,3600           07776                           OCT      07776                                 
061408,001003: 16,3601           00005                           DEC      5          B-14                       
061409,001004: 16,3602           00011                           DEC      9          B-14                       
061410,001005: 16,3603           00012                           DEC      10         B-14                       
061411,001006: 16,3604           07776                           OCT      07776                                 
061412,001007: 16,3605           00003                           DEC      3          B-14                       

Page 1429

061414,001009: 16,3606           00010                           DEC      8          B-14                       
061415,001010: 16,3607           00007                           DEC      7          B-14                       
061416,001011: 16,3610           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
061417,001012: 16,3611           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
061418,001013: 16,3612           07776                           OCT      07776                                 #  TO BE    TC  JETSALL -1
061419,001014: 16,3613           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
061420,001015: 16,3614           07776                           OCT      07776                                 
061421,001016: 16,3615           00360        +150MST6           DEC      240        B-14                       
061422,001017: 16,3616           07400        07400OCT           OCT      07400                                 
061423,001018:                                                                                                  #  T-JET LAW FIXED CONSTANTS
061424,001019: 
061425,001020: 16,3617           00266        NORMSCL            OCT      266                                   
061426,001021: 16,3620           74631        -100MS             DEC      -.1                                   
061427,001022: 16,3621           06315        200MS              DEC      .2                                    
061428,001023: 16,3622     7721               25/32              =        PRIO31                                #  (DEC .78125)
061429,001024: 16,3622           00600        BITS8,9            OCTAL    00600                                 
061430,001025: 16,3623           00632        1/40               DEC      .02500                                
061431,001026: 16,3624           77751        MINTIMES           DEC      -22        B-14                       
061432,001027: 16,3625           00026                           DEC      22         B-14                       
061433,001028: 16,3626           02734        PSKIPADR           GENADR   SKIPPAXS                              
061434,001029: 
061435,001030:                                                                                                  #                                          GOES TO Q,R-AXES RCS AUTOPILOT
061436,001031: 16,3627           41644        QRAXIS             CS       OMEGARD                               
061437,001032: 16,3630           61423                           AD       OMEGAR                                
061438,001033: 16,3631           02310                           TC       OVERSUB                               
061439,001034: 16,3632           55437                           TS       EDOTR                                 
061440,001035: 16,3633           41643                           CS       OMEGAQD                               
061441,001036: 16,3634           61422                           AD       OMEGAQ                                
061442,001037: 16,3635           02310                           TC       OVERSUB                               
061443,001038: 16,3636           55436                           TS       EDOTQ                                 
061444,001039: 16,3637           00006                           EXTEND                                         
061445,001040: 16,3640           33643                           DCA      QERRCALL                              
061446,001041: 16,3641           52006                           DTCB                                           
061447,001042: 
061448,001043: 16,3642  E6,1536                                  EBANK=   AOSQ                                  
061449,001044: 16,3642           02124 36106  QERRCALL           2CADR    CALLQERR                              
061450,001045: 

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