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.

061453,000002:                                                                                                  ## Copyright:   Public domain.
061454,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
061455,000004:                                                                                                  ## Purpose:     A section of Luminary revision 173.
061456,000005:                                                                                                  ##              It is part of the reconstructed source code for the second
061457,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
061458,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
061459,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
061460,000009:                                                                                                  ##              Luminary 178, as well as Luminary memo 167 (revision 1).
061461,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
061462,000011:                                                                                                  ##              exactly match those specified for Luminary 173 in NASA
061463,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
061464,000013:                                                                                                  ##              that the reconstruction is correct.
061465,000014:                                                                                                  ## Reference:   pp. 1430-1447
061466,000015:                                                                                                  ## Assembler:   yaYUL
061467,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061468,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061469,000018:                                                                                                  ## Mod history: 2019-09-18 MAS  Created from Luminary 178.
061470,000019: 

Page 1430

061472,000021: 17,2124                                           BANK     17                                    
061473,000022: 17,2000                                           SETLOC   DAPS2                                 
061474,000023: 17,2000                                           BANK                                           
061475,000024: 
061476,000025: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
061477,000026: 
061478,000027: 17,2124                                           COUNT*   $$/DAPQR                              
061479,000028: 
061480,000029: 
061481,000030: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
061482,000031: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
061483,000032: 17,2126           02031                           RAND     CHAN31                                
061484,000033: 17,2127           10000                           CCS      A                                     
061485,000034: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
061486,000035: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
061487,000036: 17,2132           74740                           MASK     OURRCBIT                              
061488,000037: 17,2133           00006                           EXTEND                                         
061489,000038: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
061490,000039: 17,2135           02655                           TC       QERRCALC                              
061491,000040: 
061492,000041: 
061493,000042: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061494,000043: 17,2137           12636                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
061495,000044: 17,2140           12623                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
061496,000045: 17,2141           34755        RCS                CAF      ZERO                                  #    RCS (TRYGTS MAY BRANCH TO HERE)
061497,000046: 17,2142           55630                           TS       COTROLER                              
061498,000047: 
061499,000048: 17,2143           53437                           DXCH     EDOTQ                                 
061500,000049: 17,2144           03200                           TC       ROT-TOUV                              
061501,000050: 17,2145           53427                           DXCH     OMEGAU                                
061502,000051: 
061503,000052:                                                                                                  #                                          X - TRANSLATION:
061504,000053: 
061505,000054:                                                                                                  #                                          INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061506,000055:                                                                                                  #                                                   ULLAGER
061507,000056:                                                                                                  #                                                   APSFLAG, DRIFTBIT
061508,000057:                                                                                                  #                                                   ACC40R2X, ACRBTRAN
061509,000058: 
061510,000059:                                                                                                  #                                          OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
061511,000060:                                                                                                  #                                                   SENSETYP           TELL ROTATION DIRECTION AND DESIRE
061512,000061: 
061513,000062:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
061514,000063:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061515,000064: 
061516,000065: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
061517,000066: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
061518,000067: 17,2150           02031                           RAND     CHAN31                                
061519,000068: 17,2151           00006                           EXTEND                                         
061520,000069: 17,2152           12200                           BZF      +XORULGE                              
061521,000070: 

Page 1431

061523,000072: 17,2153           34744                           CA       BIT8                                  
061524,000073: 17,2154           00006                           EXTEND                                         
061525,000074: 17,2155           02031                           RAND     CHAN31                                
061526,000075: 17,2156           00006                           EXTEND                                         
061527,000076: 17,2157           12201                           BZF      -XTRANS                               
061528,000077: 
061529,000078: 17,2160           34746                           CA       ULLAGER                               
061530,000079: 17,2161           70111                           MASK     DAPBOOLS                              
061531,000080: 17,2162           10000                           CCS      A                                     
061532,000081: 17,2163           12200                           TCF      +XORULGE                              
061533,000082: 
061534,000083: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
061535,000084: 17,2165           55474                           TS       NEXTV                                 
061536,000085: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
061537,000086: 17,2167           74744                           MASK     DRIFTBIT                              
061538,000087: 17,2170           00006                           EXTEND                                         
061539,000088: 17,2171           12176                           BZF      TSENSE                                
061540,000089: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
061541,000090: 17,2173           74737                           MASK     APSFLBIT                              
061542,000091: 17,2174           10000                           CCS      A                                     
061543,000092: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
061544,000093: 17,2176           55500        TSENSE             TS       SENSETYP                              
061545,000094: 17,2177           12232                           TCF      QRCONTRL                              
061546,000095: 
061547,000096: 17,2200           34753        +XORULGE           CAF      ONE                                   
061548,000097: 17,2201           64751        -XTRANS            AD       FOUR                                  
061549,000098: 17,2202           55743                           TS       ROTINDEX                              
061550,000099: 17,2203           67750                           AD       NEG3                                  
061551,000100: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
061552,000101: 17,2205           30111                           CA       DAPBOOLS                              
061553,000102: 17,2206           74741                           MASK     ACC4OR2X                              
061554,000103: 17,2207           10000                           CCS      A                                     
061555,000104: 17,2210           12352                           TCF      TRANS4                                
061556,000105: 
061557,000106: 17,2211           30111                           CA       DAPBOOLS                              
061558,000107: 17,2212           74742                           MASK     AORBTRAN                              
061559,000108: 17,2213           10000                           CCS      A                                     
061560,000109: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
061561,000110: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
061562,000111: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
061563,000112: 
061564,000113: 17,2217           03225                           TC       SELCTSUB                              
061565,000114: 
061566,000115: 17,2220           11740                           CCS      POLYTEMP                              
061567,000116: 17,2221           12224                           TCF      +3                                    
061568,000117: 17,2222           05600                           TC       ALARM                                 
061569,000118: 17,2223           02002                           OCT      02002                                 
061570,000119: 17,2224           35775                           CA       00314OCT                              
061571,000120: 17,2225           71740                           MASK     POLYTEMP                              
061572,000121: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1432

061574,000123: 17,2227           45775                           CS       00314OCT                              
061575,000124: 17,2230           71740                           MASK     POLYTEMP                              
061576,000125: 17,2231           55474                           TS       NEXTV                                 
061577,000126: 
061578,000127:                                                                                                  #                                          Q,R-AXES RCS CONTROL MODE SELECTION
061579,000128: 
061580,000129:                                                                                                  #                                            SWITCHES                INDICATION WHEN SET
061581,000130: 
061582,000131:                                                                                                  #                                            BIT13/CHAN31            AUTO, GO TO ATTSTEER
061583,000132:                                                                                                  #                                            PULSES                  MINIMUM IMPULSE MODE
061584,000133:                                                                                                  #                                            (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
061585,000134: 
061586,000135: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
061587,000136: 17,2233           00006                           EXTEND                                         
061588,000137: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
061589,000138: 17,2235           10000                           CCS      A                                     
061590,000139: 17,2236           12710                           TCF      ATTSTEER                              
061591,000140: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
061592,000141: 17,2240           70111                           MASK     DAPBOOLS                              
061593,000142: 17,2241           00006                           EXTEND                                         
061594,000143: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061595,000144: 
061596,000145:                                                                                                  #  MINIMUM IMPULSE MODE
061597,000146: 
061598,000147: 17,2243           00004                           INHINT                                         
061599,000148: 17,2244           04674                           TC       IBNKCALL                              
061600,000149: 17,2245           40154                           CADR     ZATTEROR                              
061601,000150: 17,2246           34755                           CA       ZERO                                  
061602,000151: 17,2247           55450                           TS       QERROR                                
061603,000152: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
061604,000153: 17,2251           00003                           RELINT                                         
061605,000154: 
061606,000155: 17,2252           00006                           EXTEND                                         
061607,000156: 17,2253           00031                           READ     CHAN31                                
061608,000157: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
061609,000158: 17,2255           11461                           CCS      OLDQRMIN                              
061610,000159: 17,2256           12300                           TCF      CHECKIN                               
061611,000160: 
061612,000161: 17,2257           31736        FIREQR             CA       TEMP31                                
061613,000162: 17,2260           74753                           MASK     BIT1                                  
061614,000163: 17,2261           00006                           EXTEND                                         
061615,000164: 17,2262           12304                           BZF      +QMIN                                 
061616,000165: 
061617,000166: 17,2263           31736                           CA       TEMP31                                
061618,000167: 17,2264           74752                           MASK     BIT2                                  
061619,000168: 17,2265           00006                           EXTEND                                         
061620,000169: 17,2266           12310                           BZF      -QMIN                                 
061621,000170: 
061622,000171: 17,2267           31736                           CA       TEMP31                                
061623,000172: 17,2270           74747                           MASK     BIT5                                  

Page 1433

061625,000174: 17,2271           00006                           EXTEND                                         
061626,000175: 17,2272           12314                           BZF      +RMIN                                 
061627,000176: 
061628,000177: 17,2273           31736                           CA       TEMP31                                
061629,000178: 17,2274           74746                           MASK     BIT6                                  
061630,000179: 17,2275           00006                           EXTEND                                         
061631,000180: 17,2276           12316                           BZF      -RMIN                                 
061632,000181: 
061633,000182: 17,2277           13112                           TCF      XTRANS                                
061634,000183: 
061635,000184: 17,2300           41736        CHECKIN            CS       TEMP31                                
061636,000185: 17,2301           72351                           MASK     OCT63                                 
061637,000186: 17,2302           55461                           TS       OLDQRMIN                              
061638,000187: 17,2303           13112                           TCF      XTRANS                                
061639,000188: 
061640,000189: 17,2304           33136        +QMIN              CA       14MS                                  
061641,000190: 17,2305           55525                           TS       TJU                                   
061642,000191: 17,2306           43136                           CS       14MS                                  
061643,000192: 17,2307           12320                           TCF      MINQR                                 
061644,000193: 17,2310           43136        -QMIN              CS       14MS                                  
061645,000194: 17,2311           55525                           TS       TJU                                   
061646,000195: 17,2312           33136                           CA       14MS                                  
061647,000196: 17,2313           12320                           TCF      MINQR                                 
061648,000197: 17,2314           33136        +RMIN              CA       14MS                                  
061649,000198: 17,2315           12317                           TCF      +2                                    
061650,000199: 17,2316           43136        -RMIN              CS       14MS                                  
061651,000200: 17,2317           55525                           TS       TJU                                   
061652,000201: 17,2320           55526        MINQR              TS       TJV                                   
061653,000202: 17,2321           32350                           CA       MINADR                                
061654,000203: 17,2322           55477                           TS       RETJADR                               
061655,000204: 17,2323           34753                           CA       ONE                                   
061656,000205: 17,2324           55461                           TS       OLDQRMIN                              
061657,000206: 17,2325           55505        MINRTN             TS       AXISCTR                               
061658,000207: 17,2326           30111                           CA       DAPBOOLS                              
061659,000208: 17,2327           74737                           MASK     CSMDOCKD                              
061660,000209: 17,2330           00006                           EXTEND                                         
061661,000210: 17,2331           12341                           BZF      MIMRET                                
061662,000211: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
061663,000212: 17,2333           11525                           CCS      TJU                                   
061664,000213: 17,2334           34776                           CA       60MS                                  
061665,000214: 17,2335           12337                           TCF      +2                                    
061666,000215: 17,2336           44776                           CS       60MS                                  
061667,000216: 17,2337           51505                           INDEX    AXISCTR                               
061668,000217: 17,2340           55525                           TS       TJU                                   
061669,000218: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
061670,000219: 17,2342           74742                           MASK     AORBTRAN                              
061671,000220: 17,2343           10000                           CCS      A                                     
061672,000221: 17,2344           34753                           CA       ONE                                   
061673,000222: 17,2345           64752                           AD       TWO                                   
061674,000223: 17,2346           55742                           TS       NUMBERT                               

Page 1434

061676,000225: 17,2347           12756                           TCF      AFTERTJ                               
061677,000226: 
061678,000227: 17,2350     4776               60MS               =        OCT140                                
061679,000228: 17,2350           02325        MINADR             GENADR   MINRTN                                
061680,000229: 17,2351           00063        OCT63              OCT      63                                    
061681,000230: 17,2352  17,3136               14MS               =        +TJMINT6                              
061682,000231: 
061683,000232: 17,2352           34751        TRANS4             CA       FOUR                                  
061684,000233: 17,2353           12216                           TCF      TSNUMBRT                              
061685,000234: 
061686,000235:                                                                                                  #                                          RATE COMMAND MODE:
061687,000236: 
061688,000237:                                                                                                  #                                          DESCRIPTION (SAME AS P-AXIS)
061689,000238: 
061690,000239: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
061691,000240: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
061692,000241: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
061693,000242: 17,2357           34735                           CA       BIT15                                 
061694,000243: 17,2360           71443                           MASK     CH31TEMP                              
061695,000244: 17,2361           00006                           EXTEND                                         
061696,000245: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
061697,000246: 17,2363           34740                           CA       OURRCBIT                              #  ***********
061698,000247: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
061699,000248: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
061700,000249: 17,2366           12710                           BZF      STILLRCS                              
061701,000250: 17,2367           44743                           CS       BIT9                                  
061702,000251: 17,2370           71262                           MASK     RCSFLAGS                              
061703,000252: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
061704,000253: 17,2372           12374                           TCF      DAMPING                               
061705,000254: 17,2373     4771               40CYCL             =        OCT50                                 
061706,000255: 17,2373     4753               1/10S              =        BIT1                                  
061707,000256: 17,2373           00056        LINRAT             DEC      46         B-14                       
061708,000257:                                                                                                  #  ================================
061709,000258: 17,2374           34755        DAMPING            CA       ZERO                                  
061710,000259: 17,2375           55462                           TS       SAVEHAND                              
061711,000260: 17,2376           55463                           TS       SAVEHAND   +1                         
061712,000261: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
061713,000262: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL  WC = A*(B+|D|)*D
061714,000263: 17,2401           12403                           TCF      +2                                    #  *******************
061715,000264: 17,2402           12403                           TCF      +1                                    
061716,000265: 17,2403           60000                           DOUBLE                                         #    WHERE
061717,000266: 17,2404           60000                           DOUBLE                                         
061718,000267: 17,2405           62373                           AD       LINRAT                                #         WC = COMMANDED ROTATIONAL RATE
061719,000268: 17,2406           00006                           EXTEND                                         #         A  = QUADRATIC SENSITIVITY FACTOR
061720,000269: 17,2407           71462                           MP       SAVEHAND                              #         B  = LINEAR/QUADRATIC SENSITIVITY
061721,000270: 17,2410           30001                           CA       L                                     #         |D|= ABS. VALUE OF DEFLECTION
061722,000271: 17,2411           00006                           EXTEND                                         #         D  = HAND CONTROLLER DEFLECTION
061723,000272: 17,2412           71444                           MP       STIKSENS                              
061724,000273: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
061725,000274: 17,2414           40000                           COM                                            

Page 1435

061727,000276: 17,2415           61455                           AD       QLAST                                 
061728,000277: 17,2416           55740                           TS       DAPTEMP3                              
061729,000278: 17,2417           11463                           CCS      SAVEHAND   +1                         
061730,000279: 17,2420           12423                           TCF      +3                                    
061731,000280: 17,2421           12423                           TCF      +2                                    
061732,000281: 17,2422           12423                           TCF      +1                                    
061733,000282: 17,2423           60000                           DOUBLE                                         
061734,000283: 17,2424           60000                           DOUBLE                                         
061735,000284: 17,2425           62373                           AD       LINRAT                                
061736,000285: 17,2426           00006                           EXTEND                                         
061737,000286: 17,2427           71463                           MP       SAVEHAND   +1                         
061738,000287: 17,2430           30001                           CA       L                                     
061739,000288: 17,2431           00006                           EXTEND                                         
061740,000289: 17,2432           71444                           MP       STIKSENS                              
061741,000290: 17,2433           57456                           XCH      RLAST                                 
061742,000291: 17,2434           40000                           COM                                            
061743,000292: 17,2435           61456                           AD       RLAST                                 
061744,000293: 17,2436           55741                           TS       DAPTEMP4                              
061745,000294: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
061746,000295: 17,2440           61422                           AD       OMEGAQ                                
061747,000296: 17,2441           55436                           TS       QRATEDIF                              
061748,000297: 17,2442           41456                           CS       RLAST                                 
061749,000298: 17,2443           61423                           AD       OMEGAR                                
061750,000299: 17,2444           55437                           TS       RRATEDIF                              
061751,000300: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061752,000301: 17,2446           03200                           TC       ROT-TOUV                              
061753,000302: 17,2447           53427                           DXCH     URATEDIF                              
061754,000303: 17,2450           00004                           INHINT                                         #  SET AUTO DESIRED ATTITUDE TO ACTUAL
061755,000304: 17,2451           04674                           TC       IBNKCALL                              #    ATTITUDE AND ZERO AUTO DESIRED RATE
061756,000305: 17,2452           40154                           FCADR    ZATTEROR                              
061757,000306: 17,2453           00003                           RELINT                                         
061758,000307: 17,2454           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061759,000308: 17,2455           02460                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061760,000309: 17,2456           02460                           TC       +2                                    
061761,000310: 17,2457           02460                           TC       +1                                    
061762,000311: 17,2460           61476                           AD       -RATEDB                               
061763,000312: 17,2461           00006                           EXTEND                                         
061764,000313: 17,2462           62464                           BZMF     +2                                    
061765,000314: 17,2463           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061766,000315: 17,2464           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061767,000316: 17,2465           02470                           TC       +3                                    
061768,000317: 17,2466           02470                           TC       +2                                    
061769,000318: 17,2467           02470                           TC       +1                                    
061770,000319: 17,2470           61476                           AD       -RATEDB                               
061771,000320: 17,2471           00006                           EXTEND                                         
061772,000321: 17,2472           62474                           BZMF     +2                                    
061773,000322: 17,2473           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061774,000323: 17,2474           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061775,000324: 17,2475           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061776,000325: 17,2476           00006                           EXTEND                                         

Page 1436

061778,000327: 17,2477           12501                           BZF      +2                                    
061779,000328: 17,2500           12504                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061780,000329: 17,2501           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061781,000330: 17,2502           34771                           CA       40CYCL                                
061782,000331: 17,2503           55457                           TS       TCQR                                  
061783,000332: 17,2504           34755        ENTERUV            CA       ZERO                                  #  *** DIRECT RATE CONTROL ***
061784,000333: 17,2505           55450                           TS       DYERROR                               
061785,000334: 17,2506           55451                           TS       DYERROR    +1                         
061786,000335: 17,2507           55452                           TS       DZERROR                               
061787,000336: 17,2510           55453                           TS       DZERROR    +1                         
061788,000337: 17,2511           11426                           CCS      URATEDIF                              
061789,000338: 17,2512           12515                           TCF      +3                                    
061790,000339: 17,2513           12515                           TCF      +2                                    
061791,000340: 17,2514           12515                           TCF      +1                                    
061792,000341: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061793,000342: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061794,000343: 17,2517           62533                           BZMF     VDB                                   
061795,000344: 17,2520           11427                           CCS      VRATEDIF                              
061796,000345: 17,2521           12524                           TCF      +3                                    
061797,000346: 17,2522           12524                           TCF      +2                                    
061798,000347: 17,2523           12524                           TCF      +1                                    
061799,000348: 17,2524           61476                           AD       TARGETDB                              
061800,000349: 17,2525           00006                           EXTEND                                         
061801,000350: 17,2526           62530                           BZMF     +2                                    
061802,000351: 17,2527           12544                           TCF      QRTIME                                
061803,000352: 17,2530           34755                           CA       ZERO                                  
061804,000353: 17,2531           55427                           TS       VRATEDIF                              
061805,000354: 17,2532           12544                           TCF      QRTIME                                
061806,000355: 17,2533           11427        VDB                CCS      VRATEDIF                              
061807,000356: 17,2534           02537                           TC       +3                                    
061808,000357: 17,2535           02537                           TC       +2                                    
061809,000358: 17,2536           02537                           TC       +1                                    
061810,000359: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061811,000360: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061812,000361: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061813,000362: 17,2542           34755                           CA       ZERO                                  #  PASS.
061814,000363: 17,2543           55426                           TS       URATEDIF                              
061815,000364: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061816,000365: 17,2545           00006                           EXTEND                                         
061817,000366: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061818,000367: 17,2547           41262                           CS       RCSFLAGS                              
061819,000368: 17,2550           74741                           MASK     QRBIT                                 
061820,000369: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061821,000370: 17,2552           02556                           TC       +4                                    
061822,000371: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
061823,000372: 17,2554           71262                           MASK     RCSFLAGS                              
061824,000373: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061825,000374: 17,2556           32622                           CA       HANDADR                               
061826,000375: 17,2557           55477                           TS       RETJADR                               
061827,000376: 17,2560           34753                           CA       ONE                                   

Page 1437

061829,000378: 17,2561           55505        BACKHAND           TS       AXISCTR                               
061830,000379: 
061831,000380: 17,2562           34751                           CA       FOUR                                  
061832,000381: 17,2563           55742                           TS       NUMBERT                               
061833,000382: 
061834,000383: 17,2564           51505                           INDEX    AXISCTR                               
061835,000384: 17,2565           51534                           INDEX    SKIPU                                 
061836,000385: 17,2566           12567                           TCF      +1                                    
061837,000386: 17,2567           34751                           CA       FOUR                                  
061838,000387: 17,2570           51505                           INDEX    AXISCTR                               
061839,000388: 17,2571           55534                           TS       SKIPU                                 
061840,000389: 17,2572           13034                           TCF      LOOPER                                
061841,000390: 
061842,000391: 17,2573           51505                           INDEX    AXISCTR                               
061843,000392: 17,2574           11426                           CCS      URATEDIF                              #  INDEX  AXIS    QUANITY
061844,000393: 17,2575           34755                           CA       ZERO                                  #    0     -U     1/JETACC-AOSU
061845,000394: 17,2576           12600                           TCF      +2                                    #    1     +U     1/JETACC+AOSU
061846,000395: 17,2577           34753                           CA       ONE                                   #   16     -V     1/JETACC-AOSV
061847,000396: 17,2600           51505                           INDEX    AXISCTR                               #   17     +V     1/JETACC+AOSV
061848,000397: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061849,000398: 
061850,000399: 17,2602           50000                           INDEX    A                                     
061851,000400: 17,2603           41570                           CS       1/ANET2    +1                         
061852,000401: 17,2604           00006                           EXTEND                                         
061853,000402: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061854,000403: 17,2606           71426                           MP       URATEDIF                              #   JET TIME IN A      SCALED 32 SEC
061855,000404: 17,2607           54002                           TS       Q                                     
061856,000405: 17,2610           20001                           DAS      A                                     
061857,000406: 17,2611           60002                           AD       Q                                     
061858,000407: 17,2612           54000                           TS       A                                     #   OVERFLOW SKIP
061859,000408: 17,2613           12615                           TCF      +2                                    
061860,000409: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061861,000410: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
061862,000411: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061863,000412: 17,2617           12756                           TCF      AFTERTJ                               
061864,000413: 
061865,000414: 17,2620           34755        ZEROTJ             CA       ZERO                                  
061866,000415: 17,2621           12615                           TCF      SETTIME                               
061867,000416: 
061868,000417: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
061869,000418: 
061870,000419:                                                                                                  #                                          GTS WILL BE TRIED IF
061871,000420:                                                                                                  #                                             1. USEQRJTS= 0,
061872,000421:                                                                                                  #                                             2. ALLOWGTS POS,
061873,000422:                                                                                                  #                                             3. JETS ARE OFF(Q,R-AXES)
061874,000423: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.        (AS LONG AS
061875,000424: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061876,000425: 17,2625           10000                           CCS      A                                     
061877,000426: 17,2626           12141                           TCF      RCS                                   
061878,000427: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1438

061880,000429: 17,2630           12632                           TCF      +2                                    
061881,000430: 17,2631           12141                           TCF      RCS                                   
061882,000431: 17,2632           00006                           EXTEND                                         
061883,000432: 17,2633           00005                           READ     CHAN5                                 
061884,000433: 17,2634           10000                           CCS      A                                     
061885,000434: 17,2635           12641                           TCF      CHKINGTS                              
061886,000435: 17,2636           00006        GOTOGTS            EXTEND                                         
061887,000436: 17,2637           32654                           DCA      GTSCADR                               
061888,000437: 17,2640           52006                           DTCB                                           
061889,000438: 
061890,000439: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061891,000440: 17,2642           12644                           TCF      +2                                    #    YES.  SET UP A DAMPED NULLING DRIVE.
061892,000441: 17,2643           12141                           TCF      RCS                                   #    NO.  NULLING WAS SET UP BEFORE. DO RCS
061893,000442: 17,2644           00004                           INHINT                                         
061894,000443: 17,2645           04674                           TC       IBNKCALL                              
061895,000444: 17,2646           43312                           CADR     TIMEGMBL                              
061896,000445: 17,2647           00003                           RELINT                                         
061897,000446: 17,2650           34755                           CAF      ZERO                                  
061898,000447: 17,2651           55632                           TS       INGTS                                 
061899,000448: 17,2652           12141                           TCF      RCS                                   
061900,000449: 
061901,000450: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
061902,000451: 17,2653           03061 42106  GTSCADR            2CADR    GTS                                   
061903,000452: 
061904,000453: 

Page 1439

061906,000455:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061907,000456: 
061908,000457: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
061909,000458: 17,2656           00006                           EXTEND                                         
061910,000459: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061911,000460: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
061912,000461: 17,2661           00006                           EXTEND                                         
061913,000462: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061914,000463: 17,2663           55751                           TS       E                                     
061915,000464: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
061916,000465: 17,2665           00006                           EXTEND                                         
061917,000466: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061918,000467: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
061919,000468: 17,2670           00006                           EXTEND                                         
061920,000469: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061921,000470: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
061922,000471: 17,2673           61751                           AD       E                                     
061923,000472: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061924,000473: 
061925,000474: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
061926,000475: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061927,000476: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061928,000477: 17,2700           55751                           TS       E                                     
061929,000478: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
061930,000479: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061931,000480: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061932,000481: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
061933,000482: 17,2705           61751                           AD       E                                     
061934,000483: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061935,000484: 17,2707           00002                           TC       Q                                     
061936,000485: 

Page 1440

061938,000487:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061939,000488: 
061940,000489: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061941,000490: 
061942,000491: 17,2710           31452        STILLRCS           CA       RERROR                                
061943,000492: 17,2711           22000                           LXCH     A                                     
061944,000493: 17,2712           31450                           CA       QERROR                                
061945,000494: 17,2713           03200                           TC       ROT-TOUV                              
061946,000495: 17,2714           53751                           DXCH     UERROR                                
061947,000496: 
061948,000497:                                                                                                  #                                          PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061949,000498:                                                                                                  #                                          PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061950,000499: 17,2715           33142        TJLAW              CA       TJLAWADR                              
061951,000500: 17,2716           55477                           TS       RETJADR                               
061952,000501: 17,2717           34753                           CA       ONE                                   
061953,000502: 17,2720           55505                           TS       AXISCTR                               
061954,000503: 17,2721           51505                           INDEX    AXISCTR                               
061955,000504: 17,2722           51534                           INDEX    SKIPU                                 
061956,000505: 17,2723           12724                           TCF      +1                                    
061957,000506: 17,2724           34751                           CA       FOUR                                  
061958,000507: 17,2725           51505                           INDEX    AXISCTR                               
061959,000508: 17,2726           55534                           TS       SKIPU                                 
061960,000509: 17,2727           13034                           TCF      LOOPER                                
061961,000510: 17,2730           51505                           INDEX    AXISCTR                               
061962,000511: 17,2731           31750                           CA       UERROR                                
061963,000512: 17,2732           55751                           TS       E                                     
061964,000513: 17,2733           51505                           INDEX    AXISCTR                               
061965,000514: 17,2734           31426                           CA       OMEGAU                                
061966,000515: 17,2735           55427                           TS       EDOT                                  
061967,000516: 17,2736           30111                           CA       DAPBOOLS                              
061968,000517: 17,2737           74737                           MASK     CSMDOCKD                              
061969,000518: 17,2740           10000                           CCS      A                                     
061970,000519: 17,2741           12744                           TCF      +3                                    
061971,000520: 17,2742           03304                           TC       TJETLAW                               
061972,000521: 17,2743           12756                           TCF      AFTERTJ                               
061973,000522: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
061974,000523: 17,2745           74736                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
061975,000524: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
061976,000525: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
061977,000526: 17,2750           00004                           INHINT                                         
061978,000527: 17,2751           04674                           TC       IBNKCALL                              
061979,000528: 17,2752           43721                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
061980,000529: 17,2753           00003                           RELINT                                         
061981,000530: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061982,000531: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
061983,000532: 
061984,000533:                                                                                                  #                                          Q,R-JET-SELECTION-LOGIC
061985,000534: 
061986,000535:                                                                                                  #                                          INPUT: AXISCTR        0,1 FOR  U,V
061987,000536:                                                                                                  #                                                 SNUFFBIT       ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1441

061989,000538:                                                                                                  #                                                 TJU,TJV        JET TIME SCALED 10.24 SEC.
061990,000539:                                                                                                  #                                                 NUMBERT        INDICATES NUMBER OF JETS AND TYPE OF POLICY
061991,000540:                                                                                                  #                                                 RETJADR        WHERE TO RETURN TO
061992,000541: 
061993,000542:                                                                                                  #                                          OUTPUT:  NO.U(V)JETS  RATE DERIVATION FEEDBACK
061994,000543:                                                                                                  #                                                   CHANNEL 5
061995,000544:                                                                                                  #                                                   SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061996,000545: 
061997,000546:                                                                                                  #                                          NOTES:  IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
061998,000547:                                                                                                  #                                                  JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061999,000548:                                                                                                  #                                                  TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062000,000549:                                                                                                  #                                                  IF NONE CAN BE FOUND.
062001,000550: 
062002,000551:                                                                                                  #                                                  TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062003,000552:                                                                                                  #                                                  MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062004,000553: 
062005,000554: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062006,000555: 17,2757           74737                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
062007,000556: 17,2760           00006                           EXTEND                                         
062008,000557: 17,2761           12772                           BZF      DOROTAT                               
062009,000558: 17,2762           40106                           CS       FLGWRD10                              
062010,000559: 17,2763           74737                           MASK     APSFLBIT                              
062011,000560: 17,2764           00006                           EXTEND                                         
062012,000561: 17,2765           12772                           BZF      DOROTAT                               
062013,000562: 17,2766           30111                           CA       DAPBOOLS                              
062014,000563: 17,2767           74744                           MASK     DRIFTBIT                              
062015,000564: 17,2770           00006                           EXTEND                                         
062016,000565: 17,2771           13112                           BZF      XTRANS                                
062017,000566: 
062018,000567: 17,2772           34752        DOROTAT            CAF      TWO                                   
062019,000568: 17,2773           54001                           TS       L                                     
062020,000569: 17,2774           51505                           INDEX    AXISCTR                               
062021,000570: 17,2775           11525                           CCS      TJU                                   
062022,000571: 17,2776           13003                           TCF      +5                                    
062023,000572: 17,2777           13026                           TCF      NOROTAT                               
062024,000573: 17,3000           13002                           TCF      +2                                    
062025,000574: 17,3001           13026                           TCF      NOROTAT                               
062026,000575: 17,3002           22007                           ZL                                             
062027,000576: 17,3003           64753                           AD       ONE                                   
062028,000577: 17,3004           55736                           TS       ABSTJ                                 
062029,000578: 
062030,000579: 17,3005           31505                           CA       AXISCTR                               
062031,000580: 17,3006           60001                           AD       L                                     
062032,000581: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062033,000582: 
062034,000583: 17,3010           31736                           CA       ABSTJ                                 
062035,000584: 17,3011           63137                           AD       -150MS                                
062036,000585: 17,3012           00006                           EXTEND                                         
062037,000586: 17,3013           63037                           BZMF     DOSKIP                                

Page 1442

062039,000588: 17,3014           03225                           TC       SELCTSUB                              
062040,000589: 
062041,000590: 17,3015           51505                           INDEX    AXISCTR                               
062042,000591: 17,3016           33134                           CA       INDEXES                               
062043,000592: 17,3017           54001                           TS       L                                     
062044,000593: 
062045,000594: 17,3020           31740                           CA       POLYTEMP                              
062046,000595: 17,3021           00004                           INHINT                                         
062047,000596: 17,3022           50001                           INDEX    L                                     
062048,000597: 17,3023           05755                           TC       WRITEP                                
062049,000598: 
062050,000599: 17,3024           00003                           RELINT                                         
062051,000600: 17,3025           13100                           TCF      FEEDBACK                              
062052,000601: 
062053,000602: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
062054,000603: 17,3027           33134                           CA       INDEXES                               
062055,000604: 17,3030           00004                           INHINT                                         
062056,000605: 17,3031           50000                           INDEX    A                                     
062057,000606: 17,3032           05754                           TC       WRITEP     -1                         
062058,000607: 
062059,000608: 17,3033           00003                           RELINT                                         
062060,000609: 17,3034           11505        LOOPER             CCS      AXISCTR                               
062061,000610: 17,3035           01477                           TC       RETJADR                               
062062,000611: 17,3036           13270                           TCF      CLOSEOUT                              
062063,000612: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
062064,000613: 17,3040           63136                           AD       +TJMINT6                              #  14MS
062065,000614: 17,3041           00006                           EXTEND                                         
062066,000615: 17,3042           63061                           BZMF     NOTMIN                                
062067,000616: 
062068,000617: 17,3043           27736                           ADS      ABSTJ                                 
062069,000618: 17,3044           51505                           INDEX    AXISCTR                               
062070,000619: 17,3045           11525                           CCS      TJU                                   
062071,000620: 17,3046           33136                           CA       +TJMINT6                              
062072,000621: 17,3047           13051                           TCF      +2                                    
062073,000622: 17,3050           43136                           CS       +TJMINT6                              
062074,000623: 17,3051           51505                           INDEX    AXISCTR                               
062075,000624: 17,3052           55525                           TS       TJU                                   
062076,000625: 
062077,000626: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062078,000627: 17,3054           13060                           TCF      NOTMIN     -1                         
062079,000628: 17,3055           00006                           EXTEND                                         
062080,000629: 17,3056           00004                           READ     LOSCALAR                              
062081,000630: 17,3057           74753                           MASK     ONE                                   
062082,000631: 17,3060           55742                           TS       NUMBERT                               
062083,000632: 
062084,000633: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
062085,000634: 
062086,000635: 17,3062           51505                           INDEX    AXISCTR                               
062087,000636: 17,3063           33134                           CA       INDEXES                               
062088,000637: 17,3064           00004                           INHINT                                         
062089,000638: 

Page 1443

062091,000640: 17,3065           55471                           TS       T6FURTHA   +1                         
062092,000641: 17,3066           31740                           CA       POLYTEMP                              
062093,000642: 17,3067           51471                           INDEX    T6FURTHA   +1                         
062094,000643: 17,3070           05755                           TC       WRITEP                                
062095,000644: 
062096,000645: 17,3071           31736                           CA       ABSTJ                                 
062097,000646: 17,3072           55470                           TS       T6FURTHA                              
062098,000647: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
062099,000648: 
062100,000649: 17,3074           00003                           RELINT                                         
062101,000650: 
062102,000651: 17,3075           34755                           CA       ZERO                                  
062103,000652: 17,3076           51505                           INDEX    AXISCTR                               
062104,000653: 17,3077           55534                           TS       SKIPU                                 
062105,000654: 
062106,000655: 17,3100           46250        FEEDBACK           CS       THREE                                 
062107,000656: 17,3101           61742                           AD       NUMBERT                               
062108,000657: 17,3102           00006                           EXTEND                                         
062109,000658: 17,3103           63106                           BZMF     +3                                    
062110,000659: 
062111,000660: 17,3104           34752                           CA       TWO                                   
062112,000661: 17,3105           13107                           TCF      +2                                    
062113,000662: 17,3106           34753                           CA       ONE                                   
062114,000663: 17,3107           51505                           INDEX    AXISCTR                               
062115,000664: 17,3110           55522                           TS       NO.UJETS                              
062116,000665: 17,3111           13034                           TCF      LOOPER                                
062117,000666: 
062118,000667: 17,3112           34755        XTRANS             CA       ZERO                                  
062119,000668: 17,3113           55525                           TS       TJU                                   
062120,000669: 17,3114           55526                           TS       TJV                                   
062121,000670: 17,3115           34751                           CA       FOUR                                  
062122,000671: 17,3116           00004                           INHINT                                         
062123,000672: 17,3117           57534                           XCH      SKIPU                                 
062124,000673: 17,3120           00006                           EXTEND                                         
062125,000674: 17,3121           13123                           BZF      +2                                    
062126,000675: 17,3122           05760                           TC       WRITEU     -1                         
062127,000676: 17,3123           34751                           CA       FOUR                                  
062128,000677: 17,3124           57535                           XCH      SKIPV                                 
062129,000678: 17,3125           00003                           RELINT                                         
062130,000679: 
062131,000680: 17,3126           00006                           EXTEND                                         
062132,000681: 17,3127           13270                           BZF      CLOSEOUT                              
062133,000682: 17,3130           00004                           INHINT                                         
062134,000683: 17,3131           05771                           TC       WRITEV     -1                         
062135,000684: 17,3132           00003                           RELINT                                         
062136,000685: 
062137,000686: 17,3133           13270                           TCF      CLOSEOUT                              
062138,000687: 17,3134           00004        INDEXES            DEC      4          B-14                       
062139,000688: 17,3135           00015                           DEC      13         B-14                       
062140,000689: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1444

062142,000691: 17,3137           77417        -150MS             DEC      -240       B-14                       
062143,000692: 17,3140           00600        BIT8,9             OCT      00600                                 
062144,000693: 17,3141           00266        SCLNORM            OCT      266                                   
062145,000694: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062146,000695: 
062147,000696:                                                                                                  #                                          THE JET LIST:
062148,000697:                                                                                                  #                                          THIS IS A WAITLIST FOR T6RUPTS.
062149,000698: 
062150,000699:                                                                                                  #                                          CALLED BY:
062151,000700:                                                                                                  #                                                   CA  TJ            TIME WHEN NEXT JETS WILL BE WRITTEN
062152,000701:                                                                                                  #                                                   TS  T6FURTHA
062153,000702:                                                                                                  #                                                   CA  INDEX         AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062154,000703:                                                                                                  #                                                   TS  T6FURTHA +1
062155,000704:                                                                                                  #                                                   TC  JTLST
062156,000705: 
062157,000706:                                                                                                  #                                          EXAMPLE-  U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062158,000707:                                                                                                  #                                          JETS INTO CHANNEL 5.   IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062159,000708:                                                                                                  #                                          150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062160,000709:                                                                                                  #                                          CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062161,000710:                                                                                                  #                                          OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062162,000711: 
062163,000712:                                                                                                  #                                          THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062164,000713:                                                                                                  #                                           THE INPUT IS THE LAST MEMBER OF THE LIST
062165,000714: 
062166,000715:                                                                                                  #                                          RETURNS BY:
062167,000716:                                                                                                  #                                                +  TC  Q
062168,000717: 
062169,000718:                                                                                                  #                                          DEFINITIONS:(OUTPUT)
062170,000719:                                                                                                  #                                          TIME6             TIME OF NEXT RUPT
062171,000720:                                                                                                  #                                          T6NEXT            DELTA TIME TO NEXT RUPT
062172,000721:                                                                                                  #                                          T6FURTHA          DELTA TIME FROM 2ND TO LAST RUPT
062173,000722:                                                                                                  #                                          NXT6ADR           AXIS INDEX       Q - P-AXIS
062174,000723:                                                                                                  #                                          T6NEXT +1         AXIS INDEX       4 - U-AXIS
062175,000724:                                                                                                  #                                          T6FURTHA +1       AXIS INDEX      13 - V-AXIS
062176,000725: 17,3143           41470        JTLST              CS       T6FURTHA                              
062177,000726: 17,3144           60031                           AD       TIME6                                 
062178,000727: 17,3145           00006                           EXTEND                                         
062179,000728: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
062180,000729: 
062181,000730: 17,3147           23465                           LXCH     NXT6ADR                               
062182,000731: 17,3150           53467                           DXCH     T6NEXT                                
062183,000732: 17,3151           53471                           DXCH     T6FURTHA                              
062184,000733: 17,3152           54031                           TS       TIME6                                 
062185,000734: 17,3153           23465                           LXCH     NXT6ADR                               
062186,000735: 
062187,000736: 17,3154           00006        TURNON             EXTEND                                         
062188,000737: 17,3155           23265                           QXCH     C13QSAV                               
062189,000738: 17,3156           06022                           TC       C13STALL                              
062190,000739: 
062191,000740: 17,3157           34735                           CA       BIT15                                 

Page 1445

062193,000742: 17,3160           00006                           EXTEND                                         
062194,000743: 17,3161           05013                           WOR      CHAN13                                
062195,000744: 17,3162           01265                           TC       C13QSAV                               
062196,000745: 
062197,000746: 17,3163           61466        MIDORLST           AD       T6NEXT                                
062198,000747: 17,3164           00006                           EXTEND                                         
062199,000748: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
062200,000749: 
062201,000750: 17,3166           23467                           LXCH     T6NEXT     +1                         
062202,000751: 17,3167           53471                           DXCH     T6FURTHA                              
062203,000752: 17,3170           00006                           EXTEND                                         
062204,000753: 17,3171           60031                           SU       TIME6                                 
062205,000754: 17,3172           53467                           DXCH     T6NEXT                                
062206,000755: 
062207,000756: 17,3173           00002                           TC       Q                                     
062208,000757: 
062209,000758: 17,3174           40000        LASTCHG            CS       A                                     
062210,000759: 17,3175           64754                           AD       NEG0                                  
062211,000760: 17,3176           55470                           TS       T6FURTHA                              
062212,000761: 
062213,000762: 17,3177           00002                           TC       Q                                     
062214,000763: 
062215,000764: 
062216,000765:                                                                                                  #    ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062217,000766:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062218,000767:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062219,000768:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
062220,000769: 
062221,000770: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
062222,000771: 17,3201           00006                           EXTEND                                         
062223,000772: 17,3202           71626                           MP       COEFFQ                                
062224,000773: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062225,000774: 17,3204           00006                           EXTEND                                         
062226,000775: 17,3205           71627                           MP       COEFFR                                
062227,000776: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
062228,000777: 17,3207           61737                           AD       ROTEMP2                               
062229,000778: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062230,000779: 17,3211           13215                           TCF      +4                                    
062231,000780: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062232,000781: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062233,000782: 17,3214           55736                           TS       ROTEMP1                               
062234,000783: 17,3215           41737                           CS       ROTEMP2                               
062235,000784: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062236,000785: 17,3217           54007                           TS       7                                     
062237,000786: 17,3220           13223                           TCF      +3                                    
062238,000787: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062239,000788: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062240,000789: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062241,000790: 17,3224           00002                           TC       Q                                     
062242,000791: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              

Page 1446

062244,000793: 17,3226           33257                           CA       ALLJETS                               
062245,000794: 17,3227           51742                           INDEX    NUMBERT                               
062246,000795: 17,3230           73263                           MASK     TYPEPOLY                              
062247,000796: 17,3231           55740                           TS       POLYTEMP                              
062248,000797: 
062249,000798: 17,3232           71257                           MASK     CH5MASK                               
062250,000799: 17,3233           10000                           CCS      A                                     
062251,000800: 17,3234           13236                           TCF      +2                                    
062252,000801: 
062253,000802: 17,3235           00002                           TC       Q                                     
062254,000803: 
062255,000804: 17,3236           36250                           CA       THREE                                 
062256,000805: 17,3237           55742        FAILOOP            TS       NUMBERT                               
062257,000806: 17,3240           51743                           INDEX    ROTINDEX                              
062258,000807: 17,3241           33257                           CA       ALLJETS                               
062259,000808: 17,3242           51742                           INDEX    NUMBERT                               
062260,000809: 17,3243           73263                           MASK     TYPEPOLY                              
062261,000810: 17,3244           55740                           TS       POLYTEMP                              
062262,000811: 17,3245           71257                           MASK     CH5MASK                               
062263,000812: 17,3246           00006                           EXTEND                                         
062264,000813: 17,3247           13235                           BZF      FAILOOP    -2                         
062265,000814: 17,3250           11742                           CCS      NUMBERT                               
062266,000815: 17,3251           13237                           TCF      FAILOOP                               
062267,000816: 17,3252           51505                           INDEX    AXISCTR                               
062268,000817: 17,3253           55525                           TS       TJU                                   
062269,000818: 17,3254           05600                           TC       ALARM                                 
062270,000819: 17,3255           02004                           OCT      02004                                 
062271,000820: 17,3256           13026                           TCF      NOROTAT                               
062272,000821: 17,3257           00110        ALLJETS            OCT      00110                                 #  -U       6 13
062273,000822: 17,3260           00022                           OCT      00022                                 #  -V       2  9
062274,000823: 17,3261           00204                           OCT      00204                                 #  +U       5 14
062275,000824: 
062276,000825: 17,3262           00041                           OCT      00041                                 #  +V       1 10
062277,000826: 17,3263           00125        TYPEPOLY           OCT      00125                                 #  -X  1 5 9  13
062278,000827: 17,3264           00252                           OCT      00252                                 #  +X 2 6 10 14
062279,000828: 17,3265           00146                           OCT      00146                                 #  A   2 5 10 13
062280,000829: 17,3266           00231                           OCT      00231                                 #  B   1 6 9 14
062281,000830: 17,3267           00377                           OCT      00377                                 #  ALL 1 2 5 6 9 10 13 14
062282,000831: 
062283,000832:                                                                                                  #   THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062284,000833: 
062285,000834: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
062286,000835: 17,3271           07757                           TC       MAKERUPT                              
062287,000836: 
062288,000837: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
062289,000838: 
062290,000839: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
062291,000840: 17,3274           52011                           DXCH     ARUPT                                 
062292,000841: 17,3275           53755                           DXCH     DAPBQRPT                              
062293,000842: 17,3276           56017                           XCH      BRUPT                                 

Page 1447

062295,000844: 17,3277           22002                           LXCH     Q                                     
062296,000845: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062297,000846: 17,3301           53757                           DXCH     DAPZRUPT                              
062298,000847: 17,3302           52016                           DXCH     ZRUPT                                 
062299,000848: 17,3303           15303                           TCF      NOQRSM                                
062300,000849:    7757                                           BLOCK    3                                     
062301,000850:    6000                                           SETLOC   FFTAG6                                
062302,000851:    6000                                           BANK                                           
062303,000852: 
062304,000853:    7757                                           COUNT*   $$/DAP                                
062305,000854: 
062306,000855:    7757           00006        MAKERUPT           EXTEND                                         
062307,000856:    7760           07757                           EDRUPT   MAKERUPT                              

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