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.

063247,000002:                                                                                                  ## Copyright:   Public domain.
063248,000003:                                                                                                  ## Filename:    TJET_LAW.agc
063249,000004:                                                                                                  ## Purpose:     A section of Luminary revision 210.
063250,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
063251,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 15-17.
063252,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
063253,000008:                                                                                                  ##              that the code format has been changed to conform to the
063254,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
063255,000010:                                                                                                  ##              original YUL assembler.
063256,000011:                                                                                                  ## Reference:   pp. 1458-1467
063257,000012:                                                                                                  ## Assembler:   yaYUL
063258,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
063259,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
063260,000015:                                                                                                  ## Mod history: 2016-11-17 JL   Created from Luminary131 version.
063261,000016:                                                                                                  ##              2016-12-09 RRB  Updated for Luminary210.
063262,000017:                                                                                                  ##              2016-12-26 RSB  Comment-text proofed using ProoferComments
063263,000018:                                                                                                  ##                              and corrected errors found.
063264,000019: 

Page 1458

063266,000021:                                                                                                  #  PROGRAM DESCRIPTION
063267,000022:                                                                                                  #  DESIGNED BY:  R. D. GOSS AND P. S. WEISSMAN
063268,000023:                                                                                                  #  CODED BY:  P. S. WEISSMAN 28 FEBRUARY 1968
063269,000024: 
063270,000025:                                                                                                  #        TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
063271,000026:                                                                                                  #  ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
063272,000027:                                                                                                  #        -1      INDICATES THE P-AXIS
063273,000028:                                                                                                  #        +0      INDICATES THE U-AXIS
063274,000029:                                                                                                  #        +1      INDICATES THE V-AXIS.
063275,000030:                                                                                                  #  THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
063276,000031:                                                                                                  #  UNBALANCED COUPLES ARE PREFERRED.  TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
063277,000032:                                                                                                  #  COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
063278,000033:                                                                                                  #  ACCESSED BY INDEXING.
063279,000034: 
063280,000035:                                                                                                  #        THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
063281,000036:                                                                                                  #  PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV).  THE NUMBER OF JETS THAT
063282,000037:                                                                                                  #  TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS.  TWO JETS ARE ALWAYS
063283,000038:                                                                                                  #  ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
063284,000039:                                                                                                  #  (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
063285,000040:                                                                                                  #        IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
063286,000041:                                                                                                  #  ERROR AND/OR ERROR RATE ARE LARGE.
063287,000042: 
063288,000043:                                                                                                  #  CALLING SEQUENCE:
063289,000044:                                                                                                  #                TC      TJETLAW         (MUST BE IN JASK)
063290,000045:                                                                                                  #        OR
063291,000046:                                                                                                  #                INHINT                  (MUST BE IN JASK)
063292,000047:                                                                                                  #                TC      IBNKCALL
063293,000048:                                                                                                  #                CADR    TJETLAW
063294,000049:                                                                                                  #                RELINT
063295,000050: 
063296,000051:                                                                                                  #  EXIT:         RETURN TO Q.
063297,000052: 
063298,000053:                                                                                                  #  INPUT:
063299,000054:                                                                                                  #        FROM THE CALLER:  E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
063300,000055:                                                                                                  #        FROM 1/ACCONT:  48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU,-V).
063301,000056: 
063302,000057:                                                                                                  #  OUTPUT:
063303,000058:                                                                                                  #        TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
063304,000059: 
063305,000060:                                                                                                  #  DEBRIS:
063306,000061:                                                                                                  #        A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
063307,000062: 
063308,000063:                                                                                                  #  ALARM:  NONE
063309,000064: 
063310,000065: 17,3304                                           BANK     17                                    
063311,000066: 17,2000                                           SETLOC   DAPS2                                 
063312,000067: 17,2000                                           BANK                                           
063313,000068: 17,3304  E6,1524                                  EBANK=   TJP                                   

Page 1459

063315,000070: 17,3304                                           COUNT*   $$/DAPTJ                              
063316,000071: 
063317,000072: 17,3304           00006        TJETLAW            EXTEND                                         #  SAVE Q FOR RETURN.
063318,000073: 17,3305           23744                           QXCH     HOLDQ                                 
063319,000074: 
063320,000075:                                                                                                  #  SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
063321,000076: 
063322,000077: 17,3306           51505                           INDEX    AXISCTR                               #  AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
063323,000078: 17,3307           33755                           CAF      AXISDIFF                              #  AXISDIFF(0) = 0
063324,000079: 17,3310           55745                           TS       ADRSDIF1                              #  AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
063325,000080: 
063326,000081: 17,3311           31427                           CAE      EDOT                                  #  IF EDOT NEGATIVE, PICK UP SET OF VALUES
063327,000082: 17,3312           00006                           EXTEND                                         #        THAT ALLOW USE OF SAME CODING AS FOR
063328,000083: 17,3313           63320                           BZMF     NEGEDOT                               #        POSITIVE EDOT.
063329,000084: 17,3314           31745                           CAE      ADRSDIF1                              #  SET A SECOND INDEXER WHICH MAY BE
063330,000085: 17,3315           55743                           TS       ADRSDIF2                              #        MODIFIED BY A DECISION FOR MAX JETS.
063331,000086: 17,3316           33757                           CAF      SENSOR                                #  FOR POSITIVE EDOT, ROTSENSE IS
063332,000087: 17,3317           13330                           TCF      SETSENSE                              #        INITIALIZED POSITIVE.
063333,000088: 
063334,000089: 17,3320           41751        NEGEDOT            CS       E                                     #  IN ORDER FOR NEG EDOT CASE TO USE CODING
063335,000090: 17,3321           55751                           TS       E                                     #        OF POS EDOT, MUST MODIFY AS FOLLOWS:
063336,000091: 17,3322           41427                           CS       EDOT                                  #        1. COMPLEMENT E AND EDOT.
063337,000092: 17,3323           55427                           TS       EDOT                                  #        2. SET SENSE OF ROTATION TO NEGATIVE
063338,000093: 17,3324           34744                           CAF      BIT1                                  #           (REVERSED LATER IF NECESSARY).
063339,000094: 17,3325           27745                           ADS      ADRSDIF1                              #        3. INCREMENT INDEXERS BY ONE SO THAT
063340,000095: 17,3326           55743                           TS       ADRSDIF2                              #           THE PROPER PARAMETERS ARE ACCESSED.
063341,000096: 17,3327           43757                           CS       SENSOR                                
063342,000097: 17,3330           55737        SETSENSE           TS       ROTSENSE                              
063343,000098: 
063344,000099:                                                                                                  #  TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
063345,000100:                                                                                                  #        IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
063346,000101:                                                                                                  #        IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
063347,000102: 
063348,000103: 17,3331           31751                           CAE      E                                     #  PICK UP ATTITUDE ERROR FOR THIS AXIS
063349,000104: 17,3332           00006                           EXTEND                                         
063350,000105: 17,3333           74740                           MP       BIT5                                  #  SHIFT RIGHT TEN BITS:  IF A-REGISTER IS
063351,000106: 17,3334           10000                           CCS      A                                     #        ZERO, RESCALE AND TEST EDOT.
063352,000107: 17,3335           13717                           TCF      RUFLAW2                               
063353,000108: 17,3336           13340                           TCF      SCALEE                                
063354,000109: 17,3337           13663                           TCF      RUFLAW1                               
063355,000110: 17,3340           34730        SCALEE             CAF      BIT13                                 #  ERROR IS IN L SCALED AT PI/16.  RESCALE
063356,000111: 17,3341           00006                           EXTEND                                         #        IT TO PI/4 AND SAVE IT.
063357,000112: 17,3342           70001                           MP       L                                     
063358,000113: 17,3343           55751                           TS       E                                     
063359,000114: 
063360,000115:                                                                                                  #  TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
063361,000116:                                                                                                  #        IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
063362,000117:                                                                                                  #        IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
063363,000118: 
063364,000119: 17,3344           31427                           CAE      EDOT                                  #  PICK UP SINGLE-PRECISION ERROR-RATE

Page 1460

063366,000121: 17,3345           00006                           EXTEND                                         #  FOR THIS AXIS=
063367,000122: 17,3346           74741                           MP       BIT4                                  #  SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
063368,000123: 17,3347           00006                           EXTEND                                         #  ZERO, THEN RESCALE AND USE FINELAW.
063369,000124: 17,3350           13352                           BZF      SCALEDOT                              
063370,000125: 17,3351           13725                           TCF      RUFLAW3                               
063371,000126:                                                                                                  #  *** FINELAW STARTS HERE ***
063372,000127: 
063373,000128: 17,3352           23427        SCALEDOT           LXCH     EDOT                                  #  EDOT IS SCALED AT PI/32 RADIANS/SECOND.
063374,000129: 
063375,000130: 17,3353           31427                           CAE      EDOT                                  #  COMPUTE (EDOT)(EDOT)
063376,000131: 17,3354           00006                           EXTEND                                         
063377,000132: 17,3355           70000                           SQUARE                                         #  PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
063378,000133: 17,3356           00006                           EXTEND                                         
063379,000134: 17,3357           74730                           MP       BIT13                                 #  SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
063380,000135: 17,3360           55736                           TS       EDOTSQ                                #        TO PI(2)/2(8) RAD(2)/SEC(2).
063381,000136: 
063382,000137: 17,3361           11751        ERRTEST            CCS      E                                     #  DOES BIG ERROR (THREE DEG BEYOND THE
063383,000138: 17,3362           13365                           TCF      +3                                    #  DEADBAND) REQUIRE MAXIMUM JETS?
063384,000139: 17,3363           13365                           TCF      +2                                    
063385,000140: 17,3364           13365                           TCF      +1                                    
063386,000141: 17,3365           63760                           AD       -3DEG                                 
063387,000142: 17,3366           00006                           EXTEND                                         
063388,000143: 17,3367           51745                           INDEX    ADRSDIF1                              
063389,000144: 17,3370           61600                           SU       FIREDB                                
063390,000145: 17,3371           00006                           EXTEND                                         
063391,000146: 17,3372           63377                           BZMF     SENSTEST                              #  IF NOT:  ARE UNBALANCED JETS PREFERRED|
063392,000147: 17,3373           34743        MAXJETS            CAF      TWO                                   #  IF YES:  INCREMENT ADDRESS LOCATOR AND
063393,000148: 17,3374           27743                           ADS      ADRSDIF2                              #           SET SWITCH FOR JET SELECT LOGIC TO 4.
063394,000149: 17,3375           34742                           CAF      FOUR                                  #           (ALWAYS DO THIS FOR P-AXIS)
063395,000150: 17,3376           13402                           TCF      TJCALC                                
063396,000151: 17,3377           11500        SENSTEST           CCS      SENSETYP                              #  DOES TRANSLATION PREFER MIN JETS.
063397,000152: 17,3400           13402                           TCF      TJCALC                                #  YES.  USE MIN-JET PARAMETERS.
063398,000153: 17,3401           13373                           TCF      MAXJETS                               #  NO.  GET MAX-JET PARAMETERS.
063399,000154: 17,3402           55742        TJCALC             TS       NUMBERT                               #  SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
063400,000155: 
063401,000156:                                                                                                  #  BEGINNING OF TJET CALCULATIONS:
063402,000157: 
063403,000158: 17,3403           41736                           CS       EDOTSQ                                #  SCALED AT PI(2)/2(8).
063404,000159: 17,3404           00006                           EXTEND                                         
063405,000160: 17,3405           51743                           INDEX    ADRSDIF2                              
063406,000161: 17,3406           71566                           MP       1/ANET1                               #  .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
063407,000162: 17,3407           51745                           INDEX    ADRSDIF1                              
063408,000163: 17,3410           61600                           AD       FIREDB                                #  DEADBAND SCALED AT PI/4 RADIAN.
063409,000164: 17,3411           00006                           EXTEND                                         
063410,000165: 17,3412           61751                           SU       E                                     #  ATTITUDE ERROR SCALED AT PI/4 RADIAN.
063411,000166: 17,3413           55740                           TS       FIREFCT                               #  -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
063412,000167: 17,3414           00006                           EXTEND                                         
063413,000168: 17,3415           63575                           BZMF     ZON1,2,3                              
063414,000169: 
063415,000170: 17,3416           51745        ZONE4,5            INDEX    ADRSDIF1                              

Page 1461

063417,000172: 17,3417           31572                           CAE      1/ACOAST                              #  .5/ACC SCALED AT 2(6)/PI WHERE
063418,000173: 17,3420           00006                           EXTEND                                         #  ACC = MAX(AMIN, AOS-).
063419,000174: 17,3421           71736                           MP       EDOTSQ                                #  SCALED AT PI/2(8).
063420,000175: 17,3422           61751                           AD       E                                     #  SCALED AT PI/4
063421,000176: 17,3423           51745                           INDEX    ADRSDIF1                              
063422,000177: 17,3424           61602                           AD       COASTDB                               #  SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
063423,000178: 17,3425           00006                           EXTEND                                         #  TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
063424,000179: 17,3426           63461                           BZMF     ZONE5                                 #  IF FUNCTION NEGATIVE, FIND TJET.
063425,000180:                                                                                                  #  IF FUNCTION POSITIVE, IN ZONE 4.
063426,000181: 
063427,000182:                                                                                                  #  ZONE 4 IS THE COAST REGION.  HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
063428,000183:                                                                                                  #        A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
063429,000184:                                                                                                  #        B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
063430,000185:                                                                                                  #  THEN THE THRUSTERS ARE KEPT ON.
063431,000186: 
063432,000187: 17,3427           51505        ZONE4              INDEX    AXISCTR                               #  IS THE CURRENT VALUE IN TJET NON-ZERO
063433,000188: 17,3430           41525                           CS       TJETU                                 #        WITH SENSE OPPOSITE TO EDOT,
063434,000189: 17,3431           00006                           EXTEND                                         #        (I.E., ARE JETS ON AND FIRING TOWARD
063435,000190: 17,3432           71737                           MP       ROTSENSE                              #        THE DESIRABLE STATE).
063436,000191: 17,3433           00006                           EXTEND                                         
063437,000192: 17,3434           63455                           BZMF     COASTTJ                               #  NO.  COAST.
063438,000193: 
063439,000194: 17,3435           11554        JETSON             CCS      FLAT                                  #  YES.  IS THIS DRIFTING OR POWERED FLIGHT|
063440,000195: 17,3436           13447                           TCF      DRIFT/ON                              #  DRIFTING.  GO MAKE FURTHER TEST.
063441,000196: 
063442,000197: 17,3437           41740                           CS       FIREFCT                               #  POWERED (OR ULLAGE).  CAN TARGET PARABOLA
063443,000198: 17,3440           51745                           INDEX    ADRSDIF1                              #        BE REACHED FROM THIS POINT IN THE
063444,000199: 17,3441           61604                           AD       AXISDIST                              #        PHASE PLANE|
063445,000200: 17,3442           00006                           EXTEND                                         
063446,000201: 17,3443           63455                           BZMF     COASTTJ                               #  NO. SET TJET = 0.
063447,000202: 17,3444           03561                           TC       Z123COMP                              #  YES.  CALCULATE TJET AS THOUGH IN ZONE 1
063448,000203: 17,3445           31740                           CAE      FIREFCT                               #        AFTER COMPUTING THE REQUIRED
063449,000204: 17,3446           13615                           TCF      ZONE1                                 #        PARAMETERS.
063450,000205: 
063451,000206: 17,3447           51745        DRIFT/ON           INDEX    ADRSDIF1                              #  CAN TARGET STRIP OF AXIS BE REACHED FROM
063452,000207: 17,3450           41600                           CS       FIREDB                                #        THIS POINT IN THE PHASE PLANE|
063453,000208: 17,3451           60000                           DOUBLE                                         
063454,000209: 17,3452           61740                           AD       FIREFCT                               
063455,000210: 17,3453           00006                           EXTEND                                         
063456,000211: 17,3454           63457                           BZMF     +3                                    
063457,000212: 17,3455           34746        COASTTJ            CAF      ZERO                                  #  NO.  SET TJET = 0.
063458,000213: 17,3456           13521                           TCF      RETURNTJ                              
063459,000214: 
063460,000215: 17,3457           03561                           TC       Z123COMP                              #  YES. CALCULATE TJET AS THOUGH IN ZONE 2
063461,000216: 17,3460           13602                           TCF      ZONE2,3                               #        OR 3 AFTER COMPUTING REQUIRED VALUES.
063462,000217: 
063463,000218: 17,3461           54001        ZONE5              TS       L                                     #  TEMPORARILY STORE FUNCTION IN L.
063464,000219: 17,3462           11737                           CCS      ROTSENSE                              #  MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
063465,000220: 17,3463           13467                           TCF      +4                                    #  AND ACCFCTZ5, WHICH MUST BE PICKED UP
063466,000221: 17,3464           05701                           TC       CCSHOLE                               #  FROM THE NEXT LOWER REGISTER IF THE

Page 1462

063468,000223: 17,3465           44743                           CS       TWO                                   #  (ACTUAL) ERROR RATE IS NEGATIVE.
063469,000224: 17,3466           27743                           ADS      ADRSDIF2                              
063470,000225: 
063471,000226: 17,3467           30001                 +4        CAE      L                                     
063472,000227: 17,3470           00006                           EXTEND                                         
063473,000228: 17,3471           51743                           INDEX    ADRSDIF2                              #  TTOAXIS AND HH ARE THE PARAMETERS UPON
063474,000229: 17,3472           71575                           MP       ACCFCTZ5                              #        WHICH THE APPROXIMATIONS TO TJET ARE
063475,000230: 17,3473           20001                           DDOUBL                                         #        BASED.
063476,000231: 17,3474           20001                           DDOUBL                                         
063477,000232: 17,3475           53747                           DXCH     HH                                    #  DOUBLE PRECISION H SCALED AT 8 SEC(2).
063478,000233: 17,3476           51743                           INDEX    ADRSDIF2                              
063479,000234: 17,3477           31567                           CAE      1/ANET2                               #  SCALED AT 2(7)/PI SEC(2)/RAD.
063480,000235: 17,3500           00006                           EXTEND                                         
063481,000236: 17,3501           71427                           MP       EDOT                                  #  SCALED AT PI/2(5)
063482,000237: 17,3502           55741                           TS       TTOAXIS                               #  SCALED AT 4 SEC.
063483,000238: 
063484,000239:                                                                                                  #  TEST WHETHER TJET GREATER THAN 50 MSEC.
063485,000240: 
063486,000241: 17,3503           00006                           EXTEND                                         
063487,000242: 17,3504           73767                           MP       -.05AT2                               #  H - .05 TTOAXIS - .00125 G.T. ZERO
063488,000243: 17,3505           61746                           AD       HH                                    #        (SCALED AT 8 SEC(2) ).
063489,000244: 17,3506           67767                           AD       NEG2                                  
063490,000245: 17,3507           00006                           EXTEND                                         
063491,000246: 17,3510           63536                           BZMF     FORMULA1                              
063492,000247: 
063493,000248:                                                                                                  #  TEST WHETHER TJET GREATER THAN 150 MSEC.
063494,000249: 
063495,000250: 17,3511           31741                           CAE      TTOAXIS                               
063496,000251: 17,3512           00006                           EXTEND                                         
063497,000252: 17,3513           73770                           MP       -.15AT2                               #  H - .15 TTOAXIS - .01125 G.T. ZERO
063498,000253: 17,3514           61746                           AD       HH                                    #        (SCALED AT 8 SEC(2) )
063499,000254: 17,3515           63761                           AD       -.0112A8                              
063500,000255: 17,3516           00006                           EXTEND                                         
063501,000256: 17,3517           63546                           BZMF     FORMULA2                              
063502,000257: 
063503,000258:                                                                                                  #  IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
063504,000259:                                                                                                  #  IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
063505,000260: 
063506,000261: 17,3520           34732        FULLTIME           CAF      BIT11                                 #  250 MSEC SCALED AT 4 SEC.
063507,000262: 
063508,000263:                                                                                                  #  RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
063509,000264: 
063510,000265: 17,3521           00006        RETURNTJ           EXTEND                                         #  ALL BRANCHES TERMINATE HERE WITH TJET
063511,000266: 17,3522           71737                           MP       ROTSENSE                              #        (SCALED AT 4 SEC) IN THE ACCUMULATOR.
063512,000267: 17,3523           51505                           INDEX    AXISCTR                               #  ROTSENSE APPLIES SIGN AND CHANGES SCALE.
063513,000268: 17,3524           55525                           TS       TJETU                                 
063514,000269: 17,3525           00006                           EXTEND                                         
063515,000270: 17,3526           51505                           INDEX    AXISCTR                               
063516,000271: 17,3527           71546                           MP       ACCSWU                                #  SET SWITCH FOR JET SELECT IF ROTATION IS
063517,000272: 17,3530           30001                           CAE      L                                     
063518,000273: 17,3531           00006                           EXTEND                                         #        IN A SENSE FOR WHICH 1/ACCS HAS FORCED
063519,000274: 17,3532           63535                           BZMF     +3                                    #        A MAX-JET CALCULATION.

Page 1463

063521,000276: 17,3533           34742                           CAF      FOUR                                  
063522,000277: 17,3534           55742                           TS       NUMBERT                               
063523,000278: 17,3535           01744                           TC       HOLDQ                                 #  RETURN VIA SAVED Q.
063524,000279: 
063525,000280:                                                                                                  #  TJET = H/(.025 + TTOAXIS)     FOR TJET LESS THAN 50 MSEC.
063526,000281: 
063527,000282: 17,3536           43766        FORMULA1           CS       -.025AT4                              #  .025 SEC SCALED AT 4.
063528,000283: 17,3537           61741                           AD       TTOAXIS                               #  SCALED AT 4 SECONDS.
063529,000284: 17,3540           53747                           DXCH     HH                                    #  STORE DENOMINATOR IN FIRST WORD OF H,
063530,000285: 17,3541           00006                           EXTEND                                         #        WHICH NEED NOT BE PRESERVED.  PICK UP
063531,000286: 17,3542           11746                           DV       HH                                    #        DP H AND DIVIDE BY DENOMINATOR.
063532,000287: 17,3543           00006                           EXTEND                                         
063533,000288: 17,3544           74727                           MP       BIT14                                 #  RESCALE TJET FROM 2 TO USUAL 4 SEC.
063534,000289: 17,3545           13656                           TCF      CHKMINTJ                              #  CHECK THAT TJET IS NOT LESS THAN MINIMUM
063535,000290: 
063536,000291:                                                                                                  #  TJET = (H + .00375)/(0.1 + TTOAXIS)   FOR TJET GREATER THAN 50 MSEC.
063537,000292: 
063538,000293: 17,3546           00006        FORMULA2           EXTEND                                         
063539,000294: 17,3547           33772                           DCA      .00375A8                              #  .00375 SEC(2) SCALED AT 8.
063540,000295: 17,3550           21747                           DAS      HH                                    #  STORE NUMERATOR IN DP H, WHICH NEED NOT
063541,000296:                                                                                                  #        BE PRESERVED.
063542,000297: 17,3551           31741                           CAE      TTOAXIS                               #  SCALED AT 4 SEC.
063543,000298: 17,3552           63762                           AD       .1AT4                                 #  0.1 SEC SCALED AT 4.
063544,000299: 17,3553           53747                           DXCH     HH                                    #  STORE DENOMINATOR IN FIRST WORD OF H,
063545,000300: 17,3554           00006                           EXTEND                                         #        WHICH NEED NOT BE PRESERVED.  PICK UP
063546,000301: 17,3555           11746                           DV       HH                                    #        DP NUMERATOR AND DIVIDE BY DENOMINATOR
063547,000302: 17,3556           00006                           EXTEND                                         
063548,000303: 17,3557           74727                           MP       BIT14                                 #  RESCALE TJET FROM 2 TO USUAL 4 SEC.
063549,000304: 17,3560           13521                           TCF      RETURNTJ                              #  END SUBROUTINE.
063550,000305: 
063551,000306:                                                                                                  #  SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
063552,000307: 
063553,000308:                                                                                                  #  REACHED BY TC FROM 3 POINTS IN TJETLAW.
063554,000309: 
063555,000310: 17,3561           41737        Z123COMP           CS       ROTSENSE                              #  USED IN RETURNTJ SECTION TO RESCALE TJET
063556,000311: 17,3562           55737                           TS       ROTSENSE                              #        AS TIME6 AND GIVE IT PROPER SIGN.
063557,000312: 17,3563           31427                           CAE      EDOT                                  #  SCALED AT PI/2(5) RAD/SEC.
063558,000313: 17,3564           00006                           EXTEND                                         
063559,000314: 17,3565           51743                           INDEX    ADRSDIF2                              
063560,000315: 17,3566           71566                           MP       1/ANET1                               #  SCALED AT 2(7)/PI SEC(2)/RAD.
063561,000316: 17,3567           55741                           TS       TTOAXIS                               #  STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
063562,000317: 17,3570           63773                           AD       -TJMAX                                
063563,000318: 17,3571           00006                           EXTEND                                         #  IS TIME TO AXIS LESS THAN 150 MSEC.
063564,000319: 17,3572           63574                           BZMF     +2                                    
063565,000320: 17,3573           13520                           TCF      FULLTIME                              #  NO. FIRE JETS, DO NOT CALCULATE TJET.
063566,000321: 17,3574           00002                           RETURN                                         #  YES.  GO ON TO FIND TJET
063567,000322: 
063568,000323: 17,3575           03561        ZON1,2,3           TC       Z123COMP                              #  SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
063569,000324: 
063570,000325:                                                                                                  #  IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL

Page 1464

063572,000327:                                                                                                  #  LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE.  DURING POWERED FLIGHT
063573,000328:                                                                                                  #  OR ULLAGE, FLAT = 0
063574,000329: 
063575,000330: 17,3576           31740                           CAE      FIREFCT                               #  SCALED AT PI/4 RAD.
063576,000331: 17,3577           61554                           AD       FLAT                                  
063577,000332: 17,3600           00006                           EXTEND                                         
063578,000333: 17,3601           63615                           BZMF     ZONE1                                 #  NOT IN SPECIAL ZONES.
063579,000334: 
063580,000335:                                                                                                  #  FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE.  IF ON AXIS, COAST.
063581,000336: 
063582,000337: 17,3602           41555        ZONE2,3            CS       ZONE3LIM                              #  HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
063583,000338: 17,3603           61741                           AD       TTOAXIS                               #        35 MSEC IN DRIFTING FLIGHT
063584,000339: 17,3604           00006                           EXTEND                                         #        ZERO WHEN TRYING TO ENTER GTS CONTROL.
063585,000340: 17,3605           63610                           BZMF     ZONE3                                 
063586,000341: 17,3606           31741        ZONE2              CAE      TTOAXIS                               #  FIRE TO AXIS.
063587,000342: 17,3607           13521                           TCF      RETURNTJ                              
063588,000343: 17,3610           11427        ZONE3              CCS      EDOT                                  #  CHECK IF EDOT IS ZERO.
063589,000344: 17,3611           34737                           CAF      BIT6                                  #  FIRE A ONE-JET MINIMUM IMPULSE.
063590,000345: 17,3612           13521                           TCF      RETURNTJ                              #  TJET = +0.
063591,000346: 17,3613           05701                           TC       CCSHOLE                               #  CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
063592,000347: 17,3614           13521                           TCF      RETURNTJ                              #  TJET = +0.
063593,000348: 
063594,000349: 17,3615           00006        ZONE1              EXTEND                                         
063595,000350: 17,3616           51745                           INDEX    ADRSDIF1                              
063596,000351: 17,3617           61604                           SU       AXISDIST                              #  SCALED AT PI/4 RAD.
063597,000352: 17,3620           00006                           EXTEND                                         
063598,000353: 17,3621           51743                           INDEX    ADRSDIF2                              
063599,000354: 17,3622           71574                           MP       ACCFCTZ1                              #  SCALED AT 2(7)/PI SEC(2)/RAD.
063600,000355: 17,3623           20001                           DDOUBL                                         
063601,000356: 17,3624           20001                           DDOUBL                                         
063602,000357: 17,3625           53747                           DXCH     HH                                    #  DOUBLE PRECISION H SCALED AT 8 SEC(2).
063603,000358: 
063604,000359:                                                                                                  #  TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
063605,000360:                                                                                                  #                             2                                   2
063606,000361:                                                                                                  #        IS .5(.150 - TTOAXIS)  - H  NEGATIVE (SCALED AT 8 SECONDS )
063607,000362: 
063608,000363: 17,3626           31741                           CAE      TTOAXIS                               #  TTOAXIS SCALED AT 4 SECONDS.
063609,000364: 17,3627           63773                           AD       -TJMAX                                #  -.150 SECOND SCALED AT 4.
063610,000365: 17,3630           00006                           EXTEND                                         
063611,000366: 17,3631           70000                           SQUARE                                         
063612,000367: 17,3632           00006                           EXTEND                                         
063613,000368: 17,3633           61746                           SU       HH                                    #  HIGH WORD OF H SCALED AT 8 SEC(2).
063614,000369: 17,3634           00006                           EXTEND                                         
063615,000370: 17,3635           63520                           BZMF     FULLTIME                              #  YES.  NEED NOT CALCULATE TJET.
063616,000371: 
063617,000372:                                                                                                  #  TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
063618,000373: 
063619,000374: 17,3636           31746                           CAE      HH                                    
063620,000375: 17,3637           67767                           AD       NEG2                                  
063621,000376: 17,3640           00006                           EXTEND                                         

Page 1465

063623,000378: 17,3641           63651                           BZMF     FORMULA3                              
063624,000379: 
063625,000380:                                                                                                  #  TJET = H/0.1 + TTOAXIS + .0375        FOR APPROXIMATION OVER MORE THAN 50 MSEC.
063626,000381: 
063627,000382: 17,3642           33763                           CAF      .1AT2                                 #  STORE .1 SEC SCALED AT 2 FOR DIVISION.
063628,000383: 17,3643           53747                           DXCH     HH                                    #  DP H SCALED AT 8 SEC(2) NEED NOT BE
063629,000384: 17,3644           00006                           EXTEND                                         #        PRESERVED.
063630,000385: 17,3645           11746                           DV       HH                                    #  QUOTIENT SCALED AT 4 SECONDS.
063631,000386: 17,3646           61741                           AD       TTOAXIS                               #  SCALED AT 4 SEC.
063632,000387: 17,3647           63764                           AD       .0375AT4                              #  .0375 SEC SCALED AT 4.
063633,000388: 17,3650           13521                           TCF      RETURNTJ                              #  END COMPUTATION.
063634,000389: 
063635,000390:                                                                                                  #  TJET = H/.O25 + TTOAXIS       FOR APPROXIMATION OVER LESS THAN 50 MSEC.
063636,000391: 
063637,000392: 17,3651           43765        FORMULA3           CS       -.025AT2                              #  STORE +.025 SEC SCALED AT 2 FOR DIVISION
063638,000393: 17,3652           53747                           DXCH     HH                                    #  PICK UP DP H AT 8, WHICH NEED NOT BE
063639,000394: 17,3653           00006                           EXTEND                                         #        PRESERVED.
063640,000395: 17,3654           11746                           DV       HH                                    #  QUOTIENT SCALED AT 4 SECONDS.
063641,000396: 17,3655           61741                           AD       TTOAXIS                               #  SCALED AT 4 SEC.
063642,000397: 
063643,000398:                                                                                                  #  IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
063644,000399:                                                                                                  #  MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
063645,000400: 
063646,000401: 17,3656           63775        CHKMINTJ           AD       -TJMIN                                #  IS COMPUTED TIME LESS THAN THE MINIMUM.
063647,000402: 17,3657           00006                           EXTEND                                         
063648,000403: 17,3660           63455                           BZMF     COASTTJ                               #  YES, SET TIME TO ZERO.
063649,000404: 17,3661           63774                           AD       TJMIN                                 #  NO, RESTORE COMPUTED TIME.
063650,000405: 17,3662           13521                           TCF      RETURNTJ                              #  END COMPUTATION.
063651,000406: 

Page 1466

063653,000408:                                                                                                  #  *** ROUGHLAW ***
063654,000409: 
063655,000410:                                                                                                  #  BEFORE ENTRY TO RUFLAW:
063656,000411:                                                                                                  #        1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
063657,000412:                                                                                                  #        2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
063658,000413:                                                                                                  #        3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
063659,000414:                                                                                                  #           (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
063660,000415: 
063661,000416:                                                                                                  #  RUFLAW1:      ERROR MORE NEGATIVE THAN PI/16 RAD.  FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
063662,000417:                                                                                                  #  RUFLAW2:      ERROR MORE POSITIVE THAN PI/16 RAD.  FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
063663,000418:                                                                                                  #  RUFLAW3:      ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS.  COAST IF BELOW FIREFCT, FIRE IF ABOVE
063664,000419: 
063665,000420: 17,3663           43776        RUFLAW1            CS       RUFRATE                               #  DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
063666,000421: 17,3664           27427                           ADS      EDOT                                  #        WHICH IS THE TARGET RATE
063667,000422: 17,3665           00006                           EXTEND                                         
063668,000423: 17,3666           63707                           BZMF     SMALRATE                              #  BRANCH IF RATE LESS THAN TARGET.
063669,000424: 17,3667           03745                           TC       RUFSETUP                              #  REVERSE ROTSENSE AND INDICATE MAX JETS.
063670,000425: 17,3670           31427                           CAE      EDOT                                  #  PICK UP DESIRED RATE CHANGE.
063671,000426: 
063672,000427: 17,3671           00006        RUFLAW12           EXTEND                                         #  COMPUTE TJET
063673,000428: 17,3672           51743                           INDEX    ADRSDIF2                              #        = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
063674,000429: 17,3673           71570                           MP       1/ANET1    +2                         
063675,000430: 17,3674           67762                           AD       -1/8                                  #  IF TJET, SCALED AT 32 SEC, EXCEEDS
063676,000431: 17,3675           00006                           EXTEND                                         #        4 SECONDS, SET TJET TO TJMAX.
063677,000432: 17,3676           63700                           BZMF     +2                                    
063678,000433: 17,3677           13520                           TCF      FULLTIME                              
063679,000434: 17,3700           00006                           EXTEND                                         
063680,000435: 17,3701           13520                           BZF      FULLTIME                              
063681,000436: 17,3702           64731                           AD       BIT12                                 #  RESTORE COMPUTED TJET TO ACCUMULATOR.
063682,000437: 17,3703           20001                           DAS      A                                     
063683,000438: 17,3704           20001                           DAS      A                                     
063684,000439: 17,3705           20001                           DAS      A                                     #  RESCALED TJET AT 4 SECONDS.
063685,000440: 17,3706           13656                           TCF      CHKMINTJ                              #  RETURN AS FROM FINELAW.
063686,000441: 
063687,000442: 17,3707           03747        SMALRATE           TC       RUFSETUP   +2                         #  SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
063688,000443: 17,3710           11737                           CCS      ROTSENSE                              
063689,000444: 17,3711           34744                           CAF      ONE                                   #  MODIFY INDEXER TO POINT TO 1/ANET
063690,000445: 17,3712           13714                           TCF      +2                                    #        CORRESPONDING TO THE PROPER SENSE.
063691,000446: 17,3713           37770                           CAF      NEGONE                                
063692,000447: 17,3714           27743                           ADS      ADRSDIF2                              
063693,000448: 
063694,000449: 17,3715           41427                           CS       EDOT                                  #  (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
063695,000450: 17,3716           13671                           TCF      RUFLAW12                              
063696,000451: 
063697,000452: 17,3717           03745        RUFLAW2            TC       RUFSETUP                              #  REVERSE ROTSENSE AND INDICATE MAX JETS.
063698,000453: 17,3720           33776                           CAF      RUFRATE                               
063699,000454: 17,3721           61427                           AD       EDOT                                  #  (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
063700,000455: 17,3722           54000                           TS       A                                     #  IF OVERFLOW SKIP, FIRE FOR FULL TIME.
063701,000456: 17,3723           13671                           TCF      RUFLAW12                              #    OTHERWISE, COMPUTE JET TIME.
063702,000457: 17,3724           13520                           TCF      FULLTIME                              
063703,000458: 

Page 1467

063705,000460: 17,3725           03745        RUFLAW3            TC       RUFSETUP                              #  EXECUTE COMMON RUFLAW SUBROUTINE.
063706,000461: 17,3726           51745                           INDEX    ADRSDIF1                              
063707,000462: 17,3727           41600                           CS       FIREDB                                #  CALCULATE DISTANCE FROM SWITCH CURVE
063708,000463: 17,3730           61751                           AD       E                                     #        1/ANET1*EDOT*EDOT +E - FIREDB = 0
063709,000464: 17,3731           00006                           EXTEND                                         #                SCALED AT 4 PI RADIANS
063710,000465: 17,3732           74732                           MP       BIT11                                 
063711,000466: 17,3733           57427                           XCH      EDOT                                  
063712,000467: 17,3734           00006                           EXTEND                                         
063713,000468: 17,3735           70000                           SQUARE                                         
063714,000469: 17,3736           00006                           EXTEND                                         
063715,000470: 17,3737           51745                           INDEX    ADRSDIF1                              
063716,000471: 17,3740           71570                           MP       1/ANET1    +2                         
063717,000472: 17,3741           61427                           AD       EDOT                                  
063718,000473: 17,3742           00006                           EXTEND                                         
063719,000474: 17,3743           63455                           BZMF     COASTTJ                               #  COAST IF BELOW IT.
063720,000475: 17,3744           13520                           TCF      FULLTIME                              #  FIRE FOR FULL PERIOD IF ABOVE IT.
063721,000476: 
063722,000477:                                                                                                  #  SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
063723,000478: 
063724,000479: 17,3745           41737        RUFSETUP           CS       ROTSENSE                              #  REVERSE ROTSENSE WHEN ENTER HERE.
063725,000480: 17,3746           55737                           TS       ROTSENSE                              
063726,000481: 17,3747           34742                 +2        CAF      FOUR                                  #  REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
063727,000482: 17,3750           55742                           TS       NUMBERT                               
063728,000483: 17,3751           34726                           CAF      NEGMAX                                #  SUGGEST MAXIMUM (4) JETS IN P-AXIS.
063729,000484: 17,3752           55740                           TS       FIREFCT                               
063730,000485: 17,3753           00002                           TC       Q                                     
063731,000486: 
063732,000487:                                                                                                  #  CONSTANTS FOR TJETLAW
063733,000488: 
063734,000489: 17,3754           77757                           DEC      -16        B-14                       #  AXISDIFF(INDEX) = NUMBER OF REGISTERS
063735,000490: 17,3755           00000        AXISDIFF           DEC      +0         B-14                       #        BETWEEN STORED 1/ACCS PARAMETERS FOR
063736,000491: 17,3756           00020                           DEC      16         B-14                       #        THE INDEXED AXIS AND THE U-AXIS.
063737,000492: 17,3757           14400        SENSOR             OCT      14400                                 #  RATIO OF TJET SCALING WITHIN TJETLAW
063738,000493:                                                                                                  #        (4 SEC) TO SCALING FOR T6 (10.24 SEC).
063739,000494: 17,3760           75673        -3DEG              DEC      -.06667                               #  -3.0 DEGREES SCALED AT 45.
063740,000495: 17,3761           77750        -.0112A8           DEC      -.00141                               #  -.01125 SEC(2) SCALED AT 8.
063741,000496: 17,3762           00632        .1AT4              DEC      .025                                  #  0.1 SECOND SCALED AT 4.
063742,000497: 17,3763           01463        .1AT2              DEC      .05                                   #  0.1 SEC SCALED AT 2.
063743,000498: 17,3764           00232        .0375AT4           DEC      .00938                                #  .0375 SEC SCALED AT 4.
063744,000499: 17,3765           77462        -.025AT2           DEC      -.0125                                #  -.025 SEC SCALED AT 2.
063745,000500: 17,3766           77631        -.025AT4           DEC      -.00625                               
063746,000501: 17,3767           77145        -.05AT2            DEC      -.025                                 
063747,000502: 17,3770           75462        -.15AT2            DEC      -.075                                 
063748,000503: 17,3771           00007 25605  .00375A8           2DEC     .00375     B-3                        
063749,000504: 
063750,000505: 17,3773           76631        -TJMAX             DEC      -.0375                                #  LARGEST CALCULATED TIME.  .150 SEC AT 4.
063751,000506: 17,3774           00122        TJMIN              DEC      .005                                  #  SMALLEST ALLOWABLE TIME.  .020 SEC AT 4.
063752,000507: 17,3775           77655        -TJMIN             DEC      -.005                                 
063753,000508: 17,3776           04476        RUFRATE            DEC      .1444                                 #  CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.

End of include-file TJET_LAW.agc.  Parent file is MAIN.agc