Source Code

These source-code files derive from a printout of Luminary 210 (Apollo 15-17 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Jim Lawton, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY 
	BY NASA 2021112-161 17:11 MAR. 19,1971
Note that the date is the date of the printout, not the date of the program revision.

062376,000002:                                                                                                  ## Copyright:   Public domain.
062377,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
062378,000004:                                                                                                  ## Purpose:     A section of Luminary revision 210.
062379,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
062380,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 15-17.
062381,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
062382,000008:                                                                                                  ##              that the code format has been changed to conform to the
062383,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
062384,000010:                                                                                                  ##              original YUL assembler.
062385,000011:                                                                                                  ## Reference:   pp. 1440-1457
062386,000012:                                                                                                  ## Assembler:   yaYUL
062387,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062388,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
062389,000015:                                                                                                  ## Mod history: 2016-11-17 JL   Created from Luminary131 version.
062390,000016:                                                                                                  ##              2016-12-12 HG   Transcribed
062391,000017:                                                                                                  ##              2016-12-26 RSB  Comment-text proofed using ProoferComments
062392,000018:                                                                                                  ##                              and corrected errors found.
062393,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062394,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062395,000021:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
062396,000022:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
062397,000023: 

Page 1440

062399,000025: 17,2124                                           BANK     17                                    
062400,000026: 17,2000                                           SETLOC   DAPS2                                 
062401,000027: 17,2000                                           BANK                                           
062402,000028: 
062403,000029: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
062404,000030: 
062405,000031: 17,2124                                           COUNT*   $$/DAPQR                              
062406,000032: 
062407,000033: 17,2124           34730        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062408,000034: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062409,000035: 17,2126           02031                           RAND     CHAN31                                
062410,000036: 17,2127           10000                           CCS      A                                     
062411,000037: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062412,000038: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062413,000039: 17,2132           74731                           MASK     OURRCBIT                              
062414,000040: 17,2133           00006                           EXTEND                                         
062415,000041: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062416,000042: 17,2135           02655                           TC       QERRCALC                              
062417,000043: 
062418,000044: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062419,000045: 17,2137           12636                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
062420,000046: 17,2140           12623                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
062421,000047: 17,2141           34746        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
062422,000048: 17,2142           55630                           TS       COTROLER                              
062423,000049: 
062424,000050: 17,2143           53437                           DXCH     EDOTQ                                 
062425,000051: 17,2144           03200                           TC       ROT-TOUV                              
062426,000052: 17,2145           53427                           DXCH     OMEGAU                                
062427,000053: 
062428,000054:                                                                                                  #                                          X - TRANSLATION:
062429,000055: 
062430,000056:                                                                                                  #                                          INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062431,000057:                                                                                                  #                                                   ULLAGER
062432,000058:                                                                                                  #                                                   APSFLAG, DRIFTBIT
062433,000059:                                                                                                  #                                                   ACC40R2X, ACRBTRAN
062434,000060: 
062435,000061:                                                                                                  #                                          OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
062436,000062:                                                                                                  #                                                   SENSETYP           TELL ROTATION DIRECTION AND DESIRE
062437,000063: 
062438,000064:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062439,000065:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062440,000066: 
062441,000067: 17,2146           34736        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062442,000068: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062443,000069: 17,2150           02031                           RAND     CHAN31                                
062444,000070: 17,2151           00006                           EXTEND                                         
062445,000071: 17,2152           12200                           BZF      +XORULGE                              
062446,000072: 

Page 1441

062448,000074: 17,2153           34735                           CA       BIT8                                  
062449,000075: 17,2154           00006                           EXTEND                                         
062450,000076: 17,2155           02031                           RAND     CHAN31                                
062451,000077: 17,2156           00006                           EXTEND                                         
062452,000078: 17,2157           12201                           BZF      -XTRANS                               
062453,000079: 
062454,000080: 17,2160           34737                           CA       ULLAGER                               
062455,000081: 17,2161           70111                           MASK     DAPBOOLS                              
062456,000082: 17,2162           10000                           CCS      A                                     
062457,000083: 17,2163           12200                           TCF      +XORULGE                              
062458,000084: 
062459,000085: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062460,000086: 17,2165           55474                           TS       NEXTV                                 
062461,000087: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062462,000088: 17,2167           74735                           MASK     DRIFTBIT                              

Note: There is a short blue horizontal marker line right to the right of the opernad DRIFTBIT

062464,000090: 17,2170           00006                           EXTEND                                         
062465,000091: 17,2171           12176                           BZF      TSENSE                                
062466,000092: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062467,000093: 17,2173           74730                           MASK     APSFLBIT                              
062468,000094: 17,2174           10000                           CCS      A                                     
062469,000095: 17,2175           34743                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062470,000096: 17,2176           55500        TSENSE             TS       SENSETYP                              
062471,000097: 17,2177           12232                           TCF      QRCONTRL                              
062472,000098: 
062473,000099: 17,2200           34744        +XORULGE           CAF      ONE                                   
062474,000100: 17,2201           64742        -XTRANS            AD       FOUR                                  
062475,000101: 17,2202           55743                           TS       ROTINDEX                              
062476,000102: 17,2203           67766                           AD       NEG3                                  
062477,000103: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062478,000104: 17,2205           30111                           CA       DAPBOOLS                              
062479,000105: 17,2206           74732                           MASK     ACC4OR2X                              
062480,000106: 17,2207           10000                           CCS      A                                     
062481,000107: 17,2210           12352                           TCF      TRANS4                                
062482,000108: 
062483,000109: 17,2211           30111                           CA       DAPBOOLS                              
062484,000110: 17,2212           74733                           MASK     AORBTRAN                              
062485,000111: 17,2213           10000                           CCS      A                                     
062486,000112: 17,2214           34744                           CA       ONE                                   #  THREE FOR B
062487,000113: 17,2215           64743                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062488,000114: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
062489,000115: 
062490,000116: 17,2217           03225                           TC       SELCTSUB                              
062491,000117: 
062492,000118: 17,2220           11740                           CCS      POLYTEMP                              
062493,000119: 17,2221           12224                           TCF      +3                                    
062494,000120: 17,2222           05571                           TC       ALARM                                 
062495,000121: 17,2223           02002                           OCT      02002                                 
062496,000122: 17,2224           35770                           CA       00314OCT                              
062497,000123: 17,2225           71740                           MASK     POLYTEMP                              
062498,000124: 17,2226           55473        TSNEXTS            TS       NEXTU                                 
062499,000125: 

Page 1442

062501,000127: 17,2227           45770                           CS       00314OCT                              
062502,000128: 17,2230           71740                           MASK     POLYTEMP                              
062503,000129: 17,2231           55474                           TS       NEXTV                                 
062504,000130: 
062505,000131:                                                                                                  #                                               Q,R-AXES RCS CONTROL MODE SELECTION
062506,000132: 
062507,000133:                                                                                                  #                                                 SWITCHES                INDICATION WHEN SET
062508,000134: 
062509,000135:                                                                                                  #                                                 BIT13/CHAN31            AUTO, GO TO ATTSTEER
062510,000136:                                                                                                  #                                                 PULSES                  MINIMUM IMPULSE MODE
062511,000137:                                                                                                  #                                                 (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
062512,000138: 
062513,000139: 17,2232           34730        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062514,000140: 17,2233           00006                           EXTEND                                         
062515,000141: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
062516,000142: 17,2235           10000                           CCS      A                                     
062517,000143: 17,2236           12710                           TCF      ATTSTEER                              
062518,000144: 17,2237           34726        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062519,000145: 17,2240           70111                           MASK     DAPBOOLS                              
062520,000146: 17,2241           00006                           EXTEND                                         
062521,000147: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062522,000148: 
062523,000149:                                                                                                  #  MINIMUM IMPULSE MODE
062524,000150: 
062525,000151: 17,2243           00004                           INHINT                                         
062526,000152: 17,2244           04665                           TC       IBNKCALL                              
062527,000153: 17,2245           40154                           CADR     ZATTEROR                              
062528,000154: 17,2246           34746                           CA       ZERO                                  
062529,000155: 17,2247           55450                           TS       QERROR                                
062530,000156: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
062531,000157: 17,2251           00003                           RELINT                                         
062532,000158: 
062533,000159: 17,2252           00006                           EXTEND                                         
062534,000160: 17,2253           00031                           READ     CHAN31                                
062535,000161: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062536,000162: 17,2255           11461                           CCS      OLDQRMIN                              
062537,000163: 17,2256           12300                           TCF      CHECKIN                               
062538,000164: 
062539,000165: 17,2257           31736        FIREQR             CA       TEMP31                                
062540,000166: 17,2260           74744                           MASK     BIT1                                  
062541,000167: 17,2261           00006                           EXTEND                                         
062542,000168: 17,2262           12304                           BZF      +QMIN                                 
062543,000169: 
062544,000170: 17,2263           31736                           CA       TEMP31                                
062545,000171: 17,2264           74743                           MASK     BIT2                                  
062546,000172: 17,2265           00006                           EXTEND                                         
062547,000173: 17,2266           12310                           BZF      -QMIN                                 
062548,000174: 
062549,000175: 17,2267           31736                           CA       TEMP31                                
062550,000176: 17,2270           74740                           MASK     BIT5                                  
062551,000177: 

Page 1443

062553,000179: 17,2271           00006                           EXTEND                                         
062554,000180: 17,2272           12314                           BZF      +RMIN                                 
062555,000181: 
062556,000182: 17,2273           31736                           CA       TEMP31                                
062557,000183: 17,2274           74737                           MASK     BIT6                                  
062558,000184: 17,2275           00006                           EXTEND                                         
062559,000185: 17,2276           12316                           BZF      -RMIN                                 
062560,000186: 
062561,000187: 17,2277           13112                           TCF      XTRANS                                
062562,000188: 
062563,000189: 17,2300           41736        CHECKIN            CS       TEMP31                                
062564,000190: 17,2301           72351                           MASK     OCT63                                 
062565,000191: 17,2302           55461                           TS       OLDQRMIN                              
062566,000192: 17,2303           13112                           TCF      XTRANS                                
062567,000193: 
062568,000194: 17,2304           33136        +QMIN              CA       14MS                                  
062569,000195: 17,2305           55525                           TS       TJU                                   
062570,000196: 17,2306           43136                           CS       14MS                                  
062571,000197: 17,2307           12320                           TCF      MINQR                                 
062572,000198: 17,2310           43136        -QMIN              CS       14MS                                  
062573,000199: 17,2311           55525                           TS       TJU                                   
062574,000200: 17,2312           33136                           CA       14MS                                  
062575,000201: 17,2313           12320                           TCF      MINQR                                 
062576,000202: 17,2314           33136        +RMIN              CA       14MS                                  
062577,000203: 17,2315           12317                           TCF      +2                                    
062578,000204: 17,2316           43136        -RMIN              CS       14MS                                  
062579,000205: 17,2317           55525                           TS       TJU                                   
062580,000206: 17,2320           55526        MINQR              TS       TJV                                   
062581,000207: 17,2321           32350                           CA       MINADR                                
062582,000208: 17,2322           55477                           TS       RETJADR                               
062583,000209: 17,2323           34744                           CA       ONE                                   
062584,000210: 17,2324           55461                           TS       OLDQRMIN                              
062585,000211: 17,2325           55505        MINRTN             TS       AXISCTR                               
062586,000212: 17,2326           30111                           CA       DAPBOOLS                              
062587,000213: 17,2327           74730                           MASK     CSMDOCKD                              
062588,000214: 17,2330           00006                           EXTEND                                         
062589,000215: 17,2331           12341                           BZF      MIMRET                                
062590,000216: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
062591,000217: 17,2333           11525                           CCS      TJU                                   
062592,000218: 17,2334           34767                           CA       60MS                                  
062593,000219: 17,2335           12337                           TCF      +2                                    
062594,000220: 17,2336           44767                           CS       60MS                                  
062595,000221: 17,2337           51505                           INDEX    AXISCTR                               
062596,000222: 17,2340           55525                           TS       TJU                                   
062597,000223: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
062598,000224: 17,2342           74733                           MASK     AORBTRAN                              
062599,000225: 17,2343           10000                           CCS      A                                     
062600,000226: 17,2344           34744                           CA       ONE                                   
062601,000227: 17,2345           64743                           AD       TWO                                   
062602,000228: 17,2346           55742                           TS       NUMBERT                               

Page 1444

062604,000230: 17,2347           12756                           TCF      AFTERTJ                               
062605,000231: 
062606,000232: 17,2350     4767               60MS               =        OCT140                                
062607,000233: 17,2350           02325        MINADR             GENADR   MINRTN                                
062608,000234: 17,2351           00063        OCT63              OCT      63                                    
062609,000235: 17,2352  17,3136               14MS               =        +TJMINT6                              
062610,000236: 
062611,000237: 17,2352           34742        TRANS4             CA       FOUR                                  
062612,000238: 17,2353           12216                           TCF      TSNUMBRT                              
062613,000239: 
062614,000240:                                                                                                  #                                               RATE COMMAND MODE:
062615,000241: 
062616,000242:                                                                                                  #                                               DESCRIPTION (SAME AS P-AXIS)
062617,000243: 
062618,000244: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062619,000245: 17,2355           44744                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062620,000246: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062621,000247: 17,2357           34726                           CA       BIT15                                 
062622,000248: 17,2360           71443                           MASK     CH31TEMP                              
062623,000249: 17,2361           00006                           EXTEND                                         
062624,000250: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062625,000251: 17,2363           34731                           CA       OURRCBIT                              #  ***********
062626,000252: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062627,000253: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
062628,000254: 17,2366           12710                           BZF      STILLRCS                              
062629,000255: 17,2367           44734                           CS       BIT9                                  
062630,000256: 17,2370           71774                           MASK     RCSFLAGS                              
062631,000257: 17,2371           55774                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062632,000258: 17,2372           12374                           TCF      DAMPING                               
062633,000259: 17,2373     4762               40CYCL             =        OCT50                                 
062634,000260: 17,2373     4744               1/10S              =        BIT1                                  
062635,000261: 17,2373           00056        LINRAT             DEC      46         B-14                       
062636,000262:                                                                                                  #  ================================
062637,000263: 17,2374           34746        DAMPING            CA       ZERO                                  
062638,000264: 17,2375           55462                           TS       SAVEHAND                              
062639,000265: 17,2376           55463                           TS       SAVEHAND   +1                         
062640,000266: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
062641,000267: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL  WC = A*(B+|D|)*D
062642,000268: 17,2401           12403                           TCF      +2                                    #  *******************
062643,000269: 17,2402           12403                           TCF      +1                                    
062644,000270: 17,2403           60000                           DOUBLE                                         #    WHERE
062645,000271: 17,2404           60000                           DOUBLE                                         
062646,000272: 17,2405           62373                           AD       LINRAT                                #         WC = COMMANDED ROTATIONAL RATE
062647,000273: 17,2406           00006                           EXTEND                                         #         A  = QUADRATIC SENSITIVITY FACTOR
062648,000274: 17,2407           71462                           MP       SAVEHAND                              #         B  = LINEAR/QUADRATIC SENSITIVITY
062649,000275: 17,2410           30001                           CA       L                                     #         |D|= ABS. VALUE OF DEFLECTION
062650,000276: 17,2411           00006                           EXTEND                                         #         D  = HAND CONTROLLER DEFLECTION
062651,000277: 17,2412           71444                           MP       STIKSENS                              
062652,000278: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062653,000279: 17,2414           40000                           COM                                            
062654,000280: 

Page 1445

062656,000282: 17,2415           61455                           AD       QLAST                                 
062657,000283: 17,2416           55740                           TS       DAPTEMP3                              
062658,000284: 17,2417           11463                           CCS      SAVEHAND   +1                         
062659,000285: 17,2420           12423                           TCF      +3                                    
062660,000286: 17,2421           12423                           TCF      +2                                    
062661,000287: 17,2422           12423                           TCF      +1                                    
062662,000288: 17,2423           60000                           DOUBLE                                         
062663,000289: 17,2424           60000                           DOUBLE                                         
062664,000290: 17,2425           62373                           AD       LINRAT                                
062665,000291: 17,2426           00006                           EXTEND                                         
062666,000292: 17,2427           71463                           MP       SAVEHAND   +1                         
062667,000293: 17,2430           30001                           CA       L                                     
062668,000294: 17,2431           00006                           EXTEND                                         
062669,000295: 17,2432           71444                           MP       STIKSENS                              
062670,000296: 17,2433           57456                           XCH      RLAST                                 
062671,000297: 17,2434           40000                           COM                                            
062672,000298: 17,2435           61456                           AD       RLAST                                 
062673,000299: 17,2436           55741                           TS       DAPTEMP4                              
062674,000300: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
062675,000301: 17,2440           61422                           AD       OMEGAQ                                
062676,000302: 17,2441           55436                           TS       QRATEDIF                              
062677,000303: 17,2442           41456                           CS       RLAST                                 
062678,000304: 17,2443           61423                           AD       OMEGAR                                
062679,000305: 17,2444           55437                           TS       RRATEDIF                              
062680,000306: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062681,000307: 17,2446           03200                           TC       ROT-TOUV                              
062682,000308: 17,2447           53427                           DXCH     URATEDIF                              
062683,000309: 17,2450           00004                           INHINT                                         #  SET AUTO DESIRED ATTITUDE TO ACTUAL
062684,000310: 17,2451           04665                           TC       IBNKCALL                              #    ATTITUDE AND ZERO AUTO DESIRED RATE
062685,000311: 17,2452           40154                           FCADR    ZATTEROR                              
062686,000312: 17,2453           00003                           RELINT                                         
062687,000313: 17,2454           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062688,000314: 17,2455           02460                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062689,000315: 17,2456           02460                           TC       +2                                    
062690,000316: 17,2457           02460                           TC       +1                                    
062691,000317: 17,2460           61476                           AD       -RATEDB                               
062692,000318: 17,2461           00006                           EXTEND                                         
062693,000319: 17,2462           62464                           BZMF     +2                                    
062694,000320: 17,2463           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062695,000321: 17,2464           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062696,000322: 17,2465           02470                           TC       +3                                    
062697,000323: 17,2466           02470                           TC       +2                                    
062698,000324: 17,2467           02470                           TC       +1                                    
062699,000325: 17,2470           61476                           AD       -RATEDB                               
062700,000326: 17,2471           00006                           EXTEND                                         
062701,000327: 17,2472           62474                           BZMF     +2                                    
062702,000328: 17,2473           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062703,000329: 17,2474           31774                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062704,000330: 17,2475           74732                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062705,000331: 17,2476           00006                           EXTEND                                         
062706,000332: 

Page 1446

062708,000334: 17,2477           12501                           BZF      +2                                    
062709,000335: 17,2500           12504                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062710,000336: 17,2501           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062711,000337: 17,2502           34762                           CA       40CYCL                                
062712,000338: 17,2503           55457                           TS       TCQR                                  
062713,000339: 17,2504           34746        ENTERUV            CA       ZERO                                  #  *** DIRECT RATE CONTROL ***
062714,000340: 17,2505           55450                           TS       DYERROR                               
062715,000341: 17,2506           55451                           TS       DYERROR    +1                         
062716,000342: 17,2507           55452                           TS       DZERROR                               
062717,000343: 17,2510           55453                           TS       DZERROR    +1                         
062718,000344: 17,2511           11426                           CCS      URATEDIF                              
062719,000345: 17,2512           12515                           TCF      +3                                    
062720,000346: 17,2513           12515                           TCF      +2                                    
062721,000347: 17,2514           12515                           TCF      +1                                    
062722,000348: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062723,000349: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062724,000350: 17,2517           62533                           BZMF     VDB                                   
062725,000351: 17,2520           11427                           CCS      VRATEDIF                              
062726,000352: 17,2521           12524                           TCF      +3                                    
062727,000353: 17,2522           12524                           TCF      +2                                    
062728,000354: 17,2523           12524                           TCF      +1                                    
062729,000355: 17,2524           61476                           AD       TARGETDB                              
062730,000356: 17,2525           00006                           EXTEND                                         
062731,000357: 17,2526           62530                           BZMF     +2                                    
062732,000358: 17,2527           12544                           TCF      QRTIME                                
062733,000359: 17,2530           34746                           CA       ZERO                                  
062734,000360: 17,2531           55427                           TS       VRATEDIF                              
062735,000361: 17,2532           12544                           TCF      QRTIME                                
062736,000362: 17,2533           11427        VDB                CCS      VRATEDIF                              
062737,000363: 17,2534           02537                           TC       +3                                    
062738,000364: 17,2535           02537                           TC       +2                                    
062739,000365: 17,2536           02537                           TC       +1                                    
062740,000366: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062741,000367: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062742,000368: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062743,000369: 17,2542           34746                           CA       ZERO                                  #  PASS.
062744,000370: 17,2543           55426                           TS       URATEDIF                              
062745,000371: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062746,000372: 17,2545           00006                           EXTEND                                         
062747,000373: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062748,000374: 17,2547           41774                           CS       RCSFLAGS                              
062749,000375: 17,2550           74732                           MASK     QRBIT                                 
062750,000376: 17,2551           27774                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062751,000377: 17,2552           02556                           TC       +4                                    
062752,000378: 17,2553           44732        TOPSEUDO           CS       QRBIT                                 
062753,000379: 17,2554           71774                           MASK     RCSFLAGS                              
062754,000380: 17,2555           55774                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062755,000381: 17,2556           32622                           CA       HANDADR                               
062756,000382: 17,2557           55477                           TS       RETJADR                               
062757,000383: 17,2560           34744                           CA       ONE                                   
062758,000384: 

Page 1447

062760,000386: 17,2561           55505        BACKHAND           TS       AXISCTR                               
062761,000387: 
062762,000388: 17,2562           34742                           CA       FOUR                                  
062763,000389: 17,2563           55742                           TS       NUMBERT                               
062764,000390: 
062765,000391: 17,2564           51505                           INDEX    AXISCTR                               
062766,000392: 17,2565           51534                           INDEX    SKIPU                                 
062767,000393: 17,2566           12567                           TCF      +1                                    
062768,000394: 17,2567           34742                           CA       FOUR                                  
062769,000395: 17,2570           51505                           INDEX    AXISCTR                               
062770,000396: 17,2571           55534                           TS       SKIPU                                 
062771,000397: 17,2572           13034                           TCF      LOOPER                                
062772,000398: 
062773,000399: 17,2573           51505                           INDEX    AXISCTR                               
062774,000400: 17,2574           11426                           CCS      URATEDIF                              #  INDEX  AXIS    QUANITY
062775,000401: 17,2575           34746                           CA       ZERO                                  #    0     -U     1/JETACC-AOSU
062776,000402: 17,2576           12600                           TCF      +2                                    #    1     +U     1/JETACC+AOSU
062777,000403: 17,2577           34744                           CA       ONE                                   #   16     -V     1/JETACC-AOSV
062778,000404: 17,2600           51505                           INDEX    AXISCTR                               #   17     +V     1/JETACC+AOSV
062779,000405: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062780,000406: 
062781,000407: 17,2602           50000                           INDEX    A                                     
062782,000408: 17,2603           41570                           CS       1/ANET2    +1                         
062783,000409: 17,2604           00006                           EXTEND                                         
062784,000410: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062785,000411: 17,2606           71426                           MP       URATEDIF                              #   JET TIME IN A       SCALED 32 SEC
062786,000412: 17,2607           54002                           TS       Q                                     
062787,000413: 17,2610           20001                           DAS      A                                     
062788,000414: 17,2611           60002                           AD       Q                                     
062789,000415: 17,2612           54000                           TS       A                                     #   OVERFLOW SKIP
062790,000416: 17,2613           12615                           TCF      +2                                    
062791,000417: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062792,000418: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
062793,000419: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062794,000420: 17,2617           12756                           TCF      AFTERTJ                               
062795,000421: 
062796,000422: 17,2620           34746        ZEROTJ             CA       ZERO                                  
062797,000423: 17,2621           12615                           TCF      SETTIME                               
062798,000424: 
062799,000425: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
062800,000426: 
062801,000427:                                                                                                  #                                               GTS WILL BE TRIED IF
062802,000428:                                                                                                  #                                                  1. USEQRJTS= 0,
062803,000429:                                                                                                  #                                                  2. ALLOWGTS POS,
062804,000430:                                                                                                  #                                                  3. JETS ARE OFF (Q,R-AXES)
062805,000431: 17,2623           34727        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.        (AS LONG AS
062806,000432: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062807,000433: 17,2625           10000                           CCS      A                                     
062808,000434: 17,2626           12141                           TCF      RCS                                   
062809,000435: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?
062810,000436: 

Page 1448

062812,000438: 17,2630           12632                           TCF      +2                                    
062813,000439: 17,2631           12141                           TCF      RCS                                   
062814,000440: 17,2632           00006                           EXTEND                                         
062815,000441: 17,2633           00005                           READ     CHAN5                                 
062816,000442: 17,2634           10000                           CCS      A                                     
062817,000443: 17,2635           12641                           TCF      CHKINGTS                              
062818,000444: 17,2636           00006        GOTOGTS            EXTEND                                         
062819,000445: 17,2637           32654                           DCA      GTSCADR                               
062820,000446: 17,2640           52006                           DTCB                                           
062821,000447: 
062822,000448: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062823,000449: 17,2642           12644                           TCF      +2                                    #    YES.  SET UP A DAMPED NULLING DRIVE.
062824,000450: 17,2643           12141                           TCF      RCS                                   #    NO.  NULLING WAS SET UP BEFORE. DO RCS
062825,000451: 17,2644           00004                           INHINT                                         
062826,000452: 17,2645           04665                           TC       IBNKCALL                              
062827,000453: 17,2646           43260                           CADR     TIMEGMBL                              
062828,000454: 17,2647           00003                           RELINT                                         
062829,000455: 17,2650           34746                           CAF      ZERO                                  
062830,000456: 17,2651           55632                           TS       INGTS                                 
062831,000457: 17,2652           12141                           TCF      RCS                                   
062832,000458: 
062833,000459: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
062834,000460: 17,2653           03027 42106  GTSCADR            2CADR    GTS                                   
062835,000461: 

Page 1449

062837,000463:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062838,000464: 
062839,000465: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062840,000466: 17,2656           00006                           EXTEND                                         
062841,000467: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062842,000468: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062843,000469: 17,2661           00006                           EXTEND                                         
062844,000470: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062845,000471: 17,2663           55751                           TS       E                                     
062846,000472: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062847,000473: 17,2665           00006                           EXTEND                                         
062848,000474: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062849,000475: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062850,000476: 17,2670           00006                           EXTEND                                         
062851,000477: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062852,000478: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062853,000479: 17,2673           61751                           AD       E                                     
062854,000480: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062855,000481: 
062856,000482: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062857,000483: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062858,000484: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062859,000485: 17,2700           55751                           TS       E                                     
062860,000486: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062861,000487: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062862,000488: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062863,000489: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062864,000490: 17,2705           61751                           AD       E                                     
062865,000491: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062866,000492: 17,2707           00002                           TC       Q                                     
062867,000493: 

Page 1450

062869,000495:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062870,000496: 
062871,000497: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062872,000498: 
062873,000499: 17,2710           31452        STILLRCS           CA       RERROR                                
062874,000500: 17,2711           22000                           LXCH     A                                     
062875,000501: 17,2712           31450                           CA       QERROR                                
062876,000502: 17,2713           03200                           TC       ROT-TOUV                              
062877,000503: 17,2714           53751                           DXCH     UERROR                                
062878,000504: 
062879,000505:                                                                                                  #                                               PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062880,000506:                                                                                                  #                                               PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062881,000507: 17,2715           33142        TJLAW              CA       TJLAWADR                              
062882,000508: 17,2716           55477                           TS       RETJADR                               
062883,000509: 17,2717           34744                           CA       ONE                                   
062884,000510: 17,2720           55505                           TS       AXISCTR                               
062885,000511: 17,2721           51505                           INDEX    AXISCTR                               
062886,000512: 17,2722           51534                           INDEX    SKIPU                                 
062887,000513: 17,2723           12724                           TCF      +1                                    
062888,000514: 17,2724           34742                           CA       FOUR                                  
062889,000515: 17,2725           51505                           INDEX    AXISCTR                               
062890,000516: 17,2726           55534                           TS       SKIPU                                 
062891,000517: 17,2727           13034                           TCF      LOOPER                                
062892,000518: 17,2730           51505                           INDEX    AXISCTR                               
062893,000519: 17,2731           31750                           CA       UERROR                                
062894,000520: 17,2732           55751                           TS       E                                     
062895,000521: 17,2733           51505                           INDEX    AXISCTR                               
062896,000522: 17,2734           31426                           CA       OMEGAU                                
062897,000523: 17,2735           55427                           TS       EDOT                                  
062898,000524: 17,2736           30111                           CA       DAPBOOLS                              
062899,000525: 17,2737           74730                           MASK     CSMDOCKD                              
062900,000526: 17,2740           10000                           CCS      A                                     
062901,000527: 17,2741           12744                           TCF      +3                                    
062902,000528: 17,2742           03304                           TC       TJETLAW                               
062903,000529: 17,2743           12756                           TCF      AFTERTJ                               
062904,000530: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062905,000531: 17,2745           74727                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
062906,000532: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062907,000533: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062908,000534: 17,2750           00004                           INHINT                                         
062909,000535: 17,2751           04665                           TC       IBNKCALL                              
062910,000536: 17,2752           43667                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062911,000537: 17,2753           00003                           RELINT                                         
062912,000538: 17,2754           34742                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062913,000539: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062914,000540: 
062915,000541:                                                                                                  #                                               Q,R-JET-SELECTION-LOGIC
062916,000542: 
062917,000543:                                                                                                  #                                               INPUT: AXISCTR        0,1 FOR U,V
062918,000544:                                                                                                  #                                                      SNUFFBIT       ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062919,000545: 

Page 1451

062921,000547:                                                                                                  #                                                      TJU,TJV        JET TIME SCALED 10.24 SEC.
062922,000548:                                                                                                  #                                                      NUMBERT        INDICATES NUMBER OF JETS AND TYPE OF POLICY
062923,000549:                                                                                                  #                                                      RETJADR        WHERE TO RETURN TO
062924,000550: 
062925,000551:                                                                                                  #                                               OUTPUT:  NO.U(V)JETS  RATE DERIVATION FEEDBACK
062926,000552:                                                                                                  #                                                        CHANNEL 5
062927,000553:                                                                                                  #                                                        SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062928,000554: 
062929,000555:                                                                                                  #                                               NOTES:  IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062930,000556:                                                                                                  #                                                       JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062931,000557:                                                                                                  #                                                       TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062932,000558:                                                                                                  #                                                       IF NONE CAN BE FOUND.
062933,000559: 
062934,000560:                                                                                                  #                                                       TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062935,000561:                                                                                                  #                                                       MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062936,000562: 
062937,000563: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062938,000564: 17,2757           74730                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
062939,000565: 17,2760           00006                           EXTEND                                         
062940,000566: 17,2761           12772                           BZF      DOROTAT                               
062941,000567: 17,2762           40106                           CS       FLGWRD10                              
062942,000568: 17,2763           74730                           MASK     APSFLBIT                              
062943,000569: 17,2764           00006                           EXTEND                                         
062944,000570: 17,2765           12772                           BZF      DOROTAT                               
062945,000571: 17,2766           30111                           CA       DAPBOOLS                              
062946,000572: 17,2767           74735                           MASK     DRIFTBIT                              

Note: There is a short blue horizontal marker line right to the rigth of the operand DRIFTBIT

062948,000574: 17,2770           00006                           EXTEND                                         
062949,000575: 17,2771           13112                           BZF      XTRANS                                
062950,000576: 
062951,000577: 17,2772           34743        DOROTAT            CAF      TWO                                   
062952,000578: 17,2773           54001                           TS       L                                     
062953,000579: 17,2774           51505                           INDEX    AXISCTR                               
062954,000580: 17,2775           11525                           CCS      TJU                                   
062955,000581: 17,2776           13003                           TCF      +5                                    
062956,000582: 17,2777           13026                           TCF      NOROTAT                               
062957,000583: 17,3000           13002                           TCF      +2                                    
062958,000584: 17,3001           13026                           TCF      NOROTAT                               
062959,000585: 17,3002           22007                           ZL                                             
062960,000586: 17,3003           64744                           AD       ONE                                   
062961,000587: 17,3004           55736                           TS       ABSTJ                                 
062962,000588: 
062963,000589: 17,3005           31505                           CA       AXISCTR                               
062964,000590: 17,3006           60001                           AD       L                                     
062965,000591: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062966,000592: 
062967,000593: 17,3010           31736                           CA       ABSTJ                                 
062968,000594: 17,3011           63137                           AD       -150MS                                
062969,000595: 17,3012           00006                           EXTEND                                         
062970,000596: 17,3013           63037                           BZMF     DOSKIP                                
062971,000597: 

Page 1452

062973,000599: 17,3014           03225                           TC       SELCTSUB                              
062974,000600: 
062975,000601: 17,3015           51505                           INDEX    AXISCTR                               
062976,000602: 17,3016           33134                           CA       INDEXES                               
062977,000603: 17,3017           54001                           TS       L                                     
062978,000604: 
062979,000605: 17,3020           31740                           CA       POLYTEMP                              
062980,000606: 17,3021           00004                           INHINT                                         
062981,000607: 17,3022           50001                           INDEX    L                                     
062982,000608: 17,3023           05750                           TC       WRITEP                                
062983,000609: 
062984,000610: 17,3024           00003                           RELINT                                         
062985,000611: 17,3025           13100                           TCF      FEEDBACK                              
062986,000612: 
062987,000613: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
062988,000614: 17,3027           33134                           CA       INDEXES                               
062989,000615: 17,3030           00004                           INHINT                                         
062990,000616: 17,3031           50000                           INDEX    A                                     
062991,000617: 17,3032           05747                           TC       WRITEP     -1                         
062992,000618: 
062993,000619: 17,3033           00003                           RELINT                                         
062994,000620: 17,3034           11505        LOOPER             CCS      AXISCTR                               
062995,000621: 17,3035           01477                           TC       RETJADR                               
062996,000622: 17,3036           13270                           TCF      CLOSEOUT                              
062997,000623: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
062998,000624: 17,3040           63136                           AD       +TJMINT6                              #  14MS
062999,000625: 17,3041           00006                           EXTEND                                         
063000,000626: 17,3042           63061                           BZMF     NOTMIN                                
063001,000627: 
063002,000628: 17,3043           27736                           ADS      ABSTJ                                 
063003,000629: 17,3044           51505                           INDEX    AXISCTR                               
063004,000630: 17,3045           11525                           CCS      TJU                                   
063005,000631: 17,3046           33136                           CA       +TJMINT6                              
063006,000632: 17,3047           13051                           TCF      +2                                    
063007,000633: 17,3050           43136                           CS       +TJMINT6                              
063008,000634: 17,3051           51505                           INDEX    AXISCTR                               
063009,000635: 17,3052           55525                           TS       TJU                                   
063010,000636: 
063011,000637: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
063012,000638: 17,3054           13060                           TCF      NOTMIN     -1                         
063013,000639: 17,3055           00006                           EXTEND                                         
063014,000640: 17,3056           00004                           READ     LOSCALAR                              
063015,000641: 17,3057           74744                           MASK     ONE                                   
063016,000642: 17,3060           55742                           TS       NUMBERT                               
063017,000643: 
063018,000644: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
063019,000645: 
063020,000646: 17,3062           51505                           INDEX    AXISCTR                               
063021,000647: 17,3063           33134                           CA       INDEXES                               
063022,000648: 17,3064           00004                           INHINT                                         
063023,000649: 

Page 1453

063025,000651: 17,3065           55471                           TS       T6FURTHA   +1                         
063026,000652: 17,3066           31740                           CA       POLYTEMP                              
063027,000653: 17,3067           51471                           INDEX    T6FURTHA   +1                         
063028,000654: 17,3070           05750                           TC       WRITEP                                
063029,000655: 
063030,000656: 17,3071           31736                           CA       ABSTJ                                 
063031,000657: 17,3072           55470                           TS       T6FURTHA                              
063032,000658: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
063033,000659: 
063034,000660: 17,3074           00003                           RELINT                                         
063035,000661: 
063036,000662: 17,3075           34746                           CA       ZERO                                  
063037,000663: 17,3076           51505                           INDEX    AXISCTR                               
063038,000664: 17,3077           55534                           TS       SKIPU                                 
063039,000665: 
063040,000666: 17,3100           46266        FEEDBACK           CS       THREE                                 
063041,000667: 17,3101           61742                           AD       NUMBERT                               
063042,000668: 17,3102           00006                           EXTEND                                         
063043,000669: 17,3103           63106                           BZMF     +3                                    
063044,000670: 
063045,000671: 17,3104           34743                           CA       TWO                                   
063046,000672: 17,3105           13107                           TCF      +2                                    
063047,000673: 17,3106           34744                           CA       ONE                                   
063048,000674: 17,3107           51505                           INDEX    AXISCTR                               
063049,000675: 17,3110           55522                           TS       NO.UJETS                              
063050,000676: 17,3111           13034                           TCF      LOOPER                                
063051,000677: 
063052,000678: 17,3112           34746        XTRANS             CA       ZERO                                  
063053,000679: 17,3113           55525                           TS       TJU                                   
063054,000680: 17,3114           55526                           TS       TJV                                   
063055,000681: 17,3115           34742                           CA       FOUR                                  
063056,000682: 17,3116           00004                           INHINT                                         
063057,000683: 17,3117           57534                           XCH      SKIPU                                 
063058,000684: 17,3120           00006                           EXTEND                                         
063059,000685: 17,3121           13123                           BZF      +2                                    
063060,000686: 17,3122           05753                           TC       WRITEU     -1                         
063061,000687: 17,3123           34742                           CA       FOUR                                  
063062,000688: 17,3124           57535                           XCH      SKIPV                                 
063063,000689: 17,3125           00003                           RELINT                                         
063064,000690: 
063065,000691: 17,3126           00006                           EXTEND                                         
063066,000692: 17,3127           13270                           BZF      CLOSEOUT                              
063067,000693: 17,3130           00004                           INHINT                                         
063068,000694: 17,3131           05764                           TC       WRITEV     -1                         
063069,000695: 17,3132           00003                           RELINT                                         
063070,000696: 
063071,000697: 17,3133           13270                           TCF      CLOSEOUT                              
063072,000698: 17,3134           00004        INDEXES            DEC      4          B-14                       
063073,000699: 17,3135           00015                           DEC      13         B-14                       
063074,000700: 17,3136           00026        +TJMINT6           DEC      22         B-14                       
063075,000701: 

Page 1454

063077,000703: 17,3137           77417        -150MS             DEC      -240       B-14                       
063078,000704: 17,3140           00600        BIT8,9             OCT      00600                                 
063079,000705: 17,3141           00266        SCLNORM            OCT      266                                   
063080,000706: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063081,000707: 
063082,000708:                                                                                                  #                                               THE JET LIST:
063083,000709:                                                                                                  #                                               THIS IS A WAITLIST FOR T6RUPTS.
063084,000710: 
063085,000711:                                                                                                  #                                               CALLED BY:
063086,000712:                                                                                                  #                                                        CA  TJ            TIME WHEN NEXT JETS WILL BE WRITTEN
063087,000713:                                                                                                  #                                                        TS  T6FURTHA
063088,000714:                                                                                                  #                                                        CA  INDEX         AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063089,000715:                                                                                                  #                                                        TS  T6FURTHA +1
063090,000716:                                                                                                  #                                                        TC  JTLST
063091,000717: 
063092,000718:                                                                                                  #                                               EXAMPLE-  U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063093,000719:                                                                                                  #                                               JETS INTO CHANNEL 5 .  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063094,000720:                                                                                                  #                                               150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063095,000721:                                                                                                  #                                               CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063096,000722:                                                                                                  #                                               OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063097,000723: 
063098,000724:                                                                                                  #                                               THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063099,000725:                                                                                                  #                                                THE INPUT IS THE LAST MEMBER OF THE LIST
063100,000726: 
063101,000727:                                                                                                  #                                               RETURNS BY:
063102,000728:                                                                                                  #                                                     +  TC  Q
063103,000729: 
063104,000730:                                                                                                  #                                               DEFINITIONS:(OUTPUT)
063105,000731:                                                                                                  #                                               TIME6             TIME OF NEXT RUPT
063106,000732:                                                                                                  #                                               T6NEXT            DELTA TIME TO NEXT RUPT
063107,000733:                                                                                                  #                                               T6FURTHA          DELTA TIME FROM 2ND TO LAST RUPT
063108,000734:                                                                                                  #                                               NXT6ADR           AXIS INDEX       Q - P-AXIS
063109,000735:                                                                                                  #                                               T6NEXT +1         AXIS INDEX       4 - U-AXIS
063110,000736:                                                                                                  #                                               T6FURTHA +1       AXIS INDEX      13 - V-AXIS
063111,000737: 17,3143           41470        JTLST              CS       T6FURTHA                              
063112,000738: 17,3144           60031                           AD       TIME6                                 
063113,000739: 17,3145           00006                           EXTEND                                         
063114,000740: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
063115,000741: 
063116,000742: 17,3147           23465                           LXCH     NXT6ADR                               
063117,000743: 17,3150           53467                           DXCH     T6NEXT                                
063118,000744: 17,3151           53471                           DXCH     T6FURTHA                              
063119,000745: 17,3152           54031                           TS       TIME6                                 
063120,000746: 17,3153           23465                           LXCH     NXT6ADR                               
063121,000747: 
063122,000748: 17,3154           00006        TURNON             EXTEND                                         
063123,000749: 17,3155           23265                           QXCH     C13QSAV                               
063124,000750: 17,3156           06040                           TC       C13STALL                              
063125,000751: 
063126,000752: 17,3157           34726                           CA       BIT15                                 
063127,000753: 

Page 1455

063129,000755: 17,3160           00006                           EXTEND                                         
063130,000756: 17,3161           05013                           WOR      CHAN13                                
063131,000757: 17,3162           01265                           TC       C13QSAV                               
063132,000758: 
063133,000759: 17,3163           61466        MIDORLST           AD       T6NEXT                                
063134,000760: 17,3164           00006                           EXTEND                                         
063135,000761: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
063136,000762: 
063137,000763: 17,3166           23467                           LXCH     T6NEXT     +1                         
063138,000764: 17,3167           53471                           DXCH     T6FURTHA                              
063139,000765: 17,3170           00006                           EXTEND                                         
063140,000766: 17,3171           60031                           SU       TIME6                                 
063141,000767: 17,3172           53467                           DXCH     T6NEXT                                
063142,000768: 
063143,000769: 17,3173           00002                           TC       Q                                     
063144,000770: 
063145,000771: 17,3174           40000        LASTCHG            CS       A                                     
063146,000772: 17,3175           64745                           AD       NEG0                                  
063147,000773: 17,3176           55470                           TS       T6FURTHA                              
063148,000774: 
063149,000775: 17,3177           00002                           TC       Q                                     
063150,000776: 
063151,000777:                                                                                                  #    ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063152,000778:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063153,000779:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063154,000780:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
063155,000781: 
063156,000782: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
063157,000783: 17,3201           00006                           EXTEND                                         
063158,000784: 17,3202           71626                           MP       COEFFQ                                
063159,000785: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063160,000786: 17,3204           00006                           EXTEND                                         
063161,000787: 17,3205           71627                           MP       COEFFR                                
063162,000788: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
063163,000789: 17,3207           61737                           AD       ROTEMP2                               
063164,000790: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063165,000791: 17,3211           13215                           TCF      +4                                    
063166,000792: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063167,000793: 17,3213           44725                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063168,000794: 17,3214           55736                           TS       ROTEMP1                               
063169,000795: 17,3215           41737                           CS       ROTEMP2                               
063170,000796: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063171,000797: 17,3217           54007                           TS       7                                     
063172,000798: 17,3220           13223                           TCF      +3                                    
063173,000799: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063174,000800: 17,3222           44725                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063175,000801: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063176,000802: 17,3224           00002                           TC       Q                                     
063177,000803: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              
063178,000804: 

Page 1456

063180,000806: 17,3226           33257                           CA       ALLJETS                               
063181,000807: 17,3227           51742                           INDEX    NUMBERT                               
063182,000808: 17,3230           73263                           MASK     TYPEPOLY                              
063183,000809: 17,3231           55740                           TS       POLYTEMP                              
063184,000810: 
063185,000811: 17,3232           71257                           MASK     CH5MASK                               
063186,000812: 17,3233           10000                           CCS      A                                     
063187,000813: 17,3234           13236                           TCF      +2                                    
063188,000814: 
063189,000815: 17,3235           00002                           TC       Q                                     
063190,000816: 
063191,000817: 17,3236           36266                           CA       THREE                                 
063192,000818: 17,3237           55742        FAILOOP            TS       NUMBERT                               
063193,000819: 17,3240           51743                           INDEX    ROTINDEX                              
063194,000820: 17,3241           33257                           CA       ALLJETS                               
063195,000821: 17,3242           51742                           INDEX    NUMBERT                               
063196,000822: 17,3243           73263                           MASK     TYPEPOLY                              
063197,000823: 17,3244           55740                           TS       POLYTEMP                              
063198,000824: 17,3245           71257                           MASK     CH5MASK                               
063199,000825: 17,3246           00006                           EXTEND                                         
063200,000826: 17,3247           13235                           BZF      FAILOOP    -2                         
063201,000827: 17,3250           11742                           CCS      NUMBERT                               
063202,000828: 17,3251           13237                           TCF      FAILOOP                               
063203,000829: 17,3252           51505                           INDEX    AXISCTR                               
063204,000830: 17,3253           55525                           TS       TJU                                   
063205,000831: 17,3254           05571                           TC       ALARM                                 
063206,000832: 17,3255           02004                           OCT      02004                                 
063207,000833: 17,3256           13026                           TCF      NOROTAT                               
063208,000834: 17,3257           00110        ALLJETS            OCT      00110                                 #  -U      6  13
063209,000835: 17,3260           00022                           OCT      00022                                 #  -V      2   9
063210,000836: 17,3261           00204                           OCT      00204                                 #  +U      5  14
063211,000837: 
063212,000838: 17,3262           00041                           OCT      00041                                 #  +V      1  10
063213,000839: 17,3263           00125        TYPEPOLY           OCT      00125                                 #  -X  1 5 9  13
063214,000840: 17,3264           00252                           OCT      00252                                 #  +X 2 6 10 14
063215,000841: 17,3265           00146                           OCT      00146                                 #  A   2 5 10 13
063216,000842: 17,3266           00231                           OCT      00231                                 #  B   1 6 9 14
063217,000843: 17,3267           00377                           OCT      00377                                 #  ALL 1 2 5 6 9 10 13 14
063218,000844: 
063219,000845:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063220,000846: 
063221,000847: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
063222,000848: 17,3271           07775                           TC       MAKERUPT                              
063223,000849: 
063224,000850: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
063225,000851: 
063226,000852: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
063227,000853: 17,3274           52011                           DXCH     ARUPT                                 
063228,000854: 17,3275           53755                           DXCH     DAPBQRPT                              
063229,000855: 17,3276           56017                           XCH      BRUPT                                 
063230,000856: 

Page 1457

063232,000858: 17,3277           22002                           LXCH     Q                                     
063233,000859: 17,3300           34726                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063234,000860: 17,3301           53757                           DXCH     DAPZRUPT                              
063235,000861: 17,3302           52016                           DXCH     ZRUPT                                 
063236,000862: 17,3303           15274                           TCF      NOQRSM                                
063237,000863:    7775                                           BLOCK    3                                     
063238,000864:    6000                                           SETLOC   FFTAG6                                
063239,000865:    6000                                           BANK                                           
063240,000866: 
063241,000867:    7775                                           COUNT*   $$/DAP                                
063242,000868: 
063243,000869:    7775           00006        MAKERUPT           EXTEND                                         
063244,000870:    7776           07775                           EDRUPT   MAKERUPT                              

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