Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

020444,000002:                                                                                                  ## Copyright:   Public domain.
020445,000003:                                                                                                  ## Filename:    P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
020446,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
020447,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
020448,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
020449,000007:                                                                                                  ## Assembler:   yaYUL
020450,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020451,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
020452,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
020453,000011:                                                                                                  ##              2016-10-24 RSB  Transcribed through page 504.
020454,000012:                                                                                                  ##              2016-10-28 RSB  Finished transcribing.
020455,000013:                                                                                                  ##              2016-10-31 RSB  Typos.
020456,000014:                                                                                                  ##              2016-11-01 RSB  More typos.
020457,000015:                                                                                                  ##              2016-12-05 RSB  Comment-proofing with octopus/ProoferComments
020458,000016:                                                                                                  ##                              completed, changes made.
020459,000017: 

Page 492

020461,000019:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
020462,000020:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
020463,000021: 
020464,000022: 16,2255           33754        PAXIS              CAF      TWENTYMS                              #  RESET TIMER IMMEDIATELY - DT= 20 MS
020465,000023: 16,2256           54030                           TS       TIME5                                 
020466,000024: 
020467,000025: 16,2257           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
020468,000026: 16,2260           00006                           EXTEND                                         
020469,000027: 16,2261           22012                           QXCH     QRUPT                                 
020470,000028: 
020471,000029:                                                                                                  #  CHECK TO SEE IF DAP IS STILL IN USE:
020472,000030: 
020473,000031: 16,2262           02005                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
020474,000032: 
020475,000033:                                                                                                  #  WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
020476,000034: 
020477,000035: 16,2263           00006                           EXTEND                                         #  T5ADR IS SET TO EITHER FILTER OR
020478,000036: 16,2264           31573                           DCA      PFILTADR                              #  DUMMYFIL IN A BLIND MANNER SINCE
020479,000037:                                                                                                  #  PFILTADR IS SET UP ELSEWHERE
020480,000038: 
020481,000039:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
020482,000040: 
020483,000041: 16,2265           12406        INSRT16A           TCF      PAXISCNT                              #  GO DECREMENT COUNTERS.
020484,000042: 
020485,000043:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
020486,000044: 
020487,000045:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
020488,000046: 
020489,000047:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
020490,000048:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
020491,000049: 
020492,000050: 16,2266           37762                           CAF      TWO                                   #  SET UP LOOP TO DO Z,Y,X CDU AXES:
020493,000051: 16,2267           54066        KALCLOOP           TS       QRCNTR                                
020494,000052: 
020495,000053: 16,2270           50066                           INDEX    QRCNTR                                #  KALCMANU AND RATE-HOLD USE THIS SECTI
020496,000054: 16,2271           30766                           CAE      CDUXD                                 #  TO PERFORM THEIR INDEPENDENT FUNCTION
020497,000055: 16,2272           00006                           EXTEND                                         #  BOTH PROCEDURES SET UP THE DELCUD'S
020498,000056: 16,2273           50066                           INDEX    QRCNTR                                #  TO HAVE THE NEGATIVE VALUE OF THE
020499,000057: 16,2274           20771                           MSU      DELCDUX                               #  DESIRED CDU CHANGE FOR EACH 100 MS CS
020500,000058: 16,2275           10000                           CCS      A                                     #  DURING THE MANEUVER (OR MODE).  EACH
020501,000059: 16,2276           67763                           AD       ONE                                   #  STORED AT PI RADIANS IN 2'S COMPLEMEN
020502,000060: 16,2277           12301                           TCF      +2                                    #  SINCE THE MODULAR SUBTRACT YIELDS THE
020503,000061: 16,2300           40000                           COM                                            #  NEW CDUD VALUE IN 1'S COMPLEMENT, THE
020504,000062: 16,2301           50066                           INDEX    QRCNTR                                #  CCS SECTION IS NEEDED FOR 1'S TO 2'S
020505,000063: 16,2302           54766                           TS       CDUXD                                 #  CONVERSION OF DESIRED CDU ANGLES.
020506,000064: 
020507,000065: 16,2303           10066                           CCS      QRCNTR                                #  (THIS MAKES THE LOOP DO ALL THREE

Page 493

020509,000067: 16,2304           12267                           TCF      KALCLOOP                              #  AXES.  A = QRCNTR. DO NEXT DELCDU.
020510,000068:                                                                                                  #  DO P AXIS RATE DERIVATION AND CONTROL LAW.
020511,000069:                                                                                                  #  DERIVE DELTA P.
020512,000070: 
020513,000071: 16,2305           37767                           CA       ZERO                                  
020514,000072: 16,2306           54061                           TS       ITEMP1                                
020515,000073: 16,2307           31611                           CAE      TP                                    
020516,000074: 16,2310           63566                           AD       NEGCSP1                               
020517,000075: 16,2311           00006                           EXTEND                                         
020518,000076: 16,2312           62316                           BZMF     DOTORQUE                              
020519,000077: 16,2313           54061                           TS       ITEMP1                                
020520,000078: 16,2314           33603                           CA       CSPAT1P                               
020521,000079: 16,2315           12324                           TCF      SCALEDTP                              
020522,000080: 16,2316           31611        DOTORQUE           CA       TP                                    
020523,000081: 16,2317           00006                           EXTEND                                         
020524,000082: 16,2320           77757                           MP       BIT5                                  
020525,000083: 16,2321           30001                           CAE      L                                     
020526,000084: 16,2322           00006                           EXTEND                                         
020527,000085: 16,2323           73571                           MP       16/25                                 
020528,000086: 16,2324           55611        SCALEDTP           TS       TP                                    
020529,000087: 16,2325           00006                           EXTEND                                         
020530,000088: 16,2326           71640                           MP       WFORP                                 
020531,000089: 16,2327           61643                           AD       (1-K)/8                               
020532,000090: 16,2330           00006                           EXTEND                                         
020533,000091: 16,2331           71611                           MP       TP                                    
020534,000092: 16,2332           00006                           EXTEND                                         
020535,000093: 16,2333           77760                           MP       BIT4                                  
020536,000094: 16,2334           31613                           CA       1JACC                                 
020537,000095: 16,2335           00006                           EXTEND                                         
020538,000096: 16,2336           70001                           MP       L                                     
020539,000097: 16,2337           00006                           EXTEND                                         
020540,000098: 16,2340           71657                           MP       NO.PJETS                              
020541,000099: 16,2341           23604                           LXCH     JETRATE                               
020542,000100: 16,2342           30061                           CA       ITEMP1                                
020543,000101: 16,2343           55611                           TS       TP                                    
020544,000102: 
020545,000103: 16,2344           30032                           CAE      CDUX                                  
020546,000104: 16,2345           54001                           TS       L                                     
020547,000105: 16,2346           00006                           EXTEND                                         
020548,000106: 16,2347           21425                           MSU      OLDXFORP                              #  SCALED AT PI
020549,000107: 16,2350           23425                           LXCH     OLDXFORP                              
020550,000108: 16,2351           22007                           ZL                                             
020551,000109: 16,2352           52063                           DXCH     DELTAP                                
020552,000110: 16,2353           37753                           CAF      BIT9                                  
020553,000111: 16,2354           54002                           TS       Q                                     
020554,000112: 16,2355           30033                           CA       CDUY                                  
020555,000113: 16,2356           54001                           TS       L                                     
020556,000114: 16,2357           00006                           EXTEND                                         
020557,000115: 16,2360           21426                           MSU      OLDYFORP                              #  SCALED AT PI
020558,000116: 16,2361           23426                           LXCH     OLDYFORP                              

Page 494

020560,000118: 16,2362           00006                           EXTEND                                         
020561,000119: 16,2363           71404                           MP       M11                                   #  M11 SCALED AT 1
020562,000120: 16,2364           20063                           DAS      DELTAP                                
020563,000121: 16,2365           00006                           EXTEND                                         
020564,000122: 16,2366           30063                           DCA      DELTAP                                
020565,000123: 16,2367           00006                           EXTEND                                         
020566,000124: 16,2370           10002                           DV       Q                                     #   NOW SCALED AT PI/64
020567,000125: 16,2371           00006                           EXTEND                                         
020568,000126: 16,2372           71640                           MP       WFORP                                 #  SCALED AT 2(4)=16, RESULT IN A AT PI/4.
020569,000127: 16,2373           57415                           XCH      OMEGAP                                #  W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
020570,000128: 16,2374           00006                           EXTEND                                         
020571,000129: 16,2375           71642                           MP       (1-K)                                 #  SCALED AT 1
020572,000130: 16,2376           61604                           AD       JETRATE                               #  RATE DUE TO JETS TORQUING.
020573,000131: 16,2377           27415                           ADS      OMEGAP                                #  PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
020574,000132: 16,2400           01652        PAXFILT            TC       PJUMPADR                              
020575,000133: 16,2401           32240        SKIPPAXS           CA       VISNORMQ                              
020576,000134: 16,2402           55652                           TS       PJUMPADR                              
020577,000135: 16,2403           15733                           TCF      RESUME                                
020578,000136: 
020579,000137: 16,2404           06013        CHKVISFZ           TC       T6JOBCHK                              #  CHECK FOR T6 RUPT.
020580,000138: 
020581,000139: 16,2405           12777                           TCF      PURGENCY                              #  NO RHC INPUTS ON 206
020582,000140: 
020583,000141:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
020584,000142: 
020585,000143:                                                                                                  #  FROM P-AXIS-
020586,000144:                                                                                                  #     1. COUNT DOWN GIMBAL DRIVE TIMES.
020587,000145:                                                                                                  #     2. END DRIVES WHEN APPROPRIATE.
020588,000146:                                                                                                  #     3. COUNT DOWN TIME FOR FORCED GTS JUST BEFORE THROTTLE-UP.
020589,000147: 
020590,000148: 16,2406           53001        PAXISCNT           DXCH     T5ADR                                 #   (PRESERVE OLD CODING)
020591,000149: 
020592,000150: 16,2407           11764                           CCS      SIMPCNTR                              #  COUNT DOWN SIMPCNTR TO +0.  DECISECONDS
020593,000151: 16,2410           55764                           TS       SIMPCNTR                              
020594,000152: 
020595,000153: 16,2411           11753                           CCS      QGIMTIMR                              #  Q-AXIS GIMBAL DRIVE TIMER-
020596,000154: 16,2412           12427                           TCF      DECQTIMR                              #    POSITIVE- COUNTING DOWN
020597,000155: 16,2413           12433                           TCF      TURNOFFQ                              #    POS ZERO- DRIVE SHOULD BE ENDED
020598,000156: 16,2414           11754        CHKRTIMR           CCS      RGIMTIMR                              #    NEGATIVE- INACTIVE
020599,000157: 16,2415           12431                           TCF      DECRTIMR                              #    NEG ZERO- IMPOSSIBLE
020600,000158: 16,2416           12443                           TCF      TURNOFFR                              #  REPEATED FOR R-AXIS (ABOVE).
020601,000159: 
020602,000160: 16,2417           11744        CKTRMCTR           CCS      TRIMCNTR                              #  COUNT DOWN FOR FORCED GTS ENTRY.
020603,000161: 16,2420           12424                           TCF      +4                                    #    POSITIVE- COUNTING DOWN
020604,000162: 16,2421           04736                           TC       CCSHOLE                               #    POS ZERO-IMPOSSIBLE
020605,000163: 16,2422           12566                           TCF      CHKSMART                              #    NEGATIVE- INACTIVE- RETURN
020606,000164: 16,2423           12566                           TCF      CHKSMART                              #    NEG ZERO- THIS VALUE UNTIL DRIVE DONE.
020607,000165: 16,2424           37771                           CAF      NEGONE                                
020608,000166: 16,2425           27744                           ADS      TRIMCNTR                              #  COUNT TRIMCNTR DOWN TO NEG ZERO.
020609,000167: 16,2426           12566                           TCF      CHKSMART                              
020610,000168: 

Page 495

020612,000170: 16,2427           55753        DECQTIMR           TS       QGIMTIMR                              #  COUNT QGIMTIMR DOWN TO POS ZERO.
020613,000171: 16,2430           12414                           TCF      CHKRTIMR                              
020614,000172: 16,2431           55754        DECRTIMR           TS       RGIMTIMR                              #  COUNT RGIMTIMR DOWN TO POS ZERO.
020615,000173: 16,2432           12417                           TCF      CKTRMCTR                              
020616,000174: 
020617,000175: 16,2433           55523        TURNOFFQ           TS       NEGUQ                                 #  REWRITE GIMBAL-DRIVE BITS TO HALT 0.
020618,000176: 16,2434           55533                           TS       QACCDOT                               
020619,000177: 16,2435           42453                           CS       QGIMBITS                              
020620,000178: 16,2436           00006                           EXTEND                                         
020621,000179: 16,2437           03012                           WAND     12                                    
020622,000180: 16,2440           37745                           CAF      NEGMAX                                
020623,000181: 16,2441           55753                           TS       QGIMTIMR                              #  DEACITIVATE TIMER.
020624,000182: 16,2442           12414                           TCF      CHKRTIMR                              
020625,000183: 16,2443           55525        TURNOFFR           TS       NEGUR                                 #  REWRITE GIMBAL DRIVE BITS TO HALT R.
020626,000184: 16,2444           55535                           TS       RACCDOT                               
020627,000185: 16,2445           42454                           CS       RGIMBITS                              
020628,000186: 16,2446           00006                           EXTEND                                         
020629,000187: 16,2447           03012                           WAND     12                                    
020630,000188: 16,2450           37745                           CAF      NEGMAX                                
020631,000189: 16,2451           55754                           TS       RGIMTIMR                              #  DEACTIVATE TIMER.
020632,000190: 16,2452           12417                           TCF      CKTRMCTR                              
020633,000191: 16,2453           01400        QGIMBITS           OCTAL    01400                                 
020634,000192: 16,2454           06000        RGIMBITS           OCTAL    06000                                 
020635,000193: 
020636,000194:                                                                                                  #  FROM STARTDAP- RESTART PROTECT THE CHANNEL 11 ENGINE-ON BIT AND THE CHANNEL 12 GIMBAL-DRIVE BITS.
020637,000195: 
020638,000196: 16,2455           55643        PROTCTOR           TS       (1-K)/8                               #    (OLD CODING)
020639,000197: 
020640,000198: 16,2456           30075                           CAE      FLAGWRD1                              
020641,000199: 16,2457           77757                           MASK     ENGINBIT                              
020642,000200: 16,2460           00006                           EXTEND                                         
020643,000201: 16,2461           12102                           BZF      INSRT16B   +1                         #  RETURN TO STARTDAP IF ENGINE SHOULD BE
020644,000202:                                                                                                  #    OFF.
020645,000203: 16,2462           37747                           CAF      BIT13                                 #  OTHERWISE-
020646,000204: 16,2463           00006                           EXTEND                                         
020647,000205: 16,2464           05011                           WOR      11                                    #  RESET ENGINE-ON BIT.
020648,000206: 16,2465           41753                           CS       QGIMTIMR                              
020649,000207: 16,2466           00006                           EXTEND                                         
020650,000208: 16,2467           62472                           BZMF     +3                                    #  BRANCH IF Q-DRIVE TIMER ACTIVE.
020651,000209: 16,2470           37767                           CAF      ZERO                                  #  OTHERWISE ZERO NEGUQ.
020652,000210: 16,2471           55523                           TS       NEGUQ                                 
020653,000211: 16,2472           41754                           CS       RGIMTIMR                              #  REPEAT FOR R-DRIVE.
020654,000212: 16,2473           00006                           EXTEND                                         
020655,000213: 16,2474           62477                           BZMF     +3                                    
020656,000214: 16,2475           37767                           CAF      ZERO                                  
020657,000215: 16,2476           55525                           TS       NEGUR                                 
020658,000216: 16,2477           05270                           TC       IBNKCALL                              #  SET UP DRIVES ACCORDING TO NEGUS.
020659,000217: 16,2500           43243                           FCADR    WRCHN12                               
020660,000218: 16,2501           12102                           TCF      INSRT16B   +1                         #  RETURN TO OLD CODING.
020661,000219: 

Page 496

020663,000221: 16,2502           37756        NODAPNO            CAF      ULLAGER                               
020664,000222: 16,2503           70077                           MASK     DAPBOOLS                              
020665,000223: 16,2504           00006                           EXTEND                                         
020666,000224: 16,2505           12521                           BZF      ZEROFIVE                              
020667,000225: 16,2506           40764                           CS       PHASENUM                              #  ULLAGE BIT IS SET.PROTECT MP7 +X COMMAND
020668,000226: 16,2507           67765                           AD       SEVEN                                 
020669,000227: 16,2510           00006                           EXTEND                                         
020670,000228: 16,2511           12513                           BZF      PROTCT+X                              
020671,000229: 16,2512           12516                           TCF      LEAVASIS                              #  THIS IS NOT MP7. THIS IS NOT COLD PURGE.
020672,000230: 16,2513           32523        PROTCT+X           CAF      +XJETS                                
020673,000231: 16,2514           00006        TWINEXIT           EXTEND                                         
020674,000232: 16,2515           01005                           WRITE    5                                     
020675,000233: 
020676,000234: 16,2516           33567        LEAVASIS           CAF      MS30P                                 
020677,000235: 16,2517           54030                           TS       TIME5                                 
020678,000236: 16,2520           15733                           TCF      RESUME                                
020679,000237: 
020680,000238: 16,2521           37767        ZEROFIVE           CAF      ZERO                                  
020681,000239: 16,2522           12514                           TCF      TWINEXIT                              
020682,000240: 
020683,000241: 16,2523           00252        +XJETS             OCT      00252                                 
020684,000242: 
020685,000243: 16,2524           00006        ADDLT5ID           EXTEND                                         #  (ARRIVE WITH BIT 11 IN A, FROM T5IDLERI)
020686,000244: 16,2525           02011                           RAND     DSALMOUT                              
020687,000245: 16,2526           10000                           CCS      A                                     
020688,000246: 16,2527           12544                           TCF      MORET5ID                              #  SMARTJOB IS ALREADY RUNNING.  NO ACTION.
020689,000247: 
020690,000248: 16,2530           11355                           CCS      SMODE                                 #  NOT RUNNING.  SEE IF SELFCHECK WANTED.
020691,000249: 16,2531           12544                           TCF      MORET5ID                              #  SELFCHECK IS ON, SO DON'T RUN SMARTJOB.
020692,000250: 16,2532           12535                           TCF      GETSMART                              #  SELFCHECK IS OFF, SO START SMARTJOB.
020693,000251: 16,2533           12544                           TCF      MORET5ID                              #  SELFCHECK IS ON, SO DON'T RUN SMARTJOB.
020694,000252: 16,2534           12544                           TCF      MORET5ID                              #  SELFCHECK IS ON, SO DON'T RUN SMARTJOB.
020695,000253: 
020696,000254: 16,2535           37752        GETSMART           CAF      PRIO1                                 
020697,000255: 16,2536           05505                           TC       NOVAC                                 
020698,000256: 16,2537     0377                                  EBANK=   SMARTFLG                              
020699,000257: 16,2537           02551 34060                     2CADR    SMARTJOB                              
020700,000258: 
020701,000259: 16,2541           37751                           CAF      BIT11                                 #  SET THE SMARTJOB-RUNNING FLAG.
020702,000260: 16,2542           00006                           EXTEND                                         
020703,000261: 16,2543           05011                           WOR      DSALMOUT                              
020704,000262: 
020705,000263: 16,2544           37751        MORET5ID           CAF      GODAPGO                               
020706,000264: 16,2545           70077                           MASK     DAPBOOLS                              
020707,000265: 16,2546           00006                           EXTEND                                         #  NODAPNO WILL STOP COLD FIRE PURGE AND
020708,000266: 16,2547           12502                           BZF      NODAPNO                               #  RESTART-PROTECT MP 7 +X TRANSLATION.
020709,000267: 
020710,000268: 16,2550           12042                           TCF      DAPIDLEI                              #  GODAPGO IS ON, SO RUN DAPIDLER NOW.
020711,000269: 

Page 497

020713,000271:                                                                                                  #  SMARTJOB IS A DUMMYJOB-LIKE FUNCTION DESIGNED TO ABSORB IDLE TIME.  IT CAUSES THE COMPUTER-ACTIVITY LAMP TO
020714,000272:                                                                                                  #  REMAIN ON, AND PREVENTS THE EXISTENCE OF A JOB SLEEPING IN TH ELOWEST NUMBERED CORE SET.  IT IS PREVENTED FROM
020715,000273:                                                                                                  #  STARTING, OR MADE TO TERMINATE IF ALREADY RUNNING, BY MAKING SMARTFLG CONTAIN ANY NEGATIVE VALUE OR ZERO, OR
020716,000274:                                                                                                  #  BY MAKING SMODE (THE SELFCHECK CONTROL REGISTER) UNEQUAL TO +0.
020717,000275: 
020718,000276: 16,2551           10067        SMARTJOB           CCS      NEWJOB                                #  ANY HIGHER PRIORITY JOB WAITING?
020719,000277: 16,2552           05532                           TC       CHANG1                                #  YES.  GO DO IT.
020720,000278: 
020721,000279: 16,2553           30377                           CA       SMARTFLG                              #  NO.  SHOULD SMARTJOB TERMINATE?
020722,000280: 16,2554           00006                           EXTEND                                         
020723,000281: 16,2555           62562                           BZMF     STOPSMRT                              #  YES.   GO KILL IT.
020724,000282: 
020725,000283: 16,2556           11355                           CCS      SMODE                                 #  MAYBE NOT.  SEE IF SELFCHECK WANTED.
020726,000284: 16,2557           12562                           TCF      STOPSMRT                              #  WANTED.  TERMINATE SMARTJOB.
020727,000285: 16,2560           12551                           TCF      SMARTJOB                              #  NOT WANTED.  CONTINUE SMARTJOB.
020728,000286: 16,2561           12562                           NOOP                                           #  WANTED.  TERMINATE SMARTJOB.
020729,000287: 16,2562           47751        STOPSMRT           CS       BIT11                                 #  TERMINATE SMARTJOB.
020730,000288: 16,2563           00006                           EXTEND                                         #  FIRST, TURN THE SMARTJOB-RUNNING FLAG
020731,000289: 16,2564           03011                           WAND     DSALMOUT                              #  OFF.
020732,000290: 
020733,000291: 16,2565           15567                           TCF      ENDOFJOB                              #  THEN KILL JOB.
020734,000292: 
020735,000293: 16,2566           30377        CHKSMART           CA       SMARTFLG                              #  IS SMARTJOB DESIRED?
020736,000294: 16,2567           00006                           EXTEND                                         
020737,000295: 16,2570           62266                           BZMF     INSRT16A   +1                         #  NO.  TAKE NO ACTION.
020738,000296: 
020739,000297: 16,2571           37751                           CAF      BIT11                                 #  YES.  SEE IF IT IS ALREADY RUNNING.
020740,000298: 16,2572           00006                           EXTEND                                         
020741,000299: 16,2573           02011                           RAND     DSALMOUT                              
020742,000300: 16,2574           10000                           CCS      A                                     
020743,000301: 16,2575           12266                           TCF      INSRT16A   +1                         #  SMARTJOB IS ALREADY RUNNING.  NO ACTION.
020744,000302: 
020745,000303: 16,2576           11355                           CCS      SMODE                                 #  NOT RUNNING.  SEE IF SELFCHECK WANTED.
020746,000304: 16,2577           12266                           TCF      INSRT16A   +1                         #  SELFCHECK IS ON, SO DON'T RUN SMARTJOB.
020747,000305: 16,2600           12603                           TCF      SETSMART                              #  SELFCHECK IS OFF, SO START SMARTJOB.
020748,000306: 16,2601           12266                           TCF      INSRT16A   +1                         #  SELFCHECK IS ON, SO DON'T RUN SMARTJOB.
020749,000307: 16,2602           12266                           TCF      INSRT16A   +1                         #  DITTO.
020750,000308: 
020751,000309: 16,2603           37752        SETSMART           CAF      PRIO1                                 
020752,000310: 16,2604           05505                           TC       NOVAC                                 
020753,000311: 16,2605     0377                                  EBANK=   SMARTFLG                              
020754,000312: 16,2605           02551 34060                     2CADR    SMARTJOB                              
020755,000313: 
020756,000314: 16,2607           37751                           CAF      BIT11                                 #  SET THE SMARTJOB-RUNNING FLAG.
020757,000315: 16,2610           00006                           EXTEND                                         
020758,000316: 16,2611           05011                           WOR      DSALMOUT                              
020759,000317: 
020760,000318: 16,2612           12266                           TCF      INSRT16A   +1                         #  RETURN TO PAXIS.
020761,000319: 
020762,000320:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967**** END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
020763,000321: 

Page 498

020765,000323:                                                                                                  #  THE FOLLOWING CODING IS LEFT IN PLACE TO PRESERVE ADDRESSES.
020766,000324: 
020767,000325: 16,2613           00006                           EXTEND                                         
020768,000326: 16,2614           77761                           MP       BIT3                                  #  ENOUGH FOR 4 JETS
020769,000327: 16,2615           30001                           CAE      L                                     
020770,000328: 16,2616           00006                           EXTEND                                         
020771,000329: 16,2617           73576                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
020772,000330: 16,2620           55611                           TS       TP                                    
020773,000331: 16,2621           55475                           TS       TOFJTCHG                              
020774,000332: 
020775,000333: 16,2622           31462                           CAE      PRATEDIF                              #  TEST WHETHER 2 OR 4 JETS TO BE USED BY
020776,000334: 16,2623           61500                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
020777,000335: 16,2624           00006                           EXTEND                                         
020778,000336: 16,2625           62631                           BZMF     +4                                    #  IF NEGATIVE, 2 JETS ARE ENOUGH
020779,000337: 
020780,000338: 16,2626           37743                           CAF      POSMAX                                #  POSITIVE, NON-ZERO.  PUT POSMAX IN NJET
020781,000339: 16,2627           55461                           TS       NJET                                  
020782,000340: 16,2630           12642                           TCF      PJETSLEC                              #  AND GO SELECT GOOD POLICY
020783,000341: 
020784,000342: 16,2631           37745                           CAF      NEGMAX                                #  2 JETS, PUT NEGMAX IN NJET.
020785,000343: 16,2632           55461                           TS       NJET                                  
020786,000344: 16,2633           31611                           CAE      TP                                    #  DOUBLE TP.
020787,000345: 16,2634           60000                           DOUBLE                                         
020788,000346: 16,2635           55611                           TS       TP                                    #  AND GO CHECK MINIMUM IMPULSE
020789,000347: 
020790,000348:                                                                                                  #  ........................................................................ 
020791,000349:                                                                                                  #  CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
020792,000350: 16,2636           55475                           TS       TOFJTCHG                              
020793,000351: 16,2637           63577                           AD       -TJMINT6                              
020794,000352: 16,2640           00006                           EXTEND                                         #    AS TP. TEST JET TIME. IS IT GREATER OR
020795,000353: 16,2641           62772                           BZMF     JETSOFF                               #  LESS THAN A MINIMUM IMPULSE
020796,000354:                                                                                                  #  ........................................................................ 
020797,000355: 

Page 499

020799,000357:                                                                                                  #  PROGRAM NAME: PJETSLEC                        DATE: DECEMBER 9, 1966
020800,000358: 
020801,000359:                                                                                                  #  MODIFICATION 2 TO SUNBURST REVISION 58 ON DECEMBER 30, 1966 BY JOHN BLISS(ADAMS ASSOCIATES) RM 7-286, X183
020802,000360: 
020803,000361:                                                                                                  #  LOG SECTION: P-AXIS REACTION CONTROL SYSTEM AUTOPILOT -- FIRST PUT INTO SUNBURST(III) REVISION 29
020804,000362: 
020805,000363: 
020806,000364:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020807,000365: 
020808,000366:                                                                                                  #      THE OBJECT OF PJETSLEC IS TO CHOOSE THE BEST JET POLICY WHOSE NECESSARY JETS HAVE NOT BEEN RECORDED AS
020809,000367:                                                                                                  #  FAILED IN THE CH6MASK REGISTER.  THE CONDITIONS ON SELECTION ARE THE NUMBER OF JETS REQUESTED(2 OR 4), THE
020810,000368:                                                                                                  #  SENSE OF P-AXIS ROTATION REQUIRED(+/-), AND ALTERNATING USE OF DIAGONAL FORCE-COUPLED PAIRS OF JETS.
020811,000369: 
020812,000370:                                                                                                  #      PJETSLEC FIRST READS CHANNEL 6 TO SEE IF THE JETS ARE CURRENTLY FIRING.  IF THEY ARE OFF, THE DIAGONAL JETS
020813,000371:                                                                                                  #  ARE SWITCHED TO COMPLY WITH THE ALTERNATION CONDITION, AS THERE IS NO DANGER OF SWITCHING ONE OFF AND THE OTHER
020814,000372:                                                                                                  #  ON IN RAPID SUCCESSION.  AFTER SWITCHING THE DIAGONALS, OR IF THE JETS ARE ON, 6.5 MS IS ADDED TO THE JET
020815,000373:                                                                                                  #  FIRING TIME, TOFJTCHG, TO ALLOW FOR DELAY IN TURNING ON THE JETS OR IN CASE THE CURRENT POLICY HAS SUFFERED A
020816,000374:                                                                                                  #  JET FAILURE AND JUST BE REPLACED.  HOWEVER, IF THE SAME JET POLICY IS SELECTED, THE FACT WILL BE DETECTED BEFORE
020817,000375:                                                                                                  #  THE POLICY IS WRITTEN INTO CHANNEL 6, THE UNNECESSARY 6.5MS DELAY TIME WILL BE DEDUCTED FROM TOFJTCHG.  THE TIME
020818,000376:                                                                                                  #  OF CALCULATION, 5MS, IS SUBTRACTED AT THE SAME TIME IN THE COMBINED CONSTANT, -COM-6.5 = -11.5MS.  NOTE THAT IN
020819,000377:                                                                                                  #  CASE JET FAILURE REQUIRES SELECTION OF A NEW POLICY, TOFJTCHG IS NOT MODIFIED BY -5MS, AND SO THERE WILL BE AN
020820,000378:                                                                                                  #  OVERSHOOT OF 5MS OF JET FIRING.
020821,000379: 
020822,000380:                                                                                                  #      NEXT, THE SENSE OF P-AXIS ROTATION(ROLL) IS TESTED, TO DETERMINE WHICH SET OF JET POLICIES MUST BE INDEXED.
020823,000381: 
020824,000382:                                                                                                  #      IF THE P-AXIS IS +, REL = 7, IF -, REL = 0,.  NJET IS TESTED NEXT; IF POSMAX, 4 JETS DESIRED, REL = REL + 6,
020825,000383:                                                                                                  #  CTR = 6.  IF NEGMAX, 2 JETS DESIRED, REL = REL + 5, CTR = 5.  IF 4 JETS DESIRED, GO TO POLICY TESTING LOOP
020826,000384:                                                                                                  #  WITHOUT TESTING TO SEE WHICH DIAGONAL PAIR IS PREFERRED THIS TIME.
020827,000385: 
020828,000386:                                                                                                  #      IF 2 JETS ARE DESIRED, SEE WHETHER NO. 2 PAIR IS PREFERRED.  IF IT IS, TEST IT FIRST AND USE IT IF IT'S OK.
020829,000387:                                                                                                  #  IF IT HAS FAILED, GO TO THE TEST LOOP TO TEST THE POLICIES IN ORDER.  IF NO. 1 POLICY IS PREFERRED, GO DIRECTLY
020830,000388:                                                                                                  #  TO THE TEST LOOP.
020831,000389: 
020832,000390:                                                                                                  #      THE TEST LOOP USES REL TO PICK UP THE NEXT POLICY IN PPOLTABL AND CTR TO KEEP TRACK OF THE NUMBER OF
020833,000391:                                                                                                  #  POLICIES(1-7) TESTED.  WHEN A GOOD POLICY IS FOUND, IT IS WRITTEN INTO CHANNEL 6, OTHERWISE THE NEXT POLICY IS
020834,000392:                                                                                                  #  TRIED.  IF NO GOOD POLICIES ARE FOUND, CONTROL GOES TO ABORTJET TO TURN OFF THE JETS AND THE DAP.
020835,000393: 
020836,000394:                                                                                                  #      WHEN A GOOD POLICY IS FOUND, CONTROL TRANSFERS TO WRITEPOL.  THERE, THE SELECTED POLICY IS COMPARED TO THE
020837,000395:                                                                                                  #  CURRENT POLICY IN CHANNEL 6.  IF THEY ARE NOT THE SAME, EITHER THE JETS HAVE NOT BEEN ON, OR A JET FAILED IN THE
020838,000396:                                                                                                  #  CURRENT POLICY.  IN EITHER CASE, TOFJTCHG HAS ALREADY BEEN INCREASED BY THE 6.5MS JET FIRE DELAY.  AS DESCRIBED
020839,000397:                                                                                                  #  ABOVE, HOWEVER, THE EFFECT OF THE OLD POLICY FIRING DURING THE COMPUTATION IS NOT TAKEN INTO ACCOUNT.  THIS IS
020840,000398:                                                                                                  #  CONSIDERED SAFER, SINCE OTHERWISE, A TOFJTCHG ALREADY CALCULATED NEAR THE MINIMUM IMPULSE TIME MIGHT BE REDUCED
020841,000399:                                                                                                  #  TO LESS THAN 14MS AND THE RESULT WOULD BE THE EXPLOSION OF THE JETS.
020842,000400: 
020843,000401:                                                                                                  #      IF THE JET POLICY IS THE SAME AS THE LAST ONE, THE 6.5MS DELAY TIME IS DEDUCTED FROM TOFJTCHG, AND IN ANY
020844,000402:                                                                                                  #  CASE, THE POLICY IS WRITTEN INTO CHANNEL 6, +/-2/4 IS STORED IN NO-PJETS, AND BIT9 IS PUT INTO JTSATCHG TO CAUSE
020845,000403:                                                                                                  #  THE P-AXIS JETS TO BE TURNED OFF ON THE NEXT T6RUPT.  CONTROL THEN TRANSFERS TO SKIPTEST.
020846,000404: 
020847,000405:                                                                                                  #  CALLING SEQUENCES: NONE                       SUBROUTINES CALLED:
020848,000406: 

Page 500

020850,000408:                                                                                                  #                                                WRITEP - WRITES C(A). THE
020851,000409:                                                                                                  #                                                SELECTED JET POLICY, INTO
020852,000410:                                                                                                  #                                                CHANNEL 6
020853,000411: 
020854,000412:                                                                                                  #  NORMAL EXIT MODES:                            ALARM OR ABORT EXIT MODES:
020855,000413: 
020856,000414:                                                                                                  #      TCF SKIPTEST                                       EXTEND
020857,000415:                                                                                                  #                                                         DCA    ABORTADR
020858,000416:                                                                                                  #                                                         DTCB
020859,000417: 
020860,000418:                                                                                                  #                                                         EBANK= JTSONNOW
020861,000419:                                                                                                  #                                                ABORTADR 2CADR  ABORTJET
020862,000420: 
020863,000421:                                                                                                  #                                                THIS SEQUENCE IS FOLLOWED
020864,000422:                                                                                                  #                                                IF NONE OF THE POLICIES IS
020865,000423:                                                                                                  #                                                WITHOUT JET FAILURES
020866,000424: 
020867,000425:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020868,000426: 
020869,000427:                                                                                                  #      TP        =  ) TIME PERIOD OF JET FIRING
020870,000428:                                                                                                  #      TOFJTCHG  =  ) AT T6 SCALING, 625 MICROSECONDS PER BIT
020871,000429:                                                                                                  #      NJET      =  37777, 40000, DEPENDING ON WHETHER 4 OR 2 JETS DESIRED
020872,000430:                                                                                                  #      TJETSIGN  = +/-00001, DEPENDING ON DESIRED SENSE OF P-AXIS ROTATION
020873,000431:                                                                                                  #      CH6MASK   =  BITS 1-8 INDICATE WHETHER CORRESPONDING JETS HAVE FAILED - BIT ON IS FAILURE, BIT OFF IS OK.
020874,000432:                                                                                                  #      DAPBOOLS,BIT5(AORBSYST) =0/1, DEPENDING UPON WHETHER DIAGONAL 1 OR DIAGONAL 2 WAS PREFERRED DURING LAST PASS
020875,000433: 
020876,000434:                                                                                                  #  OUTPUT:
020877,000435: 
020878,000436:                                                                                                  #      CHANNEL 6 - CONTAINS SELECTED JET POLICY UNLESS NONE IS AVAILABLE
020879,000437:                                                                                                  #      NO.PJETS  - +/-2/4, SENSE OF P-AXIS ROTATION AND NUMBER OF JETS USED
020880,000438:                                                                                                  #                  BY POLICY ACTUALLY SELECTED(MAY NOT = 4 IF 4 JETS RE-
020881,000439:                                                                                                  #                  QUESTED BUT ONE OR MORE JETS FAILED)
020882,000440:                                                                                                  #      TOFJTCHG  - MODIFIED BY -5MS OR +6.5MS OR NEITHER, DEPENDING ON WHETHER THE JETS WERE ON, AND WHETHER THE
020883,000441:                                                                                                  #                  NEW POLICY IS A CHANGE FROM THE OLD OR NOT.
020884,000442:                                                                                                  #      DAPBOOLS, BIT5(AORBSYST) = 1/0, IF THE INPUT VALUE WAS 0/1, UNLESS JETS WERE ON WHEN PJETSLEC STARTED.
020885,000443: 
020886,000444:                                                                                                  #      JTSATCHG  - = BIT9, UNLESS NO POLICIES AVAILABLE
020887,000445: 
020888,000446:                                                                                                  #      NJET, TP, TJETSIGN, AND CH6MASK NOT CHANGED BY PJETSLEC
020889,000447: 
020890,000448:                                                                                                  #      REL AND CTR ARE LEFT AT THEIR LAST VALUES WHEN THE GOOD POLICY WAS
020891,000449:                                                                                                  #      FOUND
020892,000450: 
020893,000451:                                                                                                  #  DEBRIS:
020894,000452: 
020895,000453:                                                                                                  #      REL = ITEMP5
020896,000454:                                                                                                  #      CTR = ITEMP6
020897,000455:                                                                                                  #      A,L,Q
020898,000456: 
020899,000457: 16,2642           00006        PJETSLEC           EXTEND                                         #  BEGIN JET SELECT ROUTINE BY SEEING WHE-

Page 501

020901,000459: 16,2643           00006                           READ     6                                     #  THER THE JETS ARE TURNED ON(CHANNEL 6
020902,000460: 16,2644           10000                           CCS      A                                     #  NON-ZERO)
020903,000461: 16,2645           12653                           TCF      ADDELAY                               #  JETS ON, DON'T SWITCH DIAGONALS.
020904,000462: 
020905,000463: 16,2646           37757                           CAF      AORBSYST                              #  JETS NOT ON NOW, START BY SWITCHING BIT5
020906,000464: 16,2647           22077                           LXCH     DAPBOOLS                              #  IN DAPBOOLS
020907,000465: 16,2650           00006                           EXTEND                                         #  BIT5 ON - DIAGONAL JETS 15, 7 AND 8, 16
020908,000466: 16,2651           06001                           RXOR     L                                     
020909,000467: 16,2652           54077                           TS       DAPBOOLS                              #  BIT5 OFF - DIAGONAL JETS 4, 12 AND 3, 11
020910,000468: 
020911,000469: 16,2653           33565        ADDELAY            CAF      14-TJMIN                              #  ADD DELAY TIME BECAUSE JETS USUALLY OFF
020912,000470: 16,2654           27475                           ADS      TOFJTCHG                              #  AND EASIER IF JET POLICY NOW HAS FAILED.
020913,000471: 
020914,000472: 16,2655           37767                           CAF      ZERO                                  #  BEFORE TESTING P-AXIS SIGN.
020915,000473: 16,2656           54065                           TS       REL                                   #  INITIALIZE ADDRESSING INDEX AT ZERO
020916,000474: 16,2657           11434                           CCS      TJETSIGN                              #  TEST DIRECTION OF P-AXIS ROTATION(ROLL)
020917,000475: 16,2660           37765                           CAF      SEVEN                                 #  IF POSITIVE, GET POLICY FROM LOWER SEVEN
020918,000476: 16,2661           26065                           ADS      REL                                   #  LOCATIONS OF TABLE
020919,000477: 
020920,000478: 16,2662           11461                           CCS      NJET                                  #  SET IF 4-JET POLICY IS REQUESTED
020921,000479: 16,2663           36306                           CAF      SIX                                   #  IT IS, PICK UP 6 FOR REL AND CTR
020922,000480: 16,2664           12705                           TCF      FOURJETS                              #  AND GO STORE THEM
020923,000481: 16,2665           37766                           CAF      FIVE                                  #  2 JETS ONLY REQUESTED, PICK UP 5, STORE
020924,000482: 16,2666           54066                           TS       CTR                                   #  IN CTR AND ADD TO REL.
020925,000483: 16,2667           26065                           ADS      REL                                   
020926,000484: 16,2670           40077                           CS       DAPBOOLS                              #  CHECK BIT5 IN DAPBOOLS TO SEE WHICH PAIR
020927,000485: 16,2671           77757                           MASK     AORBSYST                              #  OF DIAGONAL JETS SHOULD BE USED NEXT
020928,000486: 16,2672           10000                           CCS      A                                     
020929,000487: 16,2673           12710                           TCF      TESTPOL                               #  FIRST PAIR, SO GO TO TESTING LOOP NOW
020930,000488: 
020931,000489: 16,2674           00006                           EXTEND                                         #  SECOND PAIR, DECREMENT REL TO 4 OR 11.
020932,000490: 16,2675           26065                           DIM      REL                                   
020933,000491: 16,2676           50065                           INDEX    REL                                   #  PICK UP SECOND DIAGONAL PAIR FROM POLICY
020934,000492: 16,2677           32754                           CAF      PPOLTABL                              
020935,000493: 16,2700           70103                           MASK     CH6MASK                               #  TABLE AND COMPARE WITH FAILURE BITS
020936,000494: 16,2701           00006                           EXTEND                                         
020937,000495: 16,2702           12724                           BZF      WRITEPOL                              #  THE JETS ARE GOOD, GO WRITE IN CHANNEL
020938,000496: 
020939,000497: 16,2703           24065                           INCR     REL                                   #  THE JET(S) HAVE FAILED FOR THIS POLICY,
020940,000498: 16,2704           12710                           TCF      TESTPOL                               #  RESTORE REL AND DO TEST POLICY LOOP
020941,000499: 
020942,000500: 16,2705           26065        FOURJETS           ADS      REL                                   #  COME HERE TO SET REL AND CTR FOR 4-JET
020943,000501: 16,2706           36306                           CAF      SIX                                   #          ****ADS STINKS****
020944,000502: 16,2707           54066                           TS       CTR                                   #  POLICY REQUESTED.  ALSO, SET CTR -1 HERE
020945,000503: 
020946,000504: 16,2710           50065        TESTPOL            INDEX    REL                                   #  PICK UP NEXT POLICY AS LOCATED RELATIVE
020947,000505: 16,2711           32754                           CAF      PPOLTABL                              #  TO PPOLTABL BY REL.
020948,000506: 16,2712           70103                           MASK     CH6MASK                               #  COMPARE WITH FAILURE BITS
020949,000507: 16,2713           00006                           EXTEND                                         
020950,000508: 16,2714           12724                           BZF      WRITEPOL                              #  THE JETS ARE GOOD, WRITE IN THE CHANNEL

Page 502

020952,000510: 16,2715           00006                           EXTEND                                         #  THE JET(S) HAVE FAILED FOR THIS POLICY
020953,000511: 16,2716           26065                           DIM      REL                                   #  DECREMENT THE INDEX.
020954,000512: 16,2717           10066                           CCS      CTR                                   #  SEE IF ALL POLICIES HAVE BEEN TESTED.
020955,000513: 16,2720           12707                           TCF      TESTPOL    -1                         #  CTR NOT ZERO, A = CTR -1, DO LOOP AGAIN
020956,000514: 16,2721           00006                           EXTEND                                         #  CTR ZERO, ALL ALLOWABLE POLICIES FAILED
020957,000515: 16,2722           32753                           DCA      ABORTADR                              #  PICK UP 2CADR OF ABORTJET
020958,000516: 16,2723           52006                           DTCB                                           #  AND GO THERE
020959,000517: 
020960,000518: 16,2724           50065        WRITEPOL           INDEX    REL                                   #  A GOOD POLICY IS FOUND, PICK IT UP AND
020961,000519: 16,2725           32754                           CAF      PPOLTABL                              
020962,000520: 16,2726           00006                           EXTEND                                         #  BEFORE WRITING IT, CHECK TO SEE IF THE
020963,000521: 16,2727           06006                           RXOR     6                                     #  SAME POLICY IS CURRENTLY IN CHANNEL 6.
020964,000522: 16,2730           00006                           EXTEND                                         
020965,000523: 16,2731           12747                           BZF      SAMEJETS                              #  SAME POLICY, GO ADJUST TOFJTCHG
020966,000524: 16,2732           50065        OK2WRITE           INDEX    REL                                   #  DIFFERENT POLICY(CHANNEL 6 WAS ZERO OF A
020967,000525: 16,2733           32754                           CAF      PPOLTABL                              #  JET FAILED IN LAST POLICY).  GET POLICY,
020968,000526: 16,2734           06043                           TC       WRITEP                                #  GO WRITE IT IN CHANNEL 6 AND RETURN
020969,000527: 
020970,000528: 16,2735           10000                           CCS      A                                     #  THE POLICY IS STILL IN A, TEST NUMBER OF
020971,000529: 16,2736           37762                           CAF      TWO                                   
020972,000530: 16,2737           12741                           TCF      +2                                    #  JETS(BIT15 ON FOR 4-JET POLICIES) AND
020973,000531: 16,2740           37761                           CAF      FOUR                                  
020974,000532: 16,2741           00006                           EXTEND                                         #  MULTIPLY BY TJETSIGN(+/-1) TO GET +/-2,4
020975,000533: 16,2742           71434                           MP       TJETSIGN                              
020976,000534: 16,2743           23657                           LXCH     NO.PJETS                              #  IN L, WHICH IS THEN STORED IN NO-PJETS
020977,000535: 
020978,000536: 16,2744           37753                           CAF      BIT9                                  #  TURN OFF P-AXIS JETS AFTER T6RJPT
020979,000537: 16,2745           55472                           TS       JTSATCHG                              
020980,000538: 
020981,000539: 16,2746           13374                           TCF      SKIPTEST                              #  CHECK FOR SKIP.PERHAPS TO DO JETLIST
020982,000540: 
020983,000541: 16,2747           33564        SAMEJETS           CAF      -COM-6.5                              #  COME HERE TO ADJUST TOFJTCHG BY FACTOR
020984,000542: 16,2750           27475                           ADS      TOFJTCHG                              #  OF 11.5MS(COMP TIME + MINIMP DELAY) WHEN
020985,000543: 16,2751           12732                           TCF      OK2WRITE                              #  CURRENT JET POLICY IS TO BE MAINTAINED.
020986,000544: 
020987,000545: 16,2752  E6,1471                                  EBANK=   JTSONNOW                              #  WOULD YOU BELIEVE, EBANK = 6
020988,000546: 16,2752           02374 40066  ABORTADR           2CADR    ABORTJET                              #  WHERE TO GO WHEN ALL JET POLICIES FAIL
020989,000547:                                                                                                  #  ................................................................................................................
020990,000548: 
020991,000549:                                                                                                  #  TABLE OF P-AXIS JET POLICIES IS ASSEMBLED HERE TO BE ADDRESSED BY RELATIVE INDEX FROM BASE ADDRESS PPOLTABLE
020992,000550: 
020993,000551:                                                                                                  #                                CHANNEL 6 BITS                    INDEX                            JETS ON
020994,000552: 
020995,000553: 16,2754           00202        PPOLTABL           OCTAL    00202                                 #  REL=0      -P NON-FORCE COUPLE 4- 16, 3
020996,000554: 16,2755           00210                           OCTAL    00210                                 #  REL=1      -P NON-FORCE COUPLE 3- 11, 16
020997,000555: 16,2756           00050                           OCTAL    00050                                 #  REL=2      -P NON-FORCE COUPLE 2- 8, 11
020998,000556: 16,2757           00042                           OCTAL    00042                                 #  REL=3      -P NON-FORCE COUPLE 1- 3, 8
020999,000557: 16,2760           00240                           OCTAL    00240                                 #  REL=4      NUMBER TWO FORCE COUPLE- 8, 16
021000,000558: 16,2761           00012                           OCTAL    00012                                 #  REL=5      -P 2-JET FORCE COUPLE- 3, 11

Page 503

021002,000560: 16,2762           40252                           OCTAL    40252                                 #  REL=6      -P 4-JET POLICY- 3, 8, 11, 16
021003,000561: 
021004,000562: 16,2763           00101                           OCTAL    00101                                 #  REL=7      +P NON-FORCE COUPLE 4- 7, 4
021005,000563: 16,2764           00021                           OCTAL    00021                                 #  REL=8D     +P NON-FORCE COUPLE 3- 12, 7
021006,000564: 16,2765           00024                           OCTAL    00024                                 #  REL=9D     +P NON-FORCE COUPLE 2- 15, 12
021007,000565: 16,2766           00104                           OCTAL    00104                                 #  REL=10D    +P NON-FORCE COUPLE 1- 4, 15
021008,000566: 16,2767           00005                           OCTAL    00005                                 #  REL=11D    NUMBER TWO FORCE COUPLE- 15, 7
021009,000567: 16,2770           00120                           OCTAL    00120                                 #  REL=12D    +P 2-JET FORCE COUPLE- 4, 12
021010,000568: 16,2771           40125                           OCTAL    40125                                 #  REL=13D    +P 4-JET POLICY- 4, 15, 12, 7
021011,000569: 
021012,000570:                                                                                                  #  ................................................................................................................
021013,000571: 
021014,000572: 16,2772           37767        JETSOFF            CAF      ZERO                                  
021015,000573: 16,2773           55611                           TS       TP                                    
021016,000574: 16,2774           55475                           TS       TOFJTCHG                              
021017,000575: 16,2775           06043                           TC       WRITEP                                #  TURN ON P JETS USING T6JOB SUBROUTINE
021018,000576: 16,2776           15733                           TCF      RESUME                                
021019,000577:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION
021020,000578: 
021021,000579:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
021022,000580: 
021023,000581: 16,2777           30033        PURGENCY           CA       CDUY                                  #  P-ERROR CALCULATION
021024,000582: 16,3000           00006                           EXTEND                                         
021025,000583: 16,3001           20767                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
021026,000584: 16,3002           00006                           EXTEND                                         
021027,000585: 16,3003           71404                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
021028,000586: 16,3004           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
021029,000587: 16,3005           30032                           CA       CDUX                                  #  THIRD COMPONENT
021030,000588: 16,3006           00006                           EXTEND                                         
021031,000589: 16,3007           20766                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
021032,000590:                                                                                                  #                EXTEND
021033,000591:                                                                                                  #                MP              M13
021034,000592: 16,3010           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVR
021035,000593: 
021036,000594: 16,3011           55466                           TS       PERROR                                #  SAVE P ERROR FOR DISPLAY
021037,000595: 
021038,000596: 16,3012           40774                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
021039,000597: 16,3013           61415                           AD       OMEGAP                                #  SPS-BACKUP MODE.
021040,000598: 16,3014           55422                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
021041,000599: 

Page 504

021043,000601:                                                                                                  #  P-AXIS SPS BACK-UP TEST AND SPS BACK-UP CONTROL LOGIC:
021044,000602: 
021045,000603: 16,3015           30077                           CAE      DAPBOOLS                              #  BIT15 = 0 FOR SPS BACK-UP
021046,000604: 16,3016           00006                           EXTEND                                         
021047,000605: 16,3017           63074                           BZMF     NOBACKUP                              #  DAPBOOLS IS NEVER +0.
021048,000606: 
021049,000607:                                                                                                  #  SPS BACK-UP CONTROL LOGIC:
021050,000608: 
021051,000609: 16,3020           37743                           CAF      SLOPEMP                               
021052,000610: 16,3021           00006                           EXTEND                                         
021053,000611: 16,3022           71411                           MP       E                                     
021054,000612: 16,3023           61422                           AD       EDOTP                                 
021055,000613: 16,3024           00006                           EXTEND                                         
021056,000614: 16,3025           63061                           BZMF     PLUSDP                                
021057,000615: 
021058,000616: 16,3026           33072                           CAF      NEGDP                                 
021059,000617: 
021060,000618: 16,3027           54063        GCOMPER            TS       ITEMP3                                
021061,000619: 16,3030           31422                           CAE      EDOTP                                 
021062,000620: 16,3031           00006                           EXTEND                                         
021063,000621: 16,3032           73073                           MP       ACONSTP                               
021064,000622: 16,3033           10000                           CCS      A                                     
021065,000623: 16,3034           13067                           TCF      LIMPRATE                              
021066,000624: 16,3035           13037                           TCF      +2                                    
021067,000625: 16,3036           13067                           TCF      LIMPRATE                              
021068,000626: 16,3037           22000                           LXCH     A                                     
021069,000627: 16,3040           00006                           EXTEND                                         
021070,000628: 16,3041           70000                           SQUARE                                         
021071,000629: 16,3042           61411        LIMSQP             AD       E                                     
021072,000630: 16,3043           63072                           AD       NEGDP                                 
021073,000631: 16,3044           00006                           EXTEND                                         
021074,000632: 16,3045           62772                           BZMF     JETSOFF                               
021075,000633: 16,3046           33071                           CAF      50MS/625                              
021076,000634: 16,3047           55611                           TS       TP                                    
021077,000635: 16,3050           55475                           TS       TOFJTCHG                              
021078,000636: 16,3051           37745                           CAF      NEGMAX                                
021079,000637: 16,3052           55461                           TS       NJET                                  
021080,000638: 16,3053           10063                           CCS      ITEMP3                                
021081,000639: 16,3054           37763                           CAF      BIT1                                  
021082,000640: 16,3055           13057                           TCF      +2                                    
021083,000641: 16,3056           47763                           CS       BIT1                                  
021084,000642: 16,3057           55434                           TS       TJETSIGN                              
021085,000643: 16,3060           12642                           TCF      PJETSLEC                              
021086,000644: 16,3061           41411        PLUSDP             CS       E                                     
021087,000645: 16,3062           57411                           XCH      E                                     
021088,000646: 16,3063           41422                           CS       EDOTP                                 
021089,000647: 16,3064           57422                           XCH      EDOTP                                 
021090,000648: 16,3065           43072                           CS       NEGDP                                 
021091,000649: 16,3066           13027                           TCF      GCOMPER                               
021092,000650: 16,3067           37747        LIMPRATE           CAF      QUARTER                               

Page 505

021094,000652: 16,3070           13042                           TCF      LIMSQP                                
021095,000653: 16,3071           00120        50MS/625           OCTAL    00120                                 #  TJET = 50 MS IN SPS BACKUP MODE
021096,000654: 16,3072           77644        NEGDP              DEC      -0.00555                              
021097,000655: 16,3073     7743               SLOPEMP            EQUALS   POSMAX                                
021098,000656: 16,3073           00007        ACONSTP            OCTAL    00007                                 
021099,000657: 

Page 506

021101,000659:                                                                                                  #  CONTINUATION OF P-AXIS RCS AUTOPILOT:
021102,000660: 
021103,000661: 16,3074           37746        NOBACKUP           CAF      BIT14                                 
021104,000662: 16,3075           55716                           TS       SIGNTAG                               #  INDICATES EDOT POSITIVE FOR TIME BEING
021105,000663: 16,3076           11422                           CCS      EDOTP                                 
021106,000664: 16,3077           13111                           TCF      SCALEDOT                              
021107,000665: 16,3100           13121                           TCF      PTJETLAW                              
021108,000666: 16,3101           13103                           TCF      REFLECT                               
021109,000667: 16,3102           13121                           TCF      PTJETLAW                              
021110,000668: 16,3103           55407        REFLECT            TS       EDOT                                  
021111,000669: 16,3104           47746                           CS       BIT14                                 
021112,000670: 16,3105           55716                           TS       SIGNTAG                               #  INDICATES EDOT REALLY NEGATIVE
021113,000671: 16,3106           41466                           CS       PERROR                                
021114,000672: 16,3107           55411                           TS       E                                     
021115,000673: 16,3110           31407                           CAE      EDOT                                  #  EDOT SCALED AT 45 DEG/SEC
021116,000674: 16,3111           67763        SCALEDOT           AD       BIT1                                  
021117,000675: 16,3112           00006                           EXTEND                                         
021118,000676: 16,3113           77761                           MP       BIT3                                  
021119,000677: 16,3114           00006                           EXTEND                                         
021120,000678: 16,3115           13120                           BZF      PTJETLAW   -1                         
021121,000679: 16,3116           37743                           CAF      POSMAX                                
021122,000680: 16,3117           13121                           TCF      PTJETLAW                              
021123,000681: 16,3120           30001                           CAE      L                                     #  EDOT NOW SCALED AT 11.25 DEG/SEC
021124,000682: 16,3121           55407        PTJETLAW           TS       EDOT                                  
021125,000683: 16,3122           00006                           EXTEND                                         
021126,000684: 16,3123           71407                           MP       EDOT                                  
021127,000685: 16,3124           55412                           TS       EDOT(2)                               
021128,000686: 16,3125           37771                           CAF      NEGONE                                
021129,000687: 16,3126           55434                           TS       TJETSIGN                              
021130,000688: 16,3127           37745                           CAF      NEGMAX                                
021131,000689: 16,3130           55461                           TS       NJET                                  #  INDICATES 2 JETS ONLY FOR TIME BEING
021132,000690: 16,3131           31412                           CAE      EDOT(2)                               
021133,000691: 16,3132           00006                           EXTEND                                         
021134,000692: 16,3133           71440                           MP       1/2JTSP                               
021135,000693: 16,3134           00006                           EXTEND                                         
021136,000694: 16,3135           77746                           MP       BIT14                                 
021137,000695: 16,3136           61411                           AD       E                                     
021138,000696: 16,3137           00006                           EXTEND                                         
021139,000697: 16,3140           60375                           SU       DB                                    
021140,000698: 16,3141           55444                           TS       FCT1                                  
021141,000699: 16,3142           00006                           EXTEND                                         
021142,000700: 16,3143           63202                           BZMF     5,6,7,8                               
021143,000701: 16,3144           63555                           AD       -5DEG+1                               
021144,000702: 16,3145           00006                           EXTEND                                         #  IN ERROR BY OVER 5 DEG  WITH THE
021145,000703: 16,3146           63153                           BZMF     +5                                    #    RATE IN THE OTHER DIRECTION
021146,000704: 16,3147           41407                           CS       EDOT                                  
021147,000705: 16,3150           63757                           AD       HULLSLIM                              #  0.5 DEG/SEC SCALED AT 11.25 DEG/SEC
021148,000706: 16,3151           00006                           EXTEND                                         
021149,000707: 16,3152           63177                           BZMF     MULTIJET                              
021150,000708: 16,3153           31407                           CAE      EDOT                                  
021151,000709: 

Page 507

021153,000711: 16,3154           00006                           EXTEND                                         
021154,000712: 16,3155           71440                           MP       1/2JTSP                               
021155,000713: 16,3156           55510                           TS       TERMA                                 
021156,000714: 16,3157           43563                           CS       1.5CSP16                              
021157,000715: 16,3160           61510                           AD       TERMA                                 
021158,000716: 16,3161           00006                           EXTEND                                         
021159,000717: 16,3162           63165                           BZMF     +3                                    
021160,000718: 16,3163           37746        MAXPTJET           CAF      BIT14                                 
021161,000719: 16,3164           13356                           TCF      FINDSIGN                              
021162,000720: 16,3165           41444                           CS       FCT1                                  
021163,000721: 16,3166           61632                           AD       DBMNMPAX                              
021164,000722: 16,3167           00006                           EXTEND                                         
021165,000723: 16,3170           63232                           BZMF     PMBR                                  
021166,000724: 16,3171           31510                           CAE      TERMA                                 
021167,000725: 16,3172           63554                           AD       -35AT16                               
021168,000726: 16,3173           00006                           EXTEND                                         
021169,000727: 16,3174           63342                           BZMF     ZONE4                                 
021170,000728: 16,3175           63556                           AD       38.7AT16                              
021171,000729: 16,3176           13316                           TCF      SCALTJET                              
021172,000730: 16,3177           37743        MULTIJET           CAF      POSMAX                                
021173,000731: 16,3200           55461                           TS       NJET                                  
021174,000732: 16,3201           13163                           TCF      MAXPTJET                              
021175,000733: 16,3202           31412        5,6,7,8            CAE      EDOT(2)                               
021176,000734: 16,3203           00006                           EXTEND                                         
021177,000735: 16,3204           72234                           MP       .5ACCMIN                              
021178,000736: 16,3205           61411                           AD       E                                     
021179,000737: 16,3206           60375                           AD       DB                                    
021180,000738: 16,3207           61632                           AD       DBMNMPAX                              
021181,000739: 16,3210           00006                           EXTEND                                         
021182,000740: 16,3211           63213                           BZMF     +2                                    
021183,000741: 16,3212           12772        ZONE5              TCF      JETSOFF                               
021184,000742: 16,3213           43552                 +2        CS       RATEMAX                               
021185,000743: 16,3214           61407                           AD       EDOT                                  
021186,000744: 16,3215           00006                           EXTEND                                         
021187,000745: 16,3216           63220                           BZMF     ZONES6,7                              
021188,000746: 16,3217           12772        ZONE8              TCF      JETSOFF                               
021189,000747: 16,3220           37763        ZONES6,7           CAF      BIT1                                  
021190,000748: 16,3221           55434                           TS       TJETSIGN                              
021191,000749: 16,3222           41407                           CS       EDOT                                  
021192,000750: 16,3223           00006                           EXTEND                                         
021193,000751: 16,3224           71440                           MP       1/2JTSP                               
021194,000752: 16,3225           55510                           TS       TERMA                                 
021195,000753: 16,3226           41444                           CS       FCT1                                  
021196,000754: 16,3227           61411                           AD       E                                     
021197,000755: 16,3230           61411                           AD       E                                     
021198,000756: 16,3231           61632                           AD       DBMNMPAX                              
021199,000757: 16,3232           55444        PMBR               TS       FCT1                                  #  FCT1 NOW HOLDS -FCT5 OR -FCT2
021200,000758: 16,3233           31440                           CAE      1/2JTSP                               
021201,000759: 16,3234           00006                           EXTEND                                         
021202,000760: 16,3235           77746                           MP       BIT14                                 
021203,000761: 

Page 508

021205,000763: 16,3236           62234                           AD       .5ACCMIN                              
021206,000764: 16,3237           55446                           TS       DENOM                                 
021207,000765: 16,3240           00006                           EXTEND                                         
021208,000766: 16,3241           73553                           MP       RATEMAX2                              
021209,000767: 16,3242           61444                           AD       FCT1                                  
021210,000768: 16,3243           00006                           EXTEND                                         
021211,000769: 16,3244           63322                           BZMF     MISSROOT                              
021212,000770: 16,3245           31440                           CAE      1/2JTSP                               
021213,000771: 16,3246           00006                           EXTEND                                         
021214,000772: 16,3247           71440                           MP       1/2JTSP                               #  (1/2JTSP)(1/2JTSP) SCALED AT 2(16)/PI(2)
021215,000773: 16,3250           52073                           DXCH     RUPTREG3                              #  DP PRODUCT STORED IN RUPTREG3,RUPTREG4
021216,000774: 16,3251           31444                           CAE      FCT1                                  #  SCALED AT PI
021217,000775: 16,3252           22007                           ZL                                             
021218,000776: 16,3253           00006                           EXTEND                                         
021219,000777: 16,3254           11446                           DV       DENOM                                 #  (FCT1/DENOM) IN A SCALED AT PI(2)/2(8).
021220,000778: 16,3255           54071                           TS       RUPTREG2                              #  (FCT1/DENOM) STORED IN RUPTREG2
021221,000779: 16,3256           00006                           EXTEND                                         
021222,000780: 16,3257           70073                           MP       RUPTREG4                              #  (FCT1/DENOM)(LOWER PART OF (1/2JTSP)(2))
021223,000781: 16,3260           54073                           TS       RUPTREG4                              #  IS STORED IN RUPTREG4
021224,000782: 16,3261           37767                           CAF      ZERO                                  
021225,000783: 16,3262           56072                           XCH      RUPTREG3                              
021226,000784: 16,3263           00006                           EXTEND                                         
021227,000785: 16,3264           70071                           MP       RUPTREG2                              #  PRODUCT OF SP FCT1/DENOM AND DP
021228,000786: 16,3265           20073                           DAS      RUPTREG3                              #  (1/2JSP)(2) IS STORED DP IN RUPTREG3 AND
021229,000787: 16,3266           00006                           EXTEND                                         #  RUPTREG4 AT A SCALING OF 2(8). PRODUCT
021230,000788: 16,3267           30073                           DCA      RUPTREG3                              #  IS ALSO STORED IN ITEMP3 AND ITEMP4.
021231,000789: 16,3270           52064                           DXCH     ITEMP3                                
021232,000790: 16,3271           43563                           CS       1.5CSP16                              
021233,000791: 16,3272           61510                           AD       TERMA                                 #  SCALED AT 2(4)
021234,000792: 16,3273           00006                           EXTEND                                         
021235,000793: 16,3274           70000                           SQUARE                                         #  (TERMA-1.5CSP)(2) IN A,L SCALED AT 2(8)
021236,000794: 16,3275           20073                           DAS      RUPTREG3                              #  DP EXPRESSION STORED IN RUPTREG3 AND
021237,000795: 16,3276           30072                           CAE      RUPTREG3                              #  RUPTREG4. IF NEG, TP EXCEEDS 1.5CSP.
021238,000796: 16,3277           00006                           EXTEND                                         
021239,000797: 16,3300           13302                           BZF      TESTONL1                              #  IF RUPTREG3 ZERO,MUST TEST ON RUPTREG4
021240,000798: 16,3301           13303                           TCF      TESTONL1   +1                         
021241,000799: 
021242,000800: 16,3302           30073        TESTONL1           CAE      RUPTREG4                              
021243,000801: 16,3303           00006                           EXTEND                                         
021244,000802: 16,3304           63163                           BZMF     MAXPTJET                              
021245,000803: 
021246,000804: 16,3305           43560        MINTJCHK           CS       PTJMINT6                              #  11.5 MS SCALED AT 16. (4MS ADDED TO TMIN
021247,000805: 16,3306           61510                           AD       TERMA                                 #  TO PREVENT COMPUTED TP LESS THAN TMIN)
021248,000806: 16,3307           00006                           EXTEND                                         
021249,000807: 16,3310           63326                           BZMF     LASTTEST                              #  LASTTEST TESTS FOR TP LESS THAN MIN IMP.
021250,000808: 16,3311           00006        ROOTNEXT           EXTEND                                         
021251,000809: 16,3312           40064                           DCS      ITEMP3                                #  DP NUMBER SCALED AT 2(8) TO BE ENTERED
021252,000810: 16,3313           05270                           TC       IBNKCALL                              #  SQUARE ROOT SUBROUTINE CALL.
021253,000811: 16,3314           54525                           CADR     DAPSQRT                               
021254,000812: 16,3315           61510        SUMTJ              AD       TERMA                                 
021255,000813: 

Page 509

021257,000815: 16,3316           60000        SCALTJET           DOUBLE                                         
021258,000816: 16,3317           00006                           EXTEND                                         
021259,000817: 16,3320           73576                           MP       25/32                                 
021260,000818: 16,3321           13356                           TCF      FINDSIGN                              
021261,000819: 16,3322           33551        MISSROOT           CAF      RATEMAX+                              #  RATEMAX+ = RATEMAX+0.6DEGREES/SECOND
021262,000820: 16,3323           00006                           EXTEND                                         
021263,000821: 16,3324           71440                           MP       1/2JTSP                               
021264,000822: 16,3325           13315                           TCF      SUMTJ                                 
021265,000823: 16,3326           00006        LASTTEST           EXTEND                                         
021266,000824: 16,3327           30064                           DCA      ITEMP3                                
021267,000825: 16,3330           52073                           DXCH     RUPTREG3                              
021268,000826: 16,3331           43560                           CS       PTJMINT6                              #  11.5 MS SCALED AT 16
021269,000827: 16,3332           61510                           AD       TERMA                                 
021270,000828: 16,3333           00006                           EXTEND                                         
021271,000829: 16,3334           70000                           SQUARE                                         
021272,000830: 16,3335           20073                           DAS      RUPTREG3                              #  DP EXPRESSION STORED IN RUPTREG3 AND
021273,000831: 16,3336           30072                           CAE      RUPTREG3                              #  RUPTREG4. IF POS, TP LESS THAN MIN IMP
021274,000832: 16,3337           00006                           EXTEND                                         
021275,000833: 16,3340           13370                           BZF      TESTONL2                              #  IF RUPTREG3 ZERO, MUST TEST ON RUPTREG4
021276,000834: 16,3341           13371                           TCF      TESTONL2   +1                         
021277,000835: 16,3342           31407        ZONE4              CAE      EDOT                                  #  IF EDOT IS ZERO IN ZONE4, NO JETS FIRED
021278,000836: 16,3343           00006                           EXTEND                                         
021279,000837: 16,3344           12772                           BZF      JETSOFF                               
021280,000838: 16,3345           31716                           CAE      SIGNTAG                               
021281,000839: 16,3346           00006                           EXTEND                                         
021282,000840: 16,3347           63352                           BZMF     +3                                    
021283,000841: 16,3350           43561                           CS       .1DPS                                 
021284,000842: 16,3351           13353                           TCF      +2                                    
021285,000843: 16,3352           33561                           CA       .1DPS                                 
021286,000844: 16,3353           60774                           AD       OMEGAPD                               
021287,000845: 16,3354           55415                           TS       OMEGAP                                
021288,000846: 16,3355           33560                           CAF      PTJMINT6                              
021289,000847: 16,3356           55611        FINDSIGN           TS       TP                                    
021290,000848: 16,3357           31716                           CAE      SIGNTAG                               #  NEVER ZERO
021291,000849: 16,3360           00006                           EXTEND                                         
021292,000850: 16,3361           63363                           BZMF     +2                                    #  EQUIVALENT TO BRANCH ON MINUS
021293,000851: 16,3362           13365                           TCF      +3                                    
021294,000852: 16,3363           41434                           CS       TJETSIGN                              
021295,000853: 16,3364           55434                           TS       TJETSIGN                              
021296,000854: 16,3365           31611                           CAE      TP                                    #  LOAD TOFJTCHG
021297,000855: 16,3366           55475                           TS       TOFJTCHG                              
021298,000856: 16,3367           12642                           TCF      PJETSLEC                              #  AND GO SELECT GOOD POLICY
021299,000857: 
021300,000858: 16,3370           30073        TESTONL2           CAE      RUPTREG4                              
021301,000859: 16,3371           00006                           EXTEND                                         
021302,000860: 16,3372           63311                           BZMF     ROOTNEXT                              
021303,000861: 16,3373           12772                           TCF      JETSOFF                               
021304,000862:                                                                                                  #  TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
021305,000863: 
021306,000864: 16,3374           41475        SKIPTEST           CS       TOFJTCHG                              #  COME HERE FROM PJETSLEC TO TEST P SKIP

Page 510

021308,000866: 16,3375           63562                           AD       +1.5CSP                               #  USE 150 MS. TO TEST FOR A PAXIS SKIP.
021309,000867: 16,3376           00006                           EXTEND                                         
021310,000868: 16,3377           65733                           BZMF     RESUME                                #  TP GREATER THAN 150MS THEN DO NORMAL P.
021311,000869: 16,3400           33604                           CA       PSKIPADR                              #  SET UP A P AXIS SKIP.
021312,000870: 16,3401           55652                           TS       PJUMPADR                              #  GOES TO JTLST FROM HERE
021313,000871: 

Page 511

021315,000873:                                                                                                  #  PROGRAM NAME   JTLST
021316,000874: 
021317,000875:                                                                                                  #  WRITTEN BY  DICK GRAN ( GAEC - CALL LR-5-1331 AREA CODE 516 )
021318,000876: 
021319,000877:                                                                                                  #  THIS PROGRAM IN CONJUNCTION WITH T6-RUPT PROGRAMS ALLOWS JETS TO BE
021320,000878:                                                                                                  #  TURNED OFF AT THE COMPUTED OFF TIME. THIS TASK IS ACCOMPLISHED BY USING
021321,000879:                                                                                                  #  A JET LIST WHICH IS SET UP AS FOLLOWS ....
021322,000880: 
021323,000881:                                                                                                  #                  JET OFF TIMES    DESIRED JETS AT THIS TIME
021324,000882: 
021325,000883:                                                                                                  #                    TIME6          T6NEXTJT
021326,000884:                                                                                                  #                    T6NEXT         T6NEXTJT +1
021327,000885:                                                                                                  #                    T6NEXT +1      T6NEXTJT +2
021328,000886: 
021329,000887:                                                                                                  #  THESE LOCATIONS RECEIVE THE JET ON TIMES SCALED AS T6 (.625 MS/BIT). AS
021330,000888:                                                                                                  #  AN EXAMPLE OF HOW THE PROGRAM WORKS, CONSIDER THE FOLLOWING PROBLEM...
021331,000889:                                                                                                  #      50 MS AGO A P AXIS JET COMPUTATION DECIDED JETS 12 AND 15 SHOULD BE
021332,000890:                                                                                                  #      ON FOR 120 MS. AFTER 120 MS IT WAS FURTHER DECIDED THAT JETS 12,15
021333,000891:                                                                                                  #      16 AND 3  SHOULD BE ON UNTIL THE NEXT P AXIS COMPUTATION (WHICH
021334,000892:                                                                                                  #      OCCURS IN 200 MS AFTER THE LAST P AXIS JET COMPUTATION). AT THE 
021335,000893:                                                                                                  #      CURRENT TIME THE QR AXES COMPUTES THAT JET 2 SHOULD BE ON FOR 65 MS
021336,000894:                                                                                                  #      AND JET 9 SHOULD BE ON FOR 72.5 MS. AFTER 72.5 MS NO FURTHER QR JETS
021337,000895:                                                                                                  #      SHOULD BE ON. THIS SEQUENCE OF JETS CORRESPONDS TO A +P ROTATION
021338,000896:                                                                                                  #      WITH A SIMULTANEOUS +Y AND -Z TRANSLATION AND ALSO A -V (DIAGONAL)
021339,000897:                                                                                                  #      ROTATION ABOUT THE Y AND Z AXES . NOTE JET 9 IS ON LONGER THAN JET 2
021340,000898:                                                                                                  #      WHICH WOULD BE THE CASE IF THE Q-R JETS HAD BEEN ON BEFORE. IN THIS
021341,000899:                                                                                                  #      CASE, THE FOLLOWING SEQUENCE OF EVENTS OCCURRED AT THE P AXIS
021342,000900:                                                                                                  #      COMPUTATION .....
021343,000901: 
021344,000902:                                                                                                  #           1) CHANNEL 6 WAS LOADED WITH OCTAL 24 TO TURN ON JETS 12 AND 15
021345,000903: 
021346,000904:                                                                                                  #           2) TIME 6 WAS LOADED WITH 120 MS
021347,000905: 
021348,000906:                                                                                                  #           3) T6NEXT WAS LOADED WITH +0 ( THIS INDICATES THE CONTENTS OF 
021349,000907:                                                                                                  #               T6NEXT ARE NOT TO BE USED IN THE T6JOB PROGRAM)
021350,000908: 
021351,000909:                                                                                                  #           4) T6NEXTJT WAS LOADED WITH OCTAL 226 TO CAUSE JETS 3,12,15
021352,000910:                                                                                                  #               AND 16 TO GO ON WHEN T6 HAS BEEN DECREMENTED TO -0.
021353,000911: 
021354,000912:                                                                                                  #           5) THE T6 CLOCK WAS TURNED ON TO BEGIN COUNTING DOWN TIME 6
021355,000913: 
021356,000914:                                                                                                  #      AT THE QR AXES JET LIST COMPUTATION, THE T6 CLOCK AS BEEN REDUCED
021357,000915:                                                                                                  #      TO 70 MS (120-50) THEREFORE THE FOLLOWING OCCURS ....
021358,000916: 
021359,000917:                                                                                                  #           1) CHANNEL 5 IS LOADED WITH OCTAL 40022 TO TURN ON JETS 2 AND
021360,000918:                                                                                                  #               9. ( THIS IS PERFORMED IN THE SECTION CALLED RATE)
021361,000919: 
021362,000920:                                                                                                  #           2) THE BANK IS SWITCHED FROM THE QR BANK TO THE P BANK (WHERE
021363,000921:                                                                                                  #               THE JET LIST IS STORED) AS FOLLOWS ....
021364,000922:                                                                                                  #                      DCA   JTLSTADR

Page 512

021366,000924:                                                                                                  #                      DTCB             ( IN THE QR AXES ONLY)
021367,000925: 
021368,000926:                                                                                                  #           3) THE DESIRED JET ON TIME FOR JET 2 IS COMPARED WITH T6.
021369,000927: 
021370,000928:                                                                                                  #           4) SINCE T6 IS GREATER THAN THE DESIRED JET ON TIME FOR JET 2,
021371,000929:                                                                                                  #               T6 IS CHANGED TO 65 MS AND T6NEXT  IS LOADED WITH 5 MS.
021372,000930:                                                                                                  #               ( THE DIFFERENCE BETWEEN JET ON TIME AND T6)
021373,000931: 
021374,000932:                                                                                                  #           5) T6NEXTJT IS CHANGED TO OCTAL 40020 , AND THE FORMER CONTENTS
021375,000933:                                                                                                  #               OF T6NEXTJT IS PLACED IN T6NEXTJT +1. THIS CAUSES JET 9 TO
021376,000934:                                                                                                  #               REMAIN ON AND JET 2 TO BE TURNED OFF WHEN T6 IS DECREMENTED
021377,000935:                                                                                                  #               TO ZERO. IT ALSO ASSIGNS THE P AXIS JET CODE TO THE
021378,000936:                                                                                                  #               TIME IN T6NEXT.
021379,000937: 
021380,000938:                                                                                                  #           6) THE CONTENTS OF T6NEXT (5MS) IS COMPARED WITH THE
021381,000939:                                                                                                  #               DIFFERENCE BETWEEN THE TWO QR AXIS JET ON TIMES. SINCE HERE
021382,000940:                                                                                                  #               THE DIFFERENCE IS 7.5 MS WHICH IS GREATER THAN THE CONTENTS
021383,000941:                                                                                                  #               OF T6NEXT (5MS), THE ADDITIONAL QR AXIS RUPT OCCURS AFTER
021384,000942:                                                                                                  #               THE RUPT STORED IN T6NEXT. THUS 2.5 MS (7.5 - 5) IS STORED
021385,000943:                                                                                                  #               IN T6NEXT +1
021386,000944: 
021387,000945:                                                                                                  #           7) T6NEXTJT +2 IS MADE EQUAL TO THE JETS WHICH ARE TO BE ON
021388,000946:                                                                                                  #               AFTER THE 75 MS HAS ELAPSED (IN THE CASE HERE IT IS ZERO)
021389,000947: 
021390,000948:                                                                                                  #      THUS FOR THE EXAMPLE CONSIDERED THE JET LIST IS ....
021391,000949: 
021392,000950:                                                                                                  #           JET TIMES               JET CODES
021393,000951:                                                                                                  #     TIME6     = 65MS.      T6NEXTJT    = 40020     SIGN IS NEGATIVE TO
021394,000952:                                                                                                  #     T6NEXT    =  5 MS.     T6NEXTJT +1 = 00226        INDICATES Q-R AXIS
021395,000953:                                                                                                  #     T6NEXT +1 =2.5 MS.     T6NEXTJT +2=, 40000        JETS,POSITIVE TO
021396,000954:                                                                                                  #                                                       INDICATE P JETS.
021397,000955:                                                                                                  #     CHANNEL 6 = 00024
021398,000956:                                                                                                  #     CHANNEL 5 = 00022   SIGN IS LOST ONCE THE JET CODE IS LOADED
021399,000957: 
021400,000958:                                                                                                  #  THIS EXAMPLE AND THE CODING SHOULD ALLOW ONE TO UNDERSTAND THE JET LIST.
021401,000959:                                                                                                  #    ONE FURTHER COMMENT IS IN ORDER - IF THE JET ON TIMES EXCEED 150 MS,
021402,000960:                                                                                                  #    THE JETS ARE TURNED ON AND THE JET LIST IS NOT ENTERED. IN 100 MS
021403,000961:                                                                                                  #    A NEW JET ON TIME IS COMPUTED WHICH WILL RESET THE JETS IF NEEDED.
021404,000962:                                                                                                  #    WHEN THE JET ON TIME IS LESS THAN 150MS, THE JET LIST IS LOADED AS
021405,000963:                                                                                                  #    DISCUSSED ABOVE AND THE TJET COMPUTATION IS SKIPPED NEXT TIME, THAT IS
021406,000964:                                                                                                  #    THE AXIS IS NOT REPEATED AGAIN UNTIL 200 MS HAS ELAPSED. THIS INSURES
021407,000965:                                                                                                  #    THAT WHEN A NEW JET TIME IS COMPUTED THE JET LIST WILL NOT HAVE
021408,000966:                                                                                                  #    A TIME STORED WHICH CORRESPONDS TO THE AXIS JUST COMPLETED.
021409,000967: 
021410,000968: 16,3402           10031        JTLST              CCS      TIME6                                 #   TEST CURRENT STATE OF T6.
021411,000969: 16,3403           13426                           TCF      T6ONNOW                               #   IF T6 IS + THEN CLOCK IS ON.
021412,000970: 16,3404           13410                           TCF      T6OFFNOW                              #   IF T6 IS + ZERO THEN T6 MUST BE OFF
021413,000971: 16,3405           13426                           TCF      T6ONNOW                               #     SINCE ALL DINC S LEAD TO MINUS ZERO.
021414,000972: 16,3406           06017                           TC       T6JOB                                 #  WE ARE IN THE UNIQUE STATE WHICH SAYS
021415,000973: 16,3407           13402                           TCF      JTLST                                 #    A T6 INTERRUPT IS WAITING.DO T6 JOB.
021416,000974: 

Page 513

021418,000976: 16,3410           31475        T6OFFNOW           CA       TOFJTCHG                              
021419,000977: 16,3411           54031                           TS       TIME6                                 #  WE ARE HERE IF T6 CLOCK IS OFF.
021420,000978: 16,3412           37745                           CA       BIT15                                 
021421,000979: 16,3413           00006                           EXTEND                                         #  TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
021422,000980: 16,3414           05013                           WOR      13                                    
021423,000981: 16,3415           31472                           CA       JTSATCHG                              
021424,000982: 16,3416           55004                           TS       T6NEXTJT                              
021425,000983: 16,3417           37767                           CA       ZERO                                  
021426,000984: 16,3420           57474                           XCH      ADDTLT6                               #  SET UP NEXT T6 INTERRUPT AFTER THE
021427,000985: 16,3421           55002                           TS       T6NEXT                                #    CURRENT ONE IS COMPLETE. ADDTLT6 MAY
021428,000986: 16,3422           37767                           CA       ZERO                                  #    BE ZERO IN WHICH CASE NO MORE T6.
021429,000987: 16,3423           57473                           XCH      ADDT6JTS                              
021430,000988: 16,3424           55005                           TS       T6NEXTJT   +1                         
021431,000989: 16,3425           15733                           TCF      RESUME                                
021432,000990: 16,3426           11002        T6ONNOW            CCS      T6NEXT                                #  HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
021433,000991: 16,3427           13507                           TCF      T6NXT=+                               #    ZERO OR NOT.
021434,000992: 16,3430           41475                           CS       TOFJTCHG                              #  T6NEXT IS NEVER NEGATIVE.
021435,000993: 16,3431           60031                           AD       TIME6                                 #  A CONTAINS T6 - TJET.
021436,000994: 16,3432           10000                           CCS      A                                     #  TEST SIGN OF A (SAVING THE DIFFERENCE).
021437,000995: 16,3433           67763                           AD       ONE                                   
021438,000996: 16,3434           13451                           TCF      JTSFIRST                              #  TJET IS LESS THAN T6.
021439,000997: 16,3435           13436                           NOOP                                           #  IF DIFFERENCE I SNEGATIVE OR ZERO
021440,000998: 16,3436           67763                           AD       ONE                                   #    WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
021441,000999: 16,3437           55002                           TS       T6NEXT                                
021442,001000: 16,3440           31472                           CA       JTSATCHG                              
021443,001001: 16,3441           55005                           TS       T6NEXTJT   +1                         #  BEGIN SETTING UP JETS IN THE JET LIST.
021444,001002: 16,3442           37767                           CA       ZERO                                  
021445,001003: 16,3443           57474                           XCH      ADDTLT6                               
021446,001004: 16,3444           55003                           TS       T6NEXT     +1                         
021447,001005: 16,3445           37767                           CA       ZERO                                  
021448,001006: 16,3446           57473                           XCH      ADDT6JTS                              
021449,001007: 16,3447           55006                           TS       T6NEXTJT   +2                         
021450,001008: 16,3450           15733                           TCF      RESUME                                
021451,001009: 16,3451           55002        JTSFIRST           TS       T6NEXT                                #  HERE IF TJET IS LESS THAN T6.
021452,001010: 16,3452           31475                           CA       TOFJTCHG                              
021453,001011: 16,3453           54031                           TS       TIME6                                 #  SWITCH T6 AND TJET)
021454,001012: 16,3454           31472                           CA       JTSATCHG                              
021455,001013: 16,3455           57004                           XCH      T6NEXTJT                              #  BEGIN SWITCHING JET WORDS IN JET LIST.
021456,001014: 16,3456           55005                           TS       T6NEXTJT   +1                         
021457,001015: 16,3457           41474                           CS       ADDTLT6                               
021458,001016: 16,3460           00006                           EXTEND                                         
021459,001017: 16,3461           15733                           BZF      RESUME                                #  SEE IF AN ADDITIONAL (QR) JET TIME IS
021460,001018: 16,3462           61002                           AD       T6NEXT                                #    REQUIRED.
021461,001019: 16,3463           10000                           CCS      A                                     #  IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
021462,001020: 16,3464           67763                           AD       ONE                                   #    IT WITH THE CONTENTS OF T6NEXT.
021463,001021: 16,3465           13476                           TCF      +11                                   
021464,001022: 16,3466           13467                           NOOP                                           
021465,001023: 16,3467           67763                           AD       ONE                                   
021466,001024: 16,3470           55003                           TS       T6NEXT     +1                         
021467,001025: 16,3471           37767                           CA       ZERO                                  

Page 514

021469,001027: 16,3472           55474                           TS       ADDTLT6                               
021470,001028: 16,3473           57473                           XCH      ADDT6JTS                              
021471,001029: 16,3474           55006                           TS       T6NEXTJT   +2                         
021472,001030: 16,3475           15733                           TCF      RESUME                                
021473,001031: 16,3476           55003                 +11       TS       T6NEXT     +1                         
021474,001032: 16,3477           37767                           CA       ZERO                                  
021475,001033: 16,3500           57474                           XCH      ADDTLT6                               
021476,001034: 16,3501           55002                           TS       T6NEXT                                
021477,001035: 16,3502           37767                           CA       ZERO                                  
021478,001036: 16,3503           57473                           XCH      ADDT6JTS                              
021479,001037: 16,3504           57005                           XCH      T6NEXTJT   +1                         
021480,001038: 16,3505           55006                           TS       T6NEXTJT   +2                         
021481,001039: 16,3506           15733                           TCF      RESUME                                
021482,001040: 16,3507           41475        T6NXT=+            CS       TOFJTCHG                              
021483,001041: 16,3510           60031                           AD       TIME6                                 
021484,001042: 16,3511           61002                           AD       T6NEXT                                
021485,001043: 16,3512           10000                           CCS      A                                     
021486,001044: 16,3513           67763                           AD       ONE                                   
021487,001045: 16,3514           13523                           TCF      +7                                    
021488,001046: 16,3515           13516                           NOOP                                           
021489,001047: 16,3516           67763                           AD       ONE                                   
021490,001048: 16,3517           55003                           TS       T6NEXT     +1                         
021491,001049: 16,3520           31472                           CA       JTSATCHG                              
021492,001050: 16,3521           55006                           TS       T6NEXTJT   +2                         
021493,001051: 16,3522           15733                           TCF      RESUME                                
021494,001052: 16,3523           54001                 +7        TS       L                                     
021495,001053: 16,3524           41475                           CS       TOFJTCHG                              
021496,001054: 16,3525           60031                           AD       TIME6                                 
021497,001055: 16,3526           10000                           CCS      A                                     
021498,001056: 16,3527           67763                           AD       ONE                                   
021499,001057: 16,3530           13540                           TCF      JTSB4T6                               
021500,001058: 16,3531           13532                           NOOP                                           
021501,001059: 16,3532           67763                           AD       ONE                                   
021502,001060: 16,3533           55002                           TS       T6NEXT                                
021503,001061: 16,3534           30001                           CA       L                                     
021504,001062: 16,3535           55003                           TS       T6NEXT     +1                         
021505,001063: 16,3536           31472                           CA       JTSATCHG                              
021506,001064: 16,3537           13546                           TCF      +7                                    
021507,001065: 16,3540           57002        JTSB4T6            XCH      T6NEXT                                
021508,001066: 16,3541           55003                           TS       T6NEXT     +1                         
021509,001067: 16,3542           31475                           CA       TOFJTCHG                              
021510,001068: 16,3543           54031                           TS       TIME6                                 
021511,001069: 16,3544           31472                           CA       JTSATCHG                              
021512,001070: 16,3545           57004                           XCH      T6NEXTJT                              
021513,001071: 16,3546           57005                 +7        XCH      T6NEXTJT   +1                         
021514,001072: 16,3547           57006                           XCH      T6NEXTJT   +2                         
021515,001073: 16,3550           15733                           TCF      RESUME                                
021516,001074:                                                                                                  #  T-JET LAW FIXED CONSTANTS
021517,001075: 
021518,001076: 16,3551           36115        RATEMAX+           DEC      0.94222                               

Page 515

021520,001078: 16,3552           34344        RATEMAX            DEC      0.88889                               
021521,001079: 16,3553           31221        RATEMAX2           DEC      0.79012                               
021522,001080: 16,3554           77733        -35AT16            DEC      -0.00219                              
021523,001081: 16,3555           77071        -5DEG+1            DEC      -.02772                               #  -5 DEGREES + CCSBIT SCALED AT PI RADIANS
021524,001082: 16,3556           00050        38.7AT16           DEC      0.00242                               
021525,001083: 16,3557           00010        TMINAT16           DEC      0.00047                               
021526,001084: 16,3560           00014        PTJMINT6           DEC      0.00073                               
021527,001085: 16,3561           00044        .1DPS              DEC      0.00222                               
021528,001086: 16,3562           00360        +1.5CSP            DEC      +0.01465                              
021529,001087: 16,3563           00232        1.5CSP16           DEC      0.00938                               
021530,001088: 16,3564           77753        -COM-6.5           DEC      -.00122                               #  -SUM OF 5MS COMP TIME AND 6.5MS DELAY
021531,001089: 16,3565           00013        14-TJMIN           DEC      11         B-14                       
021532,001090: 16,3566           77537        NEGCSP1            DEC      -.00977                               
021533,001091: 16,3567           37775        MS30P              OCTAL    37775                                 
021534,001092: 16,3570           34362        0.88975            DEC      0.88975                               
021535,001093: 16,3571           24366        16/25              DEC      0.64000                               
021536,001094: 16,3572           77555        -DRATEDB           OCTAL    77555                                 #  -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
021537,001095: 16,3573           77001        -D2JTLIM           OCTAL    77001                                 #  -1.4 DEG/SEC SCALED AT PI/4
021538,001096: 16,3574           76447        -A2JTLIM           OCTAL    76447                                 #  -2.0 DEG/SEC SCALED AT PI/4
021539,001097: 16,3575           77223        -ARATEDB           OCTAL    77223                                 #  -1.0 DEG/SEC SCALED AT PI/4
021540,001098: 16,3576           31000        25/32              DEC      .78125                                
021541,001099: 16,3577           77764        -TJMINT6           OCTAL    77764                                 #  -(7.5 MS) + 1 BIT(FOR BZMF), T6 SCALING
021542,001100: 16,3600           00077        DAPLOW6            OCT      00077                                 
021543,001101: 16,3601           00600        BITS8,9            OCTAL    00600                                 
021544,001102: 16,3602           71462        UPM                DEC      -.2                                   #  TEMPORARY ESTIMATE
021545,001103: 16,3603           03146        CSPAT1P            DEC      0.10000                               #  100 MS AT 1.
021546,001104: 16,3604           02401        PSKIPADR           GENADR   SKIPPAXS                              
021547,001105: 16,3605           37533        JETLWADR           CADR     TJETLAW                               
021548,001106: 
021549,001107: 
021550,001108: 16,3606           22016        SETIDLE            LXCH     BANKRUPT                              #  FIRST T5RUPT AFTER FRESH START COMES
021551,001109: 16,3607           00006                           EXTEND                                         
021552,001110: 16,3610           22012                           QXCH     QRUPT                                 
021553,001111: 16,3611           33640                           CAF      T5IDADR                               #  HERE.  T5IDLER IS STARTED IN 1 SEC.
021554,001112: 16,3612           55000                           TS       T5ADR                                 
021555,001113: 16,3613           33636                           CAF      1SECRUPT                              
021556,001114: 16,3614           54030                           TS       TIME5                                 
021557,001115: 16,3615           05270                           TC       IBNKCALL                              
021558,001116: 16,3616           40114                           FCADR    STOPRATE                              
021559,001117: 16,3617           05270                           TC       IBNKCALL                              
021560,001118: 16,3620           40127                           FCADR    ALLCOAST                              
021561,001119: 16,3621           33637                           CAF      DBWIDE                                
021562,001120: 16,3622           54375                           TS       DB                                    
021563,001121: 16,3623           37771                           CAF      NEGONE                                
021564,001122: 16,3624           55732                           TS       AOSCOUNT                              #  MAKES APS CODING INACTIVE
021565,001123: 16,3625           15733                           TCF      RESUME                                
021566,001124: 
021567,001125: 16,3626           22016        T5IDLER            LXCH     BANKRUPT                              #  LOOKS FOR GODAPGO TO START THE DAP.
021568,001126:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************

Page 516

021570,001128: 16,3627           00006        T5IDLERI           EXTEND                                         
021571,001129: 16,3630           22012                           QXCH     QRUPT                                 
021572,001130: 
021573,001131: 16,3631           30377                           CA       SMARTFLG                              #  IS SMARTJOB DESIRED?
021574,001132: 16,3632           00006                           EXTEND                                         
021575,001133: 16,3633           62544                           BZMF     MORET5ID                              #  NO.  TAKE NO ACTION.
021576,001134: 
021577,001135: 16,3634           37751                           CAF      BIT11                                 #  YES.  SEE IF IT IS ALREADY RUNNING.
021578,001136: 16,3635           12524                           TCF      ADDLT5ID                              #  GO TO ADDITIONAL CODING.
021579,001137: 
021580,001138:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967********************
021581,001139: 
021582,001140: 16,3636           37634        1SECRUPT           OCTAL    37634                                 #  1 SECOND SCALED AS TIME5 (100 PULSES)
021583,001141: 
021584,001142: 16,3637           00707        DBWIDE             DEC      0.02778                               
021585,001143: 16,3640  E6,1664                                  EBANK=   AOSQTERM                              
021586,001144: 16,3640           03626 34066  T5IDADR            2CADR    T5IDLER                               
021587,001145: 
021588,001146:                                                                                                  #  DUMMY FILTER RUPT AFTER P-AXIS RUPT.
021589,001147: 16,3642  E6,1664                                  EBANK=   AOSQTERM                              
021590,001148: 16,3642           33567        DUMMYFIL           CAF      MS30P                                 #  RESET TIMER IMMEDIATELY - DT = 30 MS
021591,001149: 16,3643           54030                           TS       TIME5                                 
021592,001150: 16,3644           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD-IN (CONTINUED).
021593,001151: 
021594,001152: 16,3645           00006                           EXTEND                                         #  SET UP QRAXIS RUPT.
021595,001153: 16,3646           33756                           DCA      DFQRAXIS                              
021596,001154: 16,3647           53001                           DXCH     T5ADR                                 
021597,001155: 
021598,001156:                                                                                                  #  INCREMENT AOSTERM IN DESCENT MODE TO IMPROVE RATE DERIVATION DURING QRAXIS CONTROL.
021599,001157: 
021600,001158: 16,3650           37762                           CAF      BIT2                                  #  STAGE BIT IS ONE FOR DESCENT.
021601,001159: 16,3651           00006                           EXTEND                                         
021602,001160: 16,3652           02030                           RAND     30                                    #  READ STAGE BIT
021603,001161: 16,3653           00006                           EXTEND                                         
021604,001162: 16,3654           13716                           BZF      CHKAPS                                #  NOT IN DESCENT. HOW ABOUT APS BURN.
021605,001163: 16,3655           40075                           CS       FLAGWRD1                              #  SEE IF ENGINE IS OFF.
021606,001164: 16,3656           77757                           MASK     ENGINBIT                              #  READ COMPLEMENT OF ENGINE-ON FLAG.
021607,001165: 16,3657           13660                           NOOP                                           
021608,001166: 16,3660           00006                           EXTEND                                         
021609,001167: 16,3661           13666                           BZF      DLOOPBGN                              #  ZERO WHEN ENGINE IS NOT OFF.
021610,001168: 
021611,001169: 16,3662           37767                           CAF      ZERO                                  #  YES.  ENGINE IS OFF.
021612,001170: 16,3663           55664                           TS       AOSQTERM                              
021613,001171: 16,3664           55665                           TS       AOSRTERM                              
021614,001172: 16,3665           15735                           TCF      NOQRSM                                #  RESUME.
021615,001173: 16,3666           37763        DLOOPBGN           CAF      BIT1                                  #  FIRST THE R-AXIS, THEN THE Q-AXIS.
021616,001174: 16,3667           54061        DLOOP              TS       ITEMP1                                
021617,001175: 16,3670           60000                           DOUBLE                                         
021618,001176: 16,3671           54062                           TS       ITEMP2                                
021619,001177: 16,3672           50061                           INDEX    ITEMP1                                

Page 517

021621,001179: 16,3673           33751                           CA       PITCHBTS                              
021622,001180: 16,3674           00006                           EXTEND                                         
021623,001181: 16,3675           02012                           RAND     12                                    #  IS PITCH(ROLL) GIMBAL MOVING.
021624,001182: 16,3676           00006                           EXTEND                                         
021625,001183: 16,3677           13713                           BZF      DLOOPCHK                              #  ZERO WHEN GIMBAL IS NOT MOVING.
021626,001184: 
021627,001185:                                                                                                  #  FORM ACCDOT*CSP(2)*(1-.5*K) SCALED AT PI/4.  THIS IS THE INCREMENT TO BE ADDED TO THE OFFSET ACCELERATION TERM.
021628,001186: 
021629,001187: 16,3700           41642                           CS       (1-K)                                 #  (1-K) SCALED AT 1.  CS TO COMPENSATE FOR
021630,001188:                                                                                                  #  INVERTED SIGN OF QACCDOT.
021631,001189: 16,3701           00006                           EXTEND                                         
021632,001190: 16,3702           77753                           MP       BIT9                                  #  .5*(1-K) , SCALED AT 2(5).
021633,001191: 16,3703           63760                           AD       NEGBIT9                               #  (1.-.5*K) SCALED AT 2(5).
021634,001192: 16,3704           00006                           EXTEND                                         
021635,001193: 16,3705           73753                           MP       CSPSQ                                 #  CSP(2)*(1.-.5*K) AT 2(5)
021636,001194: 16,3706           00006                           EXTEND                                         
021637,001195: 16,3707           50062                           INDEX    ITEMP2                                #  SELECT THE AXIS .
021638,001196: 16,3710           71533                           MP       QACCDOT                               #  QACCDOT AT PI/2(7).
021639,001197: 16,3711           50061                           INDEX    ITEMP1                                
021640,001198: 16,3712           27664                           ADS      AOSQTERM                              #  ADD INCREMENT SCALED AT PI/4.
021641,001199: 16,3713           10061        DLOOPCHK           CCS      ITEMP1                                
021642,001200: 16,3714           13667                           TCF      DLOOP                                 #  R-AXIS DONE.  NOW DO THE Q-AXIS.
021643,001201: 16,3715           15735                           TCF      NOQRSM                                #  RESUME.
021644,001202: 16,3716           11732        CHKAPS             CCS      AOSCOUNT                              #  4 WAY BRANCH EXPLOITED
021645,001203: 16,3717           13737                           TCF      DECCOUNT                              #  COUNTING DOWN FOR AOSTASK
021646,001204: 16,3720           13741                           TCF      AOSNEXT                               #  TIME TO DO AOSTASK
021647,001205: 16,3721           15735                           TCF      NOQRSM                                #  AOSCOUNT NOT IN USE.INACTIVE AOSTASK.
021648,001206: 16,3722           55624                           TS       SUMRATEQ                              #  MINUS ZERO PUT IN AOSCOUNT BY APSENGON.
021649,001207: 16,3723           55625                           TS       SUMRATER                              
021650,001208: 16,3724           55622                           TS       SAVRATEQ                              
021651,001209: 16,3725           55623                           TS       SAVRATER                              
021652,001210: 16,3726           55650                           TS       KCOEFCTR                              
021653,001211: 16,3727           41416                           CS       OMEGAQ                                #  RECORD -(OLD OMEGA) FOR BOTH AXES FOR
021654,001212: 16,3730           55626                           TS       OLDWFORQ                              
021655,001213: 16,3731           41420                           CS       OMEGAR                                #  THE FIRST PASS OF AOSTASK.
021656,001214: 16,3732           55627                           TS       OLDWFORR                              
021657,001215: 16,3733           40077                           CS       DAPBOOLS                              
021658,001216: 16,3734           77754                           MASK     APSGOING                              
021659,001217: 16,3735           26077                           ADS      DAPBOOLS                              
021660,001218: 16,3736           33750                           CAF      19DECIML                              
021661,001219: 
021662,001220: 16,3737           55732        DECCOUNT           TS       AOSCOUNT                              
021663,001221: 16,3740           15735                           TCF      NOQRSM                                
021664,001222: 
021665,001223: 16,3741           33750        AOSNEXT            CAF      19DECIML                              
021666,001224: 16,3742           55732                           TS       AOSCOUNT                              
021667,001225: 16,3743           00006                           EXTEND                                         
021668,001226: 16,3744           33747                           DCA      TOAOSTSK                              
021669,001227: 16,3745           52005                           DTCF                                           
021670,001228: 

Page 518

021672,001230: 16,3746           41245 03245  TOAOSTSK           2FCADR   AOSTASK                               
021673,001231: 
021674,001232: 16,3750           00023        19DECIML           DEC      19         B-14                       
021675,001233: 16,3751           01400        PITCHBTS           OCT      01400                                 #  PITCH GIMBAL BITS  (9,10).
021676,001234: 16,3752           06000                           OCT      06000                                 #  ROLL GIMBAL BITS,  (11,12).
021677,001235: 16,3753           00243        CSPSQ              OCT      00243                                 #  .01 SCALED AT 1, FOR CSP(2).
021678,001236: 16,3754           37776        TWENTYMS           OCT      37776                                 #  20 MS FOR T5.
021679,001237: 16,3755  E6,1467                                  EBANK=   QERROR                                
021680,001238: 16,3755           02002 36066  DFQRAXIS           2CADR    QRAXIS                                
021681,001239: 
021682,001240: 16,3757           01330        HULLSLIM           DEC      0.04444                               #  0.5 DEG/SEC SCALED AT 11.25 DEG/SEC
021683,001241: 16,3760           77377        NEGBIT9            OCT      -400                                  
021684,001242: 16,3761           37777        CHKSUM16           OCT      37777                                 

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