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.

021687,000002:                                                                                                  ## Copyright:   Public domain.
021688,000003:                                                                                                  ## Filename:    Q_R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
021689,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
021690,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
021691,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
021692,000007:                                                                                                  ## Assembler:   yaYUL
021693,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
021694,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
021695,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
021696,000011:                                                                                                  ##              2016-10-30 RSB  Transcribed through page 537.
021697,000012:                                                                                                  ##              2016-10-31 RSB  Transcribed.  Boo!
021698,000013:                                                                                                  ##              2016-10-31 RSB  Typos.
021699,000014:                                                                                                  ##              2016-11-01 RSB  More typos.
021700,000015:                                                                                                  ##              2016-11-02 RSB  More typos.
021701,000016:                                                                                                  ##              2016-12-05 RSB  Comment-proofing with octopus/ProoferComments
021702,000017:                                                                                                  ##                              completed, changes made.
021703,000018: 

Page 519

021705,000020: 17,2000                                           BANK     17                                    
021706,000021:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE Q,R-AXIS ACTION OF THE LEM USING THE RCS JETS.
021707,000022:                                                                                                  #  THE NOMINAL TIME BETWEEN THE Q,R-AXIS RUPTS IS 100 MS (UNLESS THE TRIM GIMBAL CONTROL SYSTEM IS USED, IN WHICH
021708,000023:                                                                                                  #  CASE THIS PROGRAM IS IDLE).
021709,000024: 
021710,000025: 17,2000  E6,1542                                  EBANK=   DT                                    
021711,000026: 17,2000           03033 40066  NULLFILT           2CADR    FILDUMMY                              
021712,000027: 
021713,000028: 17,2002           32560        QRAXIS             CAF      MS20QR                                #  RESET TIMER IMMEDIATELY - DT = 20 MS
021714,000029: 17,2003           54030                           TS       TIME5                                 
021715,000030: 
021716,000031: 17,2004           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
021717,000032: 17,2005           00006                           EXTEND                                         
021718,000033: 17,2006           22012                           QXCH     QRUPT                                 
021719,000034: 
021720,000035:                                                                                                  #  SET UP A DUMMY KALMAN FILTER T5RUPT.  (THIS MAY BE RESET TO THE KALMAN FILTER INITIALIZATION PASS, IF THE TRIM
021721,000036:                                                                                                  #  GIMBAL CONTROL SYSTEM SHOULD BE USED.)
021722,000037: 
021723,000038: 17,2007           00006                           EXTEND                                         
021724,000039: 17,2010           32001                           DCA      NULLFILT                              
021725,000040: 
021726,000041:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************

In the original printout, the following line actually ended with a 1/2 symbol (½) rather than a question mark.

021729,000044: 17,2011           12107        INSERT17           TCF      TRMCHECK                              #  ARE EXTRAORDINARY GTS ENTRIES NEEDED?
021730,000045:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
021731,000046: 
021732,000047:                                                                                                  #  CALCULATE LEM BODY RATES FOR Q AND R AXES:
021733,000048: 
021734,000049:                                                                                                  #  THIS COMPUTATION IS VALID FOR BOTH ASCENT AND DESCENT SINCE THE OFFSET ACCELERATION TERM IS INCLUDED ALWAYS,
021735,000050:                                                                                                  #  BUT HAS VALUE ZERO IN DESCENT, AND SINCE THE WEIGHTING FACTORS ARE IN ERASABLE AND DISTINCT.
021736,000051: 
021737,000052:                                                                                                  #  FIRST, CONSTRUCT Y AND Z CDU INCREMENTS:
021738,000053: 
021739,000054: 17,2012           30033        BODYRATE           CAE      CDUY                                  #  2:S COMPLEMENT MEASUREMENT SCALED AT PI.
021740,000055: 17,2013           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDYFORQ)
021741,000056: 17,2014           00006                           EXTEND                                         #  FORM INCREMENT IN CDUY FOR LAST 100 MS
021742,000057: 17,2015           21427                           MSU      OLDYFORQ                              #  (100 MS OLD CDUY SAVED FROM LAST PASS)
021743,000058: 17,2016           23427                           LXCH     OLDYFORQ                              #  UPDATE OLDYFORQ WITH NEW CDUY VALUE
021744,000059: 17,2017           54061                           TS       ITEMP1                                #  SAVE 1:S COMPLEMENT VALUE TEMPORARILY
021745,000060: 17,2020           30034                           CAE      CDUZ                                  #  2'S COMPLEMENT MEASUREMENT SCALED AT PI
021746,000061: 17,2021           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDZFORQ)
021747,000062: 17,2022           00006                           EXTEND                                         #  FORM INCREMENT IN CDUZ FOR LAST 100 MS
021748,000063: 17,2023           21430                           MSU      OLDZFORQ                              #  (100 MS OLD CDUZ SAVED FROM LAST PASS)
021749,000064: 17,2024           23430                           LXCH     OLDZFORQ                              #  UPDATE OLDZFORQ WITH NEW CDUZ VALUE
021750,000065: 17,2025           54062                           TS       ITEMP2                                #  SAVE 1'S COMPLEMENT VALUE TEMPORARILY
021751,000066: 

Page 520

021753,000068:                                                                                                  #  SECOND, TRANSFORM CPU INCREMENTS TO BODY-ANGLE INCREMENTS:
021754,000069: 
021755,000070: 17,2026           31406                           CAE      M31                                   #  MATRIX*VECTOR(WITH x COMPONENT ZERO)
021756,000071: 17,2027           00006                           EXTEND                                         
021757,000072: 17,2030           70061                           MP       ITEMP1                                #  M31 * ITEMP1 = M31 * DELTA CDUY
021758,000073: 17,2031           52065                           DXCH     ITEMP4                                
021759,000074: 17,2032           31403                           CAE      M32                                   #  M32 * ITEMP2 = M32 * DELTA CDUZ
021760,000075: 17,2033           00006                           EXTEND                                         
021761,000076: 17,2034           70062                           MP       ITEMP2                                #  DELTAR = M31*(DEL CDUY) + M32*(DEL CDUZ)
021762,000077: 17,2035           20065                           DAS      ITEMP4                                #  DOUBLE PRECISION R BODY ANGLE INCREMENT
021763,000078: 
021764,000079: 17,2036           37753                           CAF      BIT9                                  
021765,000080: 17,2037           54002                           TS       Q                                     
021766,000081: 17,2040           00006                           EXTEND                                         
021767,000082: 17,2041           30065                           DCA      ITEMP4                                
021768,000083: 17,2042           00006                           EXTEND                                         
021769,000084: 17,2043           10002                           DV       Q                                     #  RESCALE TO PI/64 AND
021770,000085: 17,2044           54064                           TS       ITEMP4                                #  STORE AS SINGLE PRECISION
021771,000086: 17,2045           31405                           CAE      M21                                   #  MATRIX*VECTOR(WITH X COMPONENT ZERO)
021772,000087: 17,2046           00006                           EXTEND                                         #  CLOBBERS ITEMP2=DEL CDUZ, FOR EFFICIENCY
021773,000088: 17,2047           70061                           MP       ITEMP1                                #  M21 * ITEMP1 = M21 * DELTA CDUY
021774,000089: 17,2050           52063                           DXCH     ITEMP2                                #  M22 * ITEMP2 = M22 * DELTA CDUZ
021775,000090: 17,2051           00006                           EXTEND                                         
021776,000091: 17,2052           71401                           MP       M22                                   #  DELTAQ = M21*(DEL CDUY) + M22*(DEL CDUZ)
021777,000092: 17,2053           20063                           DAS      ITEMP2                                #  DOUBLE PRECISION Q-BODY-ANGLE INCREMENT
021778,000093: 17,2054           00006                           EXTEND                                         
021779,000094: 17,2055           30063                           DCA      ITEMP2                                
021780,000095: 17,2056           00006                           EXTEND                                         
021781,000096: 17,2057           10002                           DV       Q                                     #  RESCALE TO PI/64
021782,000097:                                                                                                  #  FINALLY, DERIVE Q AND R BODY ANGULAR RATES:
021783,000098: 
021784,000099: 17,2060           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
021785,000100: 17,2061           71641                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
021786,000101: 17,2062           57416                           XCH      OMEGAQ                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
021787,000102: 17,2063           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
021788,000103: 17,2064           71642                           MP       (1-K)                                 #  (K CHANGES EVERY 2 SECONDS IN ASCENT.)
021789,000104: 17,2065           61605                           AD       JETRATEQ                              #  WEIGHTED TERM DUE TO JET ACCELERATION
021790,000105: 17,2066           61664                           AD       AOSQTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
021791,000106: 17,2067           27416                           ADS      OMEGAQ                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
021792,000107: 
021793,000108: 17,2070           30064                           CAE      ITEMP4                                #  GET DELTAR
021794,000109: 17,2071           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
021795,000110: 17,2072           71641                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
021796,000111: 17,2073           57420                           XCH      OMEGAR                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
021797,000112: 17,2074           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
021798,000113: 17,2075           71642                           MP       (1-K)                                 #  (K CHANGES EVERY 2 SECONDS IN ASCENT.)
021799,000114: 17,2076           61606                           AD       JETRATER                              #  WEIGHTED TERM DUE TO JET ACCELERATION
021800,000115: 17,2077           61665                           AD       AOSRTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
021801,000116: 17,2100           27420                           ADS      OMEGAR                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
021802,000117: 

Page 521

021804,000119: 17,2101           01653                           TC       QJUMPADR                              
021805,000120: 17,2102           32105        SKIPQRAX           CA       NORMQADR                              
021806,000121: 17,2103           55653                           TS       QJUMPADR                              #  DO NOT JUMP NEXT TIME.
021807,000122: 17,2104           12610                           TCF      CHKGIMBL                              #  CHKGIMBL ATTEMPTS TO USE GTS.
021808,000123: 
021809,000124: 17,2105           02106        NORMQADR           GENADR   NORMALQ                               
021810,000125: 17,2106           12620        NORMALQ            TCF      ATTSTEER                              #  NO RHC INPUTS ON 206.
021811,000126: 
021812,000127:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
021813,000128: 
021814,000129: 17,2107           53001        TRMCHECK           DXCH     T5ADR                                 #  SET UP NEXT T5RUPT ADDRESS.
021815,000130: 
021816,000131:                                                                                                  #  CHECK IF TRIMCNTR HAS BEEN COUNTED DOWN TO ZERO, INDICATING THAT 20.0 SECONDS HAVE PASSED SINCE DPS ON AND
021817,000132:                                                                                                  #  CONTROL SHOULD BE TRANSFERRED TO GTS.  THEN SEE IF A RECENT ENGINE-ON REQUIRES AN EARLY GTS ENTRY.

In the original printout, the following line actually ended with a 1/2 symbol (½) rather than a question mark.

021820,000135: 17,2110           11744                           CCS      TRIMCNTR                              #  IS GTS NEEDED PRIOR TO THROTTLE-UP?
021821,000136: 17,2111           12121                           TCF      CHKMNITR                              #    NOT YET, BUT CHECK IF FIRST GTS DONE.
021822,000137: 17,2112           04736                           TC       CCSHOLE                               #    ILLEGAL VALUE OF TRIMCNTR.
021823,000138: 17,2113           12012                           TCF      INSERT17   +1                         #    NOT ACTIVE, RETURN TO RCS CONTROL.

In the original printout, the following line actually ended with a 1/2 symbol (½) rather than a question mark.

021826,000141: 17,2114           37762        OKAYGTS            CAF      USEQRJTS                              #    YES, IS GIMBAL SYSTEM USABLE?
021827,000142: 17,2115           70077                           MASK     DAPBOOLS                              
021828,000143: 17,2116           00006                           EXTEND                                         
021829,000144: 17,2117           12124                           BZF      GOGIMBAL                              #  USABLE.  GO TO GTS.
021830,000145: 17,2120           12012                           TCF      INSERT17   +1                         #  NOT USABLE.  GO ON WITH RCS CONTROL.
021831,000146: 

In the original printout, the following line actually ended with a 1/2 symbol (½) rather than a question mark.

021834,000149: 17,2121           11745        CHKMNITR           CCS      GTSMNITR                              #  IS AN IMMEDIATE (FIRST) GTS CALLED FOR?
021835,000150: 17,2122           12114                           TCF      OKAYGTS                               #    YES, CHECK IF GIMBAL SYSTEM USABLE.
021836,000151: 17,2123           12012                           TCF      INSERT17   +1                         #    NO, RETURN TO RCS CONTROL.
021837,000152: 17,2124           46311        GOGIMBAL           CS       THREE                                 #  RESET TIME5 COUNTER FROM 20 TO 50 MSEC.
021838,000153: 17,2125           26030                           ADS      TIME5                                 
021839,000154: 
021840,000155: 17,2126           42614                           CS       BGIM24                                #  TURN OFF GIMBALS FOR BETTER FILTERING.
021841,000156: 17,2127           00006                           EXTEND                                         
021842,000157: 17,2130           03012                           WAND     12                                    
021843,000158: 
021844,000159: 17,2131           47763                           CS       BIT1                                  #  DEACTIVATE GIMBAL DRIVE TIMERS
021845,000160: 17,2132           55753                           TS       QGIMTIMR                              
021846,000161: 17,2133           55754                           TS       RGIMTIMR                              
021847,000162: 
021848,000163: 17,2134           37767                           CAF      ZERO                                  
021849,000164: 17,2135           00006                           EXTEND                                         
021850,000165: 17,2136           01005                           WRITE    5                                     #  TURN OFF ALL Q,R AXIS JETS.
021851,000166: 
021852,000167: 17,2137           00006                           EXTEND                                         
021853,000168: 17,2140           32143                           DCA      ADRGOGTS                              
021854,000169: 17,2141           52006                           DTCB                                           
021855,000170: 17,2142  E6,1542                                  EBANK=   DT                                    
021856,000171: 17,2142           03606 42066  ADRGOGTS           2CADR    GOTOGTS    +2                         #  TIME5 COUNTER WAS ALREADY ADVANCED.
021857,000172: 
021858,000173:                                                                                                  #  *** THE FOLLOWING NEW CODING IS NOT BEING USED   ***

Page 522

021860,000175:                                                                                                  #  LEFT IN PLACE AS FILLER)))MAY BE WRITTEN OVER
021861,000176: 
021862,000177: 17,2144           04736                           TC       CCSHOLE                               #  FILLER
021863,000178: 17,2145           04736                           TC       CCSHOLE                               #  FILLER
021864,000179: 17,2146           04736                           TC       CCSHOLE                               #  FILLER
021865,000180: 17,2147           04736                           TC       CCSHOLE                               #  FILLER
021866,000181: 17,2150           04736                           TC       CCSHOLE                               #  FILLER
021867,000182: 17,2151           04736                           TC       CCSHOLE                               #  FILLER
021868,000183: 17,2152           04736                           TC       CCSHOLE                               #  FILLER
021869,000184: 17,2153           04736                           TC       CCSHOLE                               #  FILLER
021870,000185: 17,2154           04736                           TC       CCSHOLE                               #  FILLER
021871,000186: 17,2155  E6,1525                                  EBANK=   NEGUR                                 
021872,000187: 17,2155           03236 42066  RGIMADR            2CADR    OFFGIMR                               
021873,000188: 
021874,000189: 17,2157           31746        GETCNTR            CAE      FORCETRM                              #  LOAD TRIMCNTR TO FORCE TRIM JUST BEFORE
021875,000190: 17,2160           55744                           TS       TRIMCNTR                              #  THE THROTTLE-UP.
021876,000191: 17,2161           37763                           CAF      BIT1                                  #  ENABLE MONITOR TO CALL GTS AS SOON AS
021877,000192: 17,2162           55745                           TS       GTSMNITR                              #  POSSIBLE.
021878,000193: 
021879,000194: 17,2163           31765                           CAE      SIMPINIT                              #  INITIALIZE SIMPCNTR. DECISECONDS.
021880,000195: 17,2164           55764                           TS       SIMPCNTR                              
021881,000196: 
021882,000197: 17,2165           00006                           EXTEND                                         #  RETURN TO ORIGINAL CODING
021883,000198: 17,2166           32172                           DCA      INSRTADR                              
021884,000199: 17,2167           52006                           DTCB                                           
021885,000200: 
021886,000201: 17,2170           04736                           TC       CCSHOLE                               #  THIS IS A FILLER
021887,000202: 17,2171  E6,1466                                  EBANK=   PERROR                                
021888,000203: 17,2171           02232 40066  INSRTADR           2CADR    INSERT20   +1                         
021889,000204: 
021890,000205: 17,2173           40376        17INSRT            CS       /TEMP1/                               #  COMPARE Q WITH THE GENADR OF SWRETURN
021891,000206: 17,2174           62264                           AD       SWRETADR                              #  TO SEE IF ENGINOFF WAS CALLED VIA
021892,000207: 17,2175           00006                           EXTEND                                         #  BANKCALL OR IBNKCALL.
021893,000208: 17,2176           12243                           BZF      17INSRTB                              #  *BANKCALL - DO NOT DELAY*
021894,000209: 
021895,000210: 17,2177           00006                           EXTEND                                         #  *IBNKCALL - CHECK FURTHER*
021896,000211: 17,2200           00030                           READ     30                                    
021897,000212: 17,2201           40000                           COM                                            #  SEE IF ENGINE IN QUESTION IS APS OR DPS.
021898,000213: 17,2202           77762                           MASK     BIT2                                  
021899,000214: 17,2203           00006                           EXTEND                                         
021900,000215: 17,2204           12243                           BZF      17INSRTB                              #  *DPS ENGINE - DO NOT DELAY*
021901,000216: 
021902,000217: 17,2205           40302                           CS       MODREG                                #  *APS ENGINE - CHECK FURTHER*
021903,000218: 17,2206           62265                           AD       MP3MMODE                              
021904,000219: 17,2207           00006                           EXTEND                                         #  SEE IF THIS IS THE MP 3 SHORT APS BURN.
021905,000220: 17,2210           12243                           BZF      17INSRTB                              #  *IT IS - DO NOT DELAY*
021906,000221: 
021907,000222: 17,2211           41074                           CS       DVMNEXIT                              #  *IT IS NOT - CHECK FOR A FORGET2 ENTRY*
021908,000223: 17,2212           62266                           AD       KILLAVEG                              
021909,000224: 17,2213           00006                           EXTEND                                         

Page 523

021911,000226: 17,2214           12257                           BZF      17INSRTD                              #  GENADRS MATCH - CHECK THE BBCONS.
021912,000227: 
021913,000228: 17,2215           00006        17INSRTE           EXTEND                                         
021914,000229: 17,2216           41760                           DCS      /TEMP3/                               
021915,000230: 17,2217           52073                           DXCH     RUPTREG3                              #  PUT MINUS (ENGINEON TIME) IN RUPTREGS
021916,000231: 17,2220           53762                           DXCH     /TEMP5/                               #  AND SAVE FORMER CONTENTS FOR ISWRETRN.
021917,000232: 
021918,000233: 17,2221           00006                           EXTEND                                         #  BLEND IN THE CURRENT TIME.
021919,000234: 17,2222           30025                           DCA      TIME2                                 
021920,000235: 17,2223           20073                           DAS      RUPTREG3                              
021921,000236: 
021922,000237: 17,2224           37746                           CAF      HALF                                  #  FORCE SIGN AGREEMENT.
021923,000238: 17,2225           60000                           DOUBLE                                         
021924,000239: 17,2226           60073                           AD       RUPTREG4                              
021925,000240: 17,2227           54073                           TS       RUPTREG4                              
021926,000241: 17,2230           37767                           CAF      ZERO                                  
021927,000242: 17,2231           67771                           AD       NEGONE                                
021928,000243: 17,2232           26072                           ADS      RUPTREG3                              
021929,000244: 
021930,000245: 17,2233           30072                           CA       RUPTREG3                              #  SEE IF BURN HAS BEEN LONGER THAN
021931,000246: 17,2234           00006                           EXTEND                                         #  163.84 SECONDS.
021932,000247: 17,2235           12247                           BZF      17INSRTC                              #  *LESS THAN 163.84 SECONDS*
021933,000248: 
021934,000249: 17,2236           00006        17INSRTA           EXTEND                                         #  *MORE THAN 163.84 SECONDS*
021935,000250: 17,2237           31762                           DCA      /TEMP5/                               
021936,000251: 17,2240           52073                           DXCH     RUPTREG3                              #  RESTORE RUPTREGS FOR ISWRETRN.
021937,000252: 
021938,000253: 17,2241           37745        17INSRTF           CAF      NEGMAX                                #  SET TMINAPS NEGATIVE TO INACTIVATE
021939,000254: 17,2242           55763                           TS       TMINAPS                               #  THE ENGINOFF DELAY LOGIC
021940,000255: 
021941,000256: 17,2243           31756        17INSRTB           CA       /TEMP2/                               #  RESTORE CALLERS EBANK.
021942,000257: 17,2244           54003                           TS       EBANK                                 
021943,000258: 17,2245           05225                           TC       POSTJUMP                              #  RETURN TO THE ENGINOFF SEQUENCE.
021944,000259: 17,2246           40264                           CADR     ENGINOFF   +1                         
021945,000260: 
021946,000261: 17,2247           40073        17INSRTC           CS       RUPTREG4                              #  CHECK LENGTH OF BURN AGAINST TMINAPS.
021947,000262: 17,2250           61763                           AD       TMINAPS                               
021948,000263: 17,2251           00006                           EXTEND                                         
021949,000264: 17,2252           62236                           BZMF     17INSRTA                              #  BURN IS LONG ENOUTH - DO THE ENGINOFF.
021950,000265: 
021951,000266: 17,2253           05663                           TC       WAITLIST                              #  SUSPEND CURRENT MISSION PHASE AND SET
021952,000267: 17,2254  E6,1763                                  EBANK=   TMINAPS                               #  WAITLIST FOR RESUMPTION AT THE PROPER
021953,000268: 17,2254           02236 36066                     2CADR    17INSRTA                              #  TIME.
021954,000269: 
021955,000270: 17,2256           05727                           TC       TASKOVER                              
021956,000271: 
021957,000272: 17,2257           41075        17INSRTD           CS       DVMNEXIT   +1                         
021958,000273: 17,2260           62267                           AD       KILLAVEG   +1                         
021959,000274: 17,2261           00006                           EXTEND                                         
021960,000275: 17,2262           12241                           BZF      17INSRTF                              #  BBCONS MATCH - DO NOT DELAY

Page 524

021962,000277: 17,2263           12215                           TCF      17INSRTE                              
021963,000278: 
021964,000279: 17,2264           05221        SWRETADR           GENADR   SWRETURN                              
021965,000280: 
021966,000281: 17,2265           00071        MP3MMODE           OCT      00071                                 #  MAJOR MODE OF MISSION PHASE 3.
021967,000282: 
021968,000283: 17,2266  E3,1400                                  EBANK=   LST1                                  
021969,000284: 17,2266           02072 16063  KILLAVEG           2CADR    AVEGKILL                              
021970,000285: 
021971,000286:                                                                                                  #  FOLLOWING CODING LEFT IN PLACE TO KEEP ADDRESSES CONSTANT.
021972,000287: 
021973,000288:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
021974,000289: 
021975,000290: 17,2270           04736        NOQJETS            TC       CCSHOLE                               #  LABEL PREVENTS ASSEMBLER CUSSES.
021976,000291: 17,2271           12413                           TCF      XTRANS                                
021977,000292: 17,2272           12365                           TCF      R-,CHKDB                              
021978,000293: 17,2273           12413                           TCF      XTRANS                                
021979,000294: 
021980,000295: 17,2274           61501        NEGQEROR           AD       -RATEDB                               
021981,000296: 17,2275           00006                           EXTEND                                         
021982,000297: 17,2276           62270                           BZMF     NOQJETS                               
021983,000298: 
021984,000299: 17,2277           11424                           CCS      RRATEDIF                              
021985,000300: 17,2300           12311                           TCF      R+Q-CHKR                              
021986,000301: 17,2301           12303                           TCF      Q-NORJTS                              
021987,000302: 17,2302           12316                           TCF      R-Q-CHKR                              
021988,000303: 
021989,000304: 17,2303           41423        Q-NORJTS           CS       QRATEDIF                              
021990,000305: 17,2304           55437                           TS       RATEDIF                               
021991,000306: 17,2305           61500                           AD       -2JETLIM                              
021992,000307: 17,2306           00006                           EXTEND                                         
021993,000308: 17,2307           63426                           BZMF     2JETS+Q                               
021994,000309: 17,2310           13424                           TCF      4JETS+Q                               
021995,000310: 
021996,000311: 17,2311           61501        R+Q-CHKR           AD       -RATEDB                               
021997,000312: 17,2312           00006                           EXTEND                                         
021998,000313: 17,2313           62303                           BZMF     Q-NORJTS                              
021999,000314: 17,2314           03515                           TC       EDOTVGEN                              
022000,000315: 17,2315           13344                           TCF      2-V.RATE                              
022001,000316: 
022002,000317: 17,2316           61501        R-Q-CHKR           AD       -RATEDB                               
022003,000318: 17,2317           00006                           EXTEND                                         
022004,000319: 17,2320           62303                           BZMF     Q-NORJTS                              
022005,000320: 17,2321           03511                           TC       EDOTUGEN                              
022006,000321: 17,2322           00006                           EXTEND                                         
022007,000322: 17,2323           61424                           SU       RRATEDIF                              
022008,000323: 17,2324           13373                           TCF      2+U.RATE                              
022009,000324: 
022010,000325: 17,2325           61501        POSQEROR           AD       -RATEDB                               
022011,000326: 17,2326           00006                           EXTEND                                         

Page 525

022013,000328: 17,2327           62270                           BZMF     NOQJETS                               
022014,000329: 
022015,000330: 17,2330           11424                           CCS      RRATEDIF                              
022016,000331: 17,2331           12342                           TCF      R+Q+CHKR                              
022017,000332: 17,2332           12334                           TCF      Q+NORJTS                              
022018,000333: 17,2333           12347                           TCF      R-Q+CHKR                              
022019,000334: 
022020,000335: 17,2334           31423        Q+NORJTS           CA       QRATEDIF                              
022021,000336: 17,2335           55437                           TS       RATEDIF                               
022022,000337: 17,2336           61500                           AD       -2JETLIM                              
022023,000338: 17,2337           00006                           EXTEND                                         
022024,000339: 17,2340           63265                           BZMF     2JETS-Q                               
022025,000340: 17,2341           13263                           TCF      4JETS-Q                               
022026,000341: 
022027,000342: 17,2342           61501        R+Q+CHKR           AD       -RATEDB                               
022028,000343: 17,2343           00006                           EXTEND                                         
022029,000344: 17,2344           62334                           BZMF     Q+NORJTS                              
022030,000345: 17,2345           03511                           TC       EDOTUGEN                              
022031,000346: 17,2346           13243                           TCF      2-U.RATE                              
022032,000347: 
022033,000348: 17,2347           61501        R-Q+CHKR           AD       -RATEDB                               
022034,000349: 17,2350           00006                           EXTEND                                         
022035,000350: 17,2351           62334                           BZMF     Q+NORJTS                              
022036,000351: 17,2352           03515                           TC       EDOTVGEN                              
022037,000352: 17,2353           13301                           TCF      2+V.RATE                              
022038,000353: 
022039,000354: 17,2354           61501        R+,CHKDB           AD       -RATEDB                               
022040,000355: 17,2355           00006                           EXTEND                                         
022041,000356: 17,2356           62413                           BZMF     XTRANS                                
022042,000357: 17,2357           31424                           CA       RRATEDIF                              
022043,000358: 17,2360           55437                           TS       RATEDIF                               
022044,000359: 17,2361           61500                           AD       -2JETLIM                              
022045,000360: 17,2362           00006                           EXTEND                                         
022046,000361: 17,2363           63227                           BZMF     2JETS-R                               
022047,000362: 17,2364           13225                           TCF      4JETS-R                               
022048,000363: 
022049,000364: 17,2365           61501        R-,CHKDB           AD       -RATEDB                               
022050,000365: 17,2366           00006                           EXTEND                                         
022051,000366: 17,2367           62413                           BZMF     XTRANS                                
022052,000367: 17,2370           41424                           CS       RRATEDIF                              
022053,000368: 17,2371           55437                           TS       RATEDIF                               
022054,000369: 17,2372           61500                           AD       -2JETLIM                              
022055,000370: 17,2373           00006                           EXTEND                                         
022056,000371: 17,2374           63412                           BZMF     2JETS+R                               
022057,000372: 17,2375           13410                           TCF      4JETS+R                               
022058,000373: 
022059,000374: 17,2376           11437        RTJETIME           CCS      RATEDIF                               #  SCALED AT PI/4 RADIANS/SECOND
022060,000375: 17,2377           67763                           AD       ONE                                   
022061,000376: 17,2400           12402                           TCF      +2                                    
022062,000377: 17,2401           67763                           AD       ONE                                   #  ABS(RATEDIF)

Page 526

022064,000379: 17,2402           00006                           EXTEND                                         
022065,000380: 17,2403           70066                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SECOND(2)/RADIANS
022066,000381: 17,2404           00006                           EXTEND                                         
022067,000382: 17,2405           77760                           MP       BIT4                                  #  SCALED AT 2(3) SECONDS
022068,000383: 17,2406           30001                           CAE      L                                     
022069,000384: 17,2407           00006                           EXTEND                                         
022070,000385: 17,2410           72557                           MP       25/32.QR                              #  TJET NOW PROPERLY SCALED IN A
022071,000386: 17,2411           55612                           TS       TQR                                   #  AT 2(4)16/25 SECONDS
022072,000387: 17,2412           12457                           TCF      MNIMPTST                              
022073,000388: 
022074,000389: 

Page 527

022076,000391:                                                                                                  #  DAP SECTION: XTRANS            MOD. NO. 3  DATE: JANUARY 6, 1967.
022077,000392: 
022078,000393:                                                                                                  #  AUTHOR: JOHN S. BLISS (ADAMS ASSOCIATES)
022079,000394: 
022080,000395:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
022081,000396: 
022082,000397:                                                                                                  #  X-AXIS TRANSLATION LOGIC (IN THE ABSENSE OF Q,R-AXIS ROTATION) IS INITIATED IN THE "XTRANS" SECTION.
022083,000398: 
022084,000399:                                                                                                  #  XTRANS FIRST SETS ADDTLT6 AND ADDT6JTS TO ZERO FOR USE BY "JTLST" AND "T6JOB" WHEN THEY ARE CALLED.  IT THEN
022085,000400:                                                                                                  #  CHECKS FOR PLUS OR MINUS X TRANSLATION REQUESTS FROM THE ASTRONAUT'S STICK.  IF NONE IS REQUESTED IN THAT WAY,
022086,000401:                                                                                                  #  THE ULLAGE BIT OF DAPBOOLS IS CHECKED.  (NOTE THAT THE ORDER OF THE TESTS ALLOWS THE ASTRONAUT TO OVERRIDE THE
022087,000402:                                                                                                  #  INTERNAL ULLAGE REQUEST.)  IF NO TRANSLATION IS REQUESTED, ALL Q,R-AXIS JETS ARE TURNED OFF AND THE INTERRUPT
022088,000403:                                                                                                  #  IS TERMINATED.
022089,000404: 
022090,000405:                                                                                                  #  CALLING SEQUENCE: NONE          SUBROUTINES CALLED: WRITEQR
022091,000406: 
022092,000407:                                                                                                  #  NORMAL EXIT: 1.  IF NO TRANSLATION, RESUME.
022093,000408:                                                                                                  #               2.  IF TRANSLATION OR ULLAGE, +/-XTRAN
022094,000409: 
022095,000410:                                                                                                  #  ALARM/ABORT MODE: NONE.
022096,000411: 
022097,000412:                                                                                                  #  INPUT:  ULLAGER/DAPBOOLS,BITS7,8/CHANNEL 31.
022098,000413: 
022099,000414:                                                                                                  #  OUTPUT: C(ANYTRANS) = NEGMAX FOR +X TRANSLATION.
022100,000415:                                                                                                  #          C(ANYTRANS) = POSMAX FOR -X TRANSLATION.
022101,000416:                                                                                                  #          C(TRANSNOW) = C(TRANSAVE) = +0.
022102,000417:                                                                                                  #          C(TRANONLY) = PNZ
022103,000418:                                                                                                  #  C(ADDTLT6), C(ADDT6JTS), C(TQR), C(TOFJTCHG) = 0.
022104,000419: 
022105,000420:                                                                                                  #          C(CHANNEL 5) = 0 IF NO X-TRANSLATION REQUESTED
022106,000421: 
022107,000422:                                                                                                  #  DEBRIS: A, L, Q
022108,000423: 
022109,000424: 
022110,000425: 17,2413           37767        XTRANS             CAF      ZERO                                  #  PICK UP ZERO AND INITIALIZE
022111,000426: 17,2414           55474                           TS       ADDTLT6                               
022112,000427: 17,2415           55473                           TS       ADDT6JTS                              
022113,000428: 17,2416           55475                           TS       TOFJTCHG                              
022114,000429: 17,2417           55612                           TS       TQR                                   #  A ZERO OF JET TIME FOR THE TORQUE VECTOR
022115,000430: 
022116,000431: 17,2420           37755                           CAF      BIT7                                  #  IS PLUS X TRANSLATION DESIRED
022117,000432: 17,2421           00006                           EXTEND                                         
022118,000433: 17,2422           02031                           RAND     31                                    #  CHANNEL 31 BITS INVERTED
022119,000434: 17,2423           00006                           EXTEND                                         
022120,000435: 17,2424           12441                           BZF      +XORULGE                              #  YES, +X
022121,000436: 
022122,000437: 17,2425           37754                           CAF      BIT8                                  #  NO, IS MINUS X TRANSLATION DESIRED
022123,000438: 17,2426           00006                           EXTEND                                         
022124,000439: 17,2427           02031                           RAND     31                                    #  CHANNEL 31 BITS INVERTED

Page 528

022126,000441: 17,2430           00006                           EXTEND                                         
022127,000442: 17,2431           12443                           BZF      -XTRANS                               #  YES, -X
022128,000443: 
022129,000444: 17,2432           37756                           CAF      BIT6                                  #  NO, IS ULLAGE(+X TRANSLATION) DESIRED
022130,000445: 17,2433           70077                           MASK     DAPBOOLS                              
022131,000446: 17,2434           10000                           CCS      A                                     
022132,000447: 17,2435           12441                           TCF      +XORULGE                              #  YES, ULLAGE
022133,000448: 
022134,000449: 17,2436           37767                           CAF      ZERO                                  #  SINCE NEITHER ROTATION NOR TRANSLATION
022135,000450: 17,2437           06046                           TC       WRITEQR                               #  ARE NEEDED, TURN OFF ALL Q,R-AXES JETS.
022136,000451: 17,2440           15733                           TCF      RESUME                                
022137,000452: 
022138,000453: 17,2441           37745        +XORULGE           CAF      NEGMAX                                #  PLUS TRANSLATION OR ULLAGE DESIRED:
022139,000454: 17,2442           12444                           TCF      +2                                    #  LOAD NEGMAX IN A AND SKIP NEXT OPCODE TO
022140,000455: 
022141,000456: 17,2443           37743        -XTRANS            CAF      POSMAX                                #  -X TRANSLATION DESIRED, A = POSMAX, AND
022142,000457: 17,2444           54071                           TS       ANYTRANS                              #  LOAD ANYTRANS WITH A(NEG/POS MAX)
022143,000458: 
022144,000459: 17,2445           37767                           CAF      ZERO                                  #  INITIALIZE TRANSNOW AND TRANSAVE WITH
022145,000460: 17,2446           54072                           TS       TRANSNOW                              #  ZERO FOR USE IN THE JET POLICY SELECTION
022146,000461: 17,2447           54073                           TS       TRANSAVE                              #  PROGRAM.
022147,000462: 
022148,000463: 17,2450           00006                           EXTEND                                         #  SET UP 2CADR FOR TRANSFER TO +/-XTRAN.
022149,000464: 17,2451           32455                           DCA      JTPOLADR                              
022150,000465: 17,2452           54070                           TS       TRANONLY                              #  STORE POSITIVE, NON-ZERO S-REGISTER IN
022151,000466: 17,2453           52006                           DTCB                                           #  TRANONLY.  AFTER +/-XTRAN, GO TO JTLST.
022152,000467: 
022153,000468: 17,2454  E6,1471                                  EBANK=   JTSONNOW                              
022154,000469: 17,2454           02447 40066  JTPOLADR           2CADR    +/-XTRAN                              #  TRANSLATION ONLY ENTRY TO JET POLICY
022155,000470: 
022156,000471: 

Page 529

022158,000473:                                                                                                  #  ALL Q,R AXES TQR COMPUTATIONS TERMINATE IN THIS PROGRAM WHICH PERFORMS A SERIES OF TESTS TO DETERMINE THE TRUE
022159,000474:                                                                                                  #    TIME THE JETS SHOULD BE ON. THESE TESTS ARE AS FOLLOWS ...
022160,000475: 
022161,000476:                                                                                                  #       1.  TEST THE ON TIME AGAINST THE 7.5 MS  ELECTRICAL COMMAND (MIN).IF THE ON TIME IS LESS THAN THE MINIMUM
022162,000477:                                                                                                  #           WE BUG OUT TO XTRAN,WHERE X TRANSLATION IS DONE(IF NEEDED).
022163,000478: 
022164,000479:                                                                                                  #       2.  TEST THE ON TIME AGAINST 150 MS, IF TQR IS GREATER THAN 150MS ,THEN THE NEXT QR AXIS IS DONE IN 100 MS.
022165,000480:                                                                                                  #           IF TQR IS LESS THAN 150 MS, THEN THE NEXT QR AXIS IS DONE IN 200 MS. THAT IS A QR AXIS SKIP IS DONE.
022166,000481: 
022167,000482:                                                                                                  #       3.  WHEN TQR IS LESS THAN 150 MS  THE PROGRAM GOES TO THE JET LIST PROGRAM WHERE THE T6 CLOCK IS SET UP.
022168,000483: 
022169,000484:                                                                                                  #       4.  BEFORE GOING TO THE JET LIST THE COMPUTED TIME HAS EITHER 7.5 MS  ADDED OR 5MS  SUBTRACTED-THE EXACT
022170,000485:                                                                                                  #           OPERATION BEING DECIDED BY WHETHER THE JETS WHICH ARE TO GO ON ARE OFF OR ARE ON RESPECTIVELY.
022171,000486: 
022172,000487:                                                                                                  #       5.  IF SOME OF THE JETS WHICH ARE TO GO ON ARE NOW ON AND SOME ARE OFF, THEN A ******* COMPUTATION CALLED
022173,000488:                                                                                                  #           NOTRANS DECIDES WHICH JETS GO OFF AT TQR AND WHICH GO OFF AT TQR+6.5MS. THIS 6.5 MS. IS STORED IN
022174,000489:                                                                                                  #           ADDTLT6. ADDTLT6 IS SET TO ZERO OTHERWISE.
022175,000490: 
022176,000491: 17,2456           55612        NORMRETN           TS       TQR                                   
022177,000492: 
022178,000493: 
022179,000494: 17,2457           41612        MNIMPTST           CS       TQR                                   #  TEST FOR TQR GREATER THAN MIN. IMPULSE.
022180,000495: 17,2460           62556                           AD       +T6TJMIN                              
022181,000496: 17,2461           00006                           EXTEND                                         #    CORRECT BRANCH.
022182,000497: 17,2462           62464                           BZMF     TQRGTTMI                              #  BRANCH FOR TQR = OR GREATER THAN MINIMP.
022183,000498: 17,2463           12413                           TCF      XTRANS                                #  SEE IF TRANSLATION IS DESIRED .
022184,000499: 17,2464           31612        TQRGTTMI           CAE      TQR                                   #  HERE JETS ON FOR LONGER THAN GRUMANN
022185,000500: 17,2465           55475                           TS       TOFJTCHG                              #  MINIMUM IMPULSE SPECIFICATIONS.
022186,000501: 17,2466           62555                           AD       -1.5CSP                               
022187,000502: 17,2467           00006                           EXTEND                                         
022188,000503: 17,2470           62475                           BZMF     DOQRSKIP                              
022189,000504: 17,2471           31471                           CAE      JTSONNOW                              
022190,000505: 17,2472           06046                           TC       WRITEQR                               
022191,000506: 17,2473           15733                           TCF      RESUME                                
022192,000507: 
022193,000508: 17,2474           02102        SKIPQRAD           GENADR   SKIPQRAX                              
022194,000509:                                                                                                  #  CHANGE JET ON AND OFF BITS TO ACCOUNT FOR THE PRESENT STATE OF THE
022195,000510:                                                                                                  #    CHANNEL. THE CHANGES ACCOUNT FOR PURE ROTATION ONLY- NOT TRANSLATION.
022196,000511: 17,2475           31471        DOQRSKIP           CA       JTSONNOW                              
022197,000512: 17,2476           00006                           EXTEND                                         
022198,000513: 17,2477           02005                           RAND     5                                     #  MASK THE CHANNEL WITH THE DESIRED STATE.
022199,000514: 17,2500           00006        FROMROOT           EXTEND                                         #  ENTER HERE FROM DORUTDUM (IN K.E. BANK)
022200,000515: 17,2501           12526                           BZF      NOQRON                                #  A IS ZERO IF NO JETS TO GO ON ARE ON.
022201,000516: 17,2502           67745                           AD       BIT15                                 #  MAKE DIFFERENCE CORRESPOND TO A QR JET.
022202,000517: 17,2503           00006                           EXTEND                                         
022203,000518: 17,2504           61471                           SU       JTSONNOW                              #  RESULT IS COMPLEMENT OF JET BITS WHICH
022204,000519: 17,2505           54001                           TS       L                                     #    ARE TO BE ON FOR 6.5MS MORE THAN CALC.
022205,000520: 17,2506           00006                           EXTEND                                         
022206,000521: 17,2507           12531                           BZF      JTSAREON                              #  A=0,THUS ALL JETS TO GO ON ARE NOW ON.

Page 530

022208,000523: 17,2510           31472        TRSLTMN2           CAE      JTSATCHG                              
022209,000524: 17,2511           77743                           MASK     POSMAX                                #  REMOVE BIT15 FROM JTSATCHG.
022210,000525: 17,2512           00006                           EXTEND                                         
022211,000526: 17,2513           12517                           BZF      NOTRANS                               #  IF JTSATCHG = 0 THEN NO TRANSLATION NOW.
022212,000527: 17,2514           32566                           CA       14-TQRMN                              
022213,000528: 17,2515           27475                           ADS      TOFJTCHG                              #  INSURE T GREATER THAN 14 MS.
022214,000529: 17,2516           12544                           TCF      TOJTLST                               
022215,000530: 17,2517           40001        NOTRANS            CS       L                                     
022216,000531: 17,2520           67745                           AD       BIT15                                 #  MAKE JET BITS CORRESPOND TO QR AXIS.
022217,000532: 17,2521           57472                           XCH      JTSATCHG                              #  JTSONNOW - L = JETS ON AT TOFJTCHG.
022218,000533: 17,2522           55473                           TS       ADDT6JTS                              #  JTS ON AT TOFJTCHG +ONDELAY.
022219,000534: 17,2523           32566                           CA       14-TQRMN                              
022220,000535: 17,2524           55474                           TS       ADDTLT6                               
022221,000536: 17,2525           12544                           TCF      TOJTLST                               
022222,000537: 17,2526           32566        NOQRON             CA       14-TQRMN                              
022223,000538: 17,2527           27475                           ADS      TOFJTCHG                              
022224,000539: 17,2530           12542                           TCF      TOJTLST    -2                         
022225,000540: 17,2531           31472        JTSAREON           CAE      JTSATCHG                              
022226,000541: 17,2532           77743                           MASK     POSMAX                                
022227,000542: 17,2533           00006                           EXTEND                                         
022228,000543: 17,2534           12536                           BZF      +2                                    
022229,000544: 17,2535           12542                           TCF      TOJTLST    -2                         
022230,000545: 17,2536           32565                           CAF      MCOMPTQR                              
022231,000546: 17,2537           27475                           ADS      TOFJTCHG                              
022232,000547: 17,2540           00006                           EXTEND                                         #  TEST FOR COMPUTATION OF NEGATIVE OR ZERO
022233,000548: 17,2541           62553                           BZMF     QUICKOFF                              #  TOFJTCHG, IF SO, MAKE -0.
022234,000549: 17,2542           37767                 -2        CAF      ZERO                                  
022235,000550: 17,2543           55474                           TS       ADDTLT6                               
022236,000551: 17,2544           32474        TOJTLST            CA       SKIPQRAD                              
022237,000552: 17,2545           55653                           TS       QJUMPADR                              
022238,000553: 17,2546           31471                           CAE      JTSONNOW                              #  TURN ON JETS TO GO ON NOW (EVEN IF ALL
022239,000554: 17,2547           06046                           TC       WRITEQR                               #  ARE ALREADY ON), AFTER TESTING FOR RISE.
022240,000555: 17,2550           00006                           EXTEND                                         
022241,000556: 17,2551           32606                           DCA      JTLSTADR                              
022242,000557: 17,2552           52006                           DTCB                                           
022243,000558: 
022244,000559: 17,2553           41475        QUICKOFF           CS       TOFJTCHG                              #  SET TOFJTCHG TO -0 IN SHORTEST WAY.
022245,000560: 17,2554           12527                           TCF      NOQRON     +1                         
022246,000561: 
022247,000562: 17,2555           77417        -1.5CSP            DEC      -0.01465                              
022248,000563: 17,2556           00014        +T6TJMIN           DEC      +.00073                               
022249,000564: 17,2557           31000        25/32.QR           DEC      0.78125                               
022250,000565: 17,2560           37776        MS20QR             OCTAL    37776                                 
022251,000566: 17,2561           37775        MS30QR             OCTAL    37775                                 
022252,000567: 17,2562           37773        MS50QR             OCTAL    37773                                 
022253,000568: 17,2563           00010        16/32400           DEC      0.00049                               
022254,000569: 17,2564           00600        BIT8,9             OCTAL    00600                                 
022255,000570: 17,2565           77757        MCOMPTQR           DEC      -16        B-14                       #  -10 MS SCALED AS TIME6.
022256,000571: 17,2566           00013        14-TQRMN           DEC      11         B-14                       
022257,000572:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************

Page 531

022259,000574: 17,2567           04736        MINTADR            GENADR   CCSHOLE                               
022260,000575:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
022261,000576: 17,2570           43415        -.88975            DEC      -.88975                               
022262,000577: 17,2571           20000        (1-K),QR           DEC      0.50000                               #  K = 1/2
022263,000578: 17,2572           02000        (1-KQ)/8           DEC      0.06250                               
022264,000579: 17,2573           77557        -90MS              DEC      -.00879                               
022265,000580: 17,2574           00220        +90MS              DEC      0.00879                               
022266,000581: 17,2575           77537        NEGCSP2            DEC      -.00977                               
022267,000582: 17,2576           40252        ALL+XJTS           OCTAL    40252                                 
022268,000583: 17,2577           00201        2,10-OUT           OCTAL    00201                                 
022269,000584: 17,2600           40042        +X,A               OCTAL    40042                                 
022270,000585: 17,2601           40210        +X,B               OCTAL    40210                                 
022271,000586: 17,2602           00104        1,9-OUT            OCTAL    00104                                 
022272,000587: 17,2603           40104        -X,A               OCTAL    40104                                 
022273,000588: 17,2604           40021        -X,B               OCTAL    40021                                 
022274,000589: 17,2605  E6,1471                                  EBANK=   JTSONNOW                              
022275,000590: 17,2605           03402 34066  JTLSTADR           2CADR    JTLST                                 
022276,000591: 
022277,000592: 17,2607           02376        RTJETADR           GENADR   RTJETIME                              
022278,000593: 
022279,000594: 

Page 532

022281,000596:                                                                                                  #  Q,R-AXES ATTITUDE STEERING CALCULATIONS:
022282,000597: 
022283,000598:                                                                                                  #  (EXECUTED WHEN LGC IS IN AUTOMATIC SCSMODE OR IF SCSMODE IS ATTITUDE HOLD AND THE ROTATIONAL HAND CONTROLLER IS
022284,000599:                                                                                                  #  NEITHER OUT OF DETENT NOR IS THE RATE COMMAND BIT SET IN DAPBOOLS)
022285,000600: 
022286,000601: 17,2610           00006        CHKGIMBL           EXTEND                                         
022287,000602: 17,2611           32617                           DCA      TRYGTSAD                              #  TRYGTS ATTEMPTS GTS CONTROL.
022288,000603: 17,2612           52006                           DXCH     Z                                     
022289,000604: 17,2613           04736                           TC       CCSHOLE                               
022290,000605: 
022291,000606: 17,2614           07400        BGIM24             OCTAL    07400                                 
022292,000607: 17,2615           03533        DESCADR            GENADR   TJETLAW                               
022293,000608: 
022294,000609: 17,2616  E6,1542                                  EBANK=   DT                                    
022295,000610: 17,2616           03573 42066  TRYGTSAD           2CADR    TRYGTS                                #  TRYGTS ATTEMPTS GTS CONTROL.
022296,000611: 
022297,000612: 

Page 533

022299,000614:                                                                                                  #  "ATTSTEER" IS THE NOMINAL ENTRY POINT FOR REACTION CONTROL SYSTEM ATTITUDE STEERING
022300,000615: 
022301,000616: 17,2620  17,2620               ATTSTEER           EQUALS   QERRCALC                              
022302,000617: 17,2620           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
022303,000618: 17,2621           00006                           EXTEND                                         
022304,000619: 17,2622           20767                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
022305,000620: 17,2623           54061                           TS       ITEMP1                                #  SAVE FOR RERRCALC
022306,000621: 17,2624           00006                           EXTEND                                         
022307,000622: 17,2625           71405                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
022308,000623: 17,2626           57413                           XCH      ER                                    #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
022309,000624: 17,2627           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
022310,000625: 17,2630           00006                           EXTEND                                         
022311,000626: 17,2631           20770                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
022312,000627: 17,2632           54062                           TS       ITEMP2                                #  SAVE FOR RERRCALC
022313,000628: 17,2633           00006                           EXTEND                                         
022314,000629: 17,2634           71401                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
022315,000630: 17,2635           27413                           ADS      ER                                    #  SAVE SUM OF TERMS, NO OVERFLOW EVER
022316,000631: 17,2636           55467                           TS       QERROR                                #  SAVE QERROR FOR EIGHT-BALL DISPLAY
022317,000632: 
022318,000633: 17,2637           30061        RERRCALC           CAE      ITEMP1                                #  R-ERROR CALCULATION:
022319,000634: 17,2640           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
022320,000635: 17,2641           71406                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
022321,000636: 17,2642           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
022322,000637: 17,2643           30062                           CAE      ITEMP2                                #  SECOND TERM CALCULATION:
022323,000638: 17,2644           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
022324,000639: 17,2645           71403                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
022325,000640: 17,2646           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVER
022326,000641: 17,2647           55470                           TS       RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY
022327,000642: 
022328,000643: 17,2650           12715                           TCF      STILLRCS                              
022329,000644: 
022330,000645:                                                                                                  #  THIS CODING IS ENTERED FROM BURGZERO, WHEN BOTH URGENCIES ARE ZERO.  EXITS TO GTS IF POSSIBLE, XTRANS OTHERWISE
022331,000646: 
022332,000647: 17,2651           37762        GIMBLTRY           CAF      USEQRJTS                              #  IS JET USAGE MANDATORY.
022333,000648: 17,2652           70077                           MASK     DAPBOOLS                              
022334,000649: 17,2653           10000                           CCS      A                                     
022335,000650: 17,2654           12413                           TCF      XTRANS                                #  YES.  GO TO XTRANS.
022336,000651: 
022337,000652: 17,2655           00006                           EXTEND                                         #  ARE GIMBALS DRIVING?
022338,000653: 17,2656           00012                           READ     12                                    
022339,000654: 17,2657           72614                           MASK     BGIM24                                #  BITS 9,10,11,12 ARE GIMBAL DRIVE BITS.
022340,000655: 17,2660           10000                           CCS      A                                     
022341,000656: 17,2661           12413                           TCF      XTRANS                                #  YES.  DRIVING.  GO TO XTRANS.
022342,000657: 
022343,000658: 17,2662           00006                           EXTEND                                         #  NO.   CHECK JETS.
022344,000659: 17,2663           00005                           READ     5                                     #  ARE ANY Q,R JETS ON NOW.
022345,000660:                                                                                                  #  (CAN ONLY BE ROTATION JETS.)
022346,000661: 17,2664           00006                           EXTEND                                         
022347,000662: 17,2665           12413                           BZF      XTRANS                                #  NO.   GO TO XTRANS.
022348,000663: 

Page 534

022350,000665: 17,2666           37767                           CAF      ZERO                                  #  YES.  TURN OFF JETS.
022351,000666: 17,2667           00006                           EXTEND                                         
022352,000667: 17,2670           01005                           WRITE    5                                     
022353,000668: 
022354,000669: 17,2671           00006                           EXTEND                                         #  NO.   GO TO GTS.
022355,000670: 17,2672           32675                           DCA      GOGTSADR                              
022356,000671: 17,2673           52006                           DXCH     Z                                     
022357,000672: 
022358,000673: 17,2674  E6,1542                                  EBANK=   DT                                    
022359,000674: 17,2674           03604 42066  GOGTSADR           2CADR    GOTOGTS                               
022360,000675: 
022361,000676:                                                                                                  #  REMAINING CODING (HERE TO STILLRCS) STAYS IN TO KEEP ADDRESSES CONSTANT.
022362,000677: 
022363,000678: 17,2676           04736                           TC       CCSHOLE                               #  FILLER.
022364,000679: 17,2677           12715                           TCF      STILLRCS                              #  NO.      SO USE RCS.
022365,000680: 17,2700           50066                           INDEX    QRCNTR                                #  YES.     TRY THE ERROR MAGNITUDE.
022366,000681: 17,2701           11467                           CCS      QDIFF                                 #  IS ERROR SMALL ENOUGH FOR GTS.
022367,000682: 17,2702           62714                           AD       -XBND+1                               #  -1.4 DEG SCALED AT PI    + 1 BIT
022368,000683: 17,2703           12705                           TCF      +2                                    
022369,000684: 17,2704           62714                           AD       -XBND+1                               
022370,000685: 17,2705           00006                           EXTEND                                         
022371,000686: 17,2706           62710                           BZMF     +2                                    #  IS ERROR LESS,EQUAL 1.4 DEG.
022372,000687: 17,2707           12715                           TCF      STILLRCS                              #  NO.      USE RCS CONTROL.
022373,000688: 17,2710           10066                           CCS      QRCNTR                                #  THIS AXIS IS FINE.   ARE BOTH DONE.
022374,000689: 17,2711           04736                           TC       CCSHOLE                               #  REMOVE REFERENCE TO ELIMINATED SYMBOL.
022375,000690: 17,2712           04736                           TC       CCSHOLE                               #  FILLER.
022376,000691: 17,2713           77512        -RATLM+1           OCT      77512                                 #  -.5 DEG/SEC SCALED AT PI/4  + 1 BIT
022377,000692: 17,2714           77601        -XBND+1            OCT      77601                                 #  -1.4 DEG SCALED AT PI, + 1 BIT.
022378,000693:                                                                                                  #  "STILLRCS" IS THE ENTRY POINT TO RCS ATTITUDE STERRING WHENEVER IT IS FOUND THAT THE TRIM GIMBAL CONTROL
022379,000694:                                                                                                  #  SYSTEM SHOULD NOT BE USED;
022380,000695: 

Page 535

022382,000697:                                                                                                  #  Q,R-AXES RCS URGENCY FUNCTION LOGIC:
022383,000698: 
022384,000699: 17,2715           10077        STILLRCS           CCS      DAPBOOLS                              #  BRANCH TO SPS-BACKUP RCS CONTROL LOGIC.
022385,000700: 17,2716           13526                           TCF      SPSBAKUP                              #  WHEN BIT15/DAPBOOLS = 0.
022386,000701: 17,2717           12720                           NOOP                                           
022387,000702: 17,2720           32615                           CAF      DESCADR                               #  SET JET SELECT LOGIC RETURN ADDRESS TO
022388,000703: 17,2721           54062                           TS       TJETADR                               #  THE Q,R-AXIS TJETLAW CALCULATION
022389,000704: 
022390,000705: 17,2722           06013                           TC       T6JOBCHK                              #  CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
022391,000706: 
022392,000707:                                                                                                  #  CALCULATE THE RATE ERRORS SCALED AT PI/4 RADIANS/SECOND(2):
022393,000708: 
022394,000709: 17,2723           40775                           CS       OMEGAQD                               
022395,000710: 17,2724           61416                           AD       OMEGAQ                                #  EDOTQ = OMEGAQ - OMEGAQD
022396,000711: 17,2725           55423                           TS       EDOTQ                                 
022397,000712: 
022398,000713: 17,2726           40776                           CS       OMEGARD                               
022399,000714: 17,2727           61420                           AD       OMEGAR                                #  EDOTR = OMEGAR - OMEGARD
022400,000715: 17,2730           55424                           TS       EDOTR                                 
022401,000716: 

Page 536

022403,000718:                                                                                                  #  Q,R-AXES URGENCY FUNCTION LOOP:
022404,000719: 
022405,000720:                                                                                                  #  SET UP LOOP TO DO R-AXIS, THEN Q-AXIS:
022406,000721: 
022407,000722: 17,2731           37763                           CAF      ONE                                   #  1: REFERS TO R-AXIS VARIABLES.
022408,000723: 17,2732           54061                           TS       AXISCNTR                              #  0: REFERS TO Q-AXIS VARIABLES.
022409,000724: 
022410,000725:                                                                                                  #  PICK UP EDOT AND RESCALE FROM PI/4 TO PI/16 RADIANS/SECOND:
022411,000726: 
022412,000727: 17,2733           50061        URGLOOP            INDEX    AXISCNTR                              #  ERROR RATES ARE PRE-CALCULATED BY RATE
022413,000728: 17,2734           31423                           CAE      EDOTQ                                 #  DERIVATION SCALED AT PI/4 RADIANS/SECOND
022414,000729: 17,2735           00006                           EXTEND                                         #  MULTIPLYING BY FOUR (BIT3) LEAVES EDOT
022415,000730: 17,2736           77761                           MP       FOUR                                  #  AS C(L) IF EDOT LESS THAN 11.25 DEG/SEC.
022416,000731: 17,2737           00006                           EXTEND                                         
022417,000732: 17,2740           12742                           BZF      +2                                    #  IF C(A) NON-ZERO, THEN EDOT GREATER THAN
022418,000733: 17,2741           13010                           TCF      EDOTMAX                               #  11.25 DEG/SEC IN MAGNITUDE, SO LIMIT IT.
022419,000734: 
022420,000735: 17,2742           10001                           CCS      L                                     #  INSURE NON-ZERO EDOT:
022421,000736: 17,2743           67762                           AD       TWO                                   #  C(L) PNZ REMAINS UNCHANGED.
022422,000737: 17,2744           12746                           TCF      +2                                    #  C(L) NNZ REMAINS UNCHANGED.
022423,000738: 17,2745           40000                           COM                                            #  C(L)  +0 BECOMES 77776.
022424,000739: 17,2746           67771                           AD       NEG1                                  #  C(L)  -0 BECOMES 77776.
022425,000740: 17,2747           55407        EDOTSTOR           TS       EDOT                                  #  SAVE NON-ZERO EDOT SCALED AT PI/16.
022426,000741: 
022427,000742: 17,2750           00006                           EXTEND                                         #  CALCULATE (EDOT)(EDOT):
022428,000743: 17,2751           70000                           SQUARE                                         
022429,000744: 17,2752           55412                           TS       EDOT(2)                               #  SCALED AT PI(2)/2(+8) RAD(2)/SEC(2).
022430,000745: 
022431,000746: 17,2753           00006                           EXTEND                                         #   0.5               +8       2
022432,000747: 17,2754           50061                           INDEX    AXISCNTR                              #  ------  SCALED AT 2  /PI SEC /RAD.
022433,000748: 17,2755           71717                           MP       1/ACCQ                                #  ACCQ,R
022434,000749: 17,2756           00006                           EXTEND                                         #  DEADBAND = 5.0 OR 1.0 OR 0.3 DEGREES
022435,000750: 17,2757           60375                           SU       DB                                    #  SCALED AT PI RADIANS.
022436,000751: 17,2760           55441                           TS       FPQR                                  #  0.5(1/ACC)EDOT(2)-DB SCALED AT PI RADS.
022437,000752: 
022438,000753: 17,2761           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2).
022439,000754: 17,2762           00006                           EXTEND                                         
022440,000755: 17,2763           50061                           INDEX    AXISCNTR                              
022441,000756: 17,2764           71721                           MP       1/AMINQ                               #  .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD.
022442,000757: 17,2765           60375                           AD       DB                                    #  DEADBAND SCALED AT PI RADIANS.
022443,000758: 17,2766           55460                           TS       FPQRMIN                               #  .5(1/ACCMIN)EDOT(2)+DB SCALED AT PI RAD.
022444,000759: 
022445,000760: 17,2767           11407                           CCS      EDOT                                  #  EDOT TEST ON SIGN (NON-ZERO):
022446,000761: 17,2770           31411                           CAE      E                                     #  ATTITUDE ERROR FOR THIS AXIS
022447,000762: 17,2771           12773                           TCF      +2                                    #  SCALED AT PI RADIANS.
022448,000763: 17,2772           13015                           TCF      EDOTNEG                               
022449,000764: 17,2773           27441                           ADS      FPQR                                  #  E+0.5(1/ACC)EDOT(2)-DB SCALED AT PI RAD.
022450,000765: 
022451,000766: 17,2774           11407        FTEST              CCS      EDOT                                  #  EDOT GUARANTEED NOT +0 OR -0.
022452,000767: 17,2775           11441                           CCS      FPQR                                  #  FPQR GUARANTEED NOT +0.

Page 537

022454,000769: 17,2776           13003                           TCF      QUICKURG                              #  EDOT.G.+0, FPQR.G.+0.
022455,000770: 17,2777           11441                           CCS      FPQR                                  #  EDOT.L.-0.
022456,000771: 17,3000           13021                           TCF      FMINCALC                              #  EDOT.L.-0,FPQR.G.+0/EDOT.G.+0,FPQR.L.-0.
022457,000772: 17,3001           13021                           TCF      FMINCALC                              #  EDOT.G.+0,FPQR.E.-0 (FROM FIRST CCS).
022458,000773: 17,3002           13003                           TCF      QUICKURG                              #  EDOT.L.-0,FPQR.L.-0.
022459,000774: 
022460,000775: 17,3003           31407        QUICKURG           CAE      EDOT                                  #  EDOT.L.-0,FPQR.E.-0 (FROM 2ND CCS).
022461,000776: 17,3004           00006                           EXTEND                                         #  SCALE FROM PI/16 TO PI RADIANS/SECOND
022462,000777: 17,3005           77751                           MP       BIT11                                 #  TO HAVE SAME SCALING AS FPQR AFTER THE
022463,000778: 17,3006           61441                           AD       FPQR                                  #  IMPLICIT MULT. OF FPQR BY 1/SEC.
022464,000779: 17,3007           13043                           TCF      URGMULT                               #  THIS URGENCY = (1/ACC)(FPQR+EDOT).
022465,000780: 
022466,000781: 17,3010           10000        EDOTMAX            CCS      A                                     #  GUARANTEED NOT +0 OR -0.
022467,000782: 17,3011           37743                           CAF      POSMAX                                
022468,000783: 17,3012           12747                           TCF      EDOTSTOR                              #  SET EDOT TO SIGNED MAXIMUM.
022469,000784: 17,3013           47743                           CS       POSMAX                                
022470,000785: 17,3014           12747                           TCF      EDOTSTOR                              #  SCALED AT PI/16 RADIANS/SECOND.
022471,000786: 
022472,000787: 17,3015           41441        EDOTNEG            CS       FPQR                                  #  SCALED AT PI RADIANS
022473,000788: 17,3016           61411                           AD       E                                     #  ATTITUDE ERROR FOR THIS AXIS
022474,000789: 17,3017           55441                           TS       FPQR                                  #  E-0.5(1/ACC)EDOT(2)+DB SCALED AT PI RAD.
022475,000790: 17,3020           12774                           TCF      FTEST                                 
022476,000791: 
022477,000792: 17,3021           11441        FMINCALC           CCS      FPQR                                  #  NECESSARY RETEST ON FPQR;
022478,000793: 17,3022           41460                           CS       FPQRMIN                               
022479,000794: 17,3023           13025                           TCF      +2                                    #  E-0.5(1/ACCMIN)EDOT(2)-DB
022480,000795: 17,3024           31460                           CAE      FPQRMIN                               
022481,000796: 17,3025           61411                           AD       E                                     #  E+0.5(1/ACCMIN)EDOT(2)+DB
022482,000797: 17,3026           55460                           TS       FPQRMIN                               #  SCALED AT PI RADIANS.
022483,000798: 
022484,000799: 17,3027           11407                           CCS      EDOT                                  #  EDOT    GUARANTEED NOT +0 OR -0.
022485,000800: 17,3030           11460                           CCS      FPQRMIN                               #  FPQRMIN GUARANTEED NOT +0 (CALL IT F).
022486,000801: 17,3031           13036                           TCF      ZEROURG                               #  EDOT.G.+0, F.G.+0.
022487,000802: 17,3032           11460                           CCS      FPQRMIN                               #  EDOT.L.-0.
022488,000803: 17,3033           13042                           TCF      NORMURG                               #  EDOT.L.-0, F.G.+0 / EDOT.G.+0, F.L.-0.
022489,000804: 17,3034           13042                           TCF      NORMURG                               #  EDOT.G.+0, F.E.-0 (FROM FIRST CCS).
022490,000805: 17,3035           13036                           TCF      ZEROURG                               #  EDOT.L.-0, F.L.-0.
022491,000806: 17,3036           00006        ZEROURG            EXTEND                                         #  EDOT.L.-0, F.E.-0 (FROM 2ND CCS).
022492,000807: 17,3037           33117                           DCA      DPZEROY                               #  THIS URGENCY IS ZERO.
022493,000808: 17,3040           53503                           DXCH     URGENCYQ                              
022494,000809: 17,3041           13047                           TCF      MOREURG                               #  TEST FOR NEXT AXIS
022495,000810: 
022496,000811: 17,3042           31460        NORMURG            CAE      FPQRMIN                               #  THIS URGENCY IS FPQRMIN(1/ACC).
022497,000812: 17,3043           00006        URGMULT            EXTEND                                         
022498,000813: 17,3044           50061                           INDEX    AXISCNTR                              
022499,000814: 17,3045           71717                           MP       1/ACCQ                                
022500,000815: 17,3046           53503                           DXCH     URGENCYQ                              #  SAVE D.P. SCALED AT 2(+9).
022501,000816: 
022502,000817: 17,3047           10061        MOREURG            CCS      AXISCNTR                              #  TEST FOR END OF LOOP
022503,000818: 17,3050           13052                           TCF      +2                                    #  CONTINUE.
022504,000819: 

Page 538

022506,000821: 17,3051           13120                           TCF      URGSCALQ                              #  FINISHED.
022507,000822: 
022508,000823: 17,3052           54061                           TS       AXISCNTR                              #  Q-AXIS
022509,000824: 
022510,000825: 17,3053           00006                           EXTEND                                         
022511,000826: 17,3054           31503                           DCA      URGENCYQ                              #  SET URGENCYR
022512,000827: 17,3055           53505                           DXCH     URGENCYR                              
022513,000828: 
022514,000829: 17,3056           53412                           DXCH     E                                     #  SET ER,EDOT(2)R
022515,000830: 17,3057           53414                           DXCH     ER                                    
022516,000831: 17,3060           55411                           TS       EQ                                    #  SET EQ
022517,000832: 17,3061           31407                           CAE      EDOT                                  
022518,000833: 17,3062           55410                           TS       EDOT(R)                               #  SET EDOT(R).
022519,000834: 
022520,000835: 17,3063           12733                           TCF      URGLOOP                               #  CONTINUE.
022521,000836: 
022522,000837:                                                                                                  #  SUFFICIENT TEST FOR URGENCY RESCALING:
022523,000838: 
022524,000839: 17,3064           11504        URGSCALR           CCS      URGENCYR                              #  IF ABVAL(URGENCYR) LESS THAN SCALE BOUND
022525,000840: 17,3065           63115                           AD       SCALEBND                              
022526,000841: 17,3066           13070                           TCF      +2                                    #  THEN BOTH URGENCIES CAN BE RESCALED FROM
022527,000842: 17,3067           63115                           AD       SCALEBND                              
022528,000843: 17,3070           00006                           EXTEND                                         #  2(+9) TO 2(+4) SECONDS.
022529,000844: 17,3071           63073                           BZMF     URGSCALE                              
022530,000845: 17,3072           13126                           TCF      URGLIMS                               
022531,000846: 
022532,000847:                                                                                                  #  RESCALE BOTH URGENCIES FROM 2(+9) TO 2(+4) SECONDS:
022533,000848: 
022534,000849: 17,3073           31502        URGSCALE           CAE      URGENCYQ                              #  SHIFT D.P. URGENCYQ LEFT 5-PLACES TO
022535,000850: 17,3074           00006                           EXTEND                                         #  FORM S.P. URGENCYQ NOW SCALED AT 16 SECS
022536,000851: 17,3075           77756                           MP       BIT6                                  
022537,000852: 17,3076           23502                           LXCH     URGENCYQ                              
022538,000853: 17,3077           31503                           CAE      URGENCYQ   +1                         
022539,000854: 17,3100           00006                           EXTEND                                         
022540,000855: 17,3101           77756                           MP       BIT6                                  
022541,000856: 17,3102           27502                           ADS      URGENCYQ                              
022542,000857: 
022543,000858: 17,3103           31504                           CAE      URGENCYR                              #  SHIFT D.P. URGENCYR LEFT 5-PLACES TO
022544,000859: 17,3104           00006                           EXTEND                                         #  FORM S.P. URGENCYR NOW SCALED AT 16 SECS
022545,000860: 17,3105           77756                           MP       BIT6                                  
022546,000861: 17,3106           23504                           LXCH     URGENCYR                              
022547,000862: 17,3107           31505                           CAE      URGENCYR   +1                         
022548,000863: 17,3110           00006                           EXTEND                                         
022549,000864: 17,3111           77756                           MP       BIT6                                  
022550,000865: 17,3112           27504                           ADS      URGENCYR                              
022551,000866: 
022552,000867: 17,3113           31477                           CAE      URGLM2                                #  SET URGENCY LIMIT FOR 2(+4) SCALING.
022553,000868: 17,3114           13127                           TCF      URGFUDGE                              
022554,000869: 
022555,000870: 17,3115           77400        SCALEBND           OCTAL    77400                                 #   -8 SECONDS SCALED AT 2(+9).

Page 539

022557,000872: 17,3116           00000 00000  DPZEROY            2DEC     0          B-28                       
022558,000873: 
022559,000874:                                                                                                  #  NECESSARY TEST FOR URGENCY RESCALING:
022560,000875: 
022561,000876: 17,3120           11502        URGSCALQ           CCS      URGENCYQ                              #  IF ABVAL(URGENCYQ) LESS THAN SCALE BOUND
022562,000877: 17,3121           63115                           AD       SCALEBND                              
022563,000878: 17,3122           13124                           TCF      +2                                    #  THEN TEST URGENCYR FOR RESCALABLE
022564,000879: 17,3123           63115                           AD       SCALEBND                              
022565,000880: 17,3124           00006                           EXTEND                                         #  MAGNITUDE.
022566,000881: 17,3125           63064                           BZMF     URGSCALR                              
022567,000882: 
022568,000883: 17,3126           31476        URGLIMS            CAE      URGLM1                                #  SET URGENCY LIMIT FOR 2(+9) SCALING.
022569,000884: 17,3127           54066        URGFUDGE           TS       URGLIMIT                              
022570,000885: 
022571,000886:                                                                                                  #  USE URGENCY FUNCTION CORRECTION FACTOR WHEN NECESSARY:
022572,000887: 
022573,000888: 17,3130           11660                           CCS      AOSQ                                  #  IF C(AOSQ) ZERO OR IF C(URGENCYQ) ZERO,
022574,000889: 17,3131           41502                           CS       URGENCYQ                              #  THEN IT IS CLEARLY UNNECESSARY TO FUDGE.
022575,000890: 17,3132           13134                           TCF      +2                                    #  WHILE MAKING THIS TEST, WE CALCULATE
022576,000891: 17,3133           31502                           CAE      URGENCYQ                              #  -SIGN(AOSQ)(URGENCYQ) WHICH IF POSITIVE
022577,000892: 17,3134           00006                           EXTEND                                         #  INDICATES THAT WE ARE TRYING TO FIGHT
022578,000893: 17,3135           63142                           BZMF     URGFUDG1                              #  THE EFFECT OF AOSQ, SO WE DO NOT FUDGE.
022579,000894: 
022580,000895: 17,3136           31725                           CAE      URGRATQ                               #  HERE WE KNOW THAT AOSQ WILL ACTUALLY
022581,000896: 17,3137           00006                           EXTEND                                         #  HELP THE RCS JETS MANEUVER FOR THIS AXIS
022582,000897: 17,3140           71502                           MP       URGENCYQ                              #  FOR THIS CSP, MULTIPLYING BY URGRATQ
022583,000898: 17,3141           55502                           TS       URGENCYQ                              #  REDUCES URGENCYQ APPROPRIATELY ENOUGH.
022584,000899: 
022585,000900: 17,3142           11661        URGFUDG1           CCS      AOSR                                  #  HERE WE DO THE SAME LOGIC FOR THE R-AXIS
022586,000901: 17,3143           41504                           CS       URGENCYR                              #  COMPUTATIONS AS WE DID FOR THE Q-AXIS AT
022587,000902: 17,3144           13146                           TCF      +2                                    #  URGFUDGE.  RATHER THAN REPEAT THE ABOVE
022588,000903: 17,3145           31504                           CAE      URGENCYR                              #  COMMENTS, WE PROVIDE A BIT OF FURTHER
022589,000904: 17,3146           00006                           EXTEND                                         #  EXPLANATION; FIRST, ONLY A S.P. URGENCY
022590,000905: 17,3147           63154                           BZMF     URGPLANE                              #  IS SAVED IF WE DO THE FUDGE, SINCE ONLY
022591,000906: 
022592,000907: 17,3150           31726                           CAE      URGRATR                               #  S.P. URGENCIES ARE REFERENCED BELOW AND
022593,000908: 17,3151           00006                           EXTEND                                         #  NO D.P. ACCURACY IS NEEDED.  SECOND, BY
022594,000909: 17,3152           71504                           MP       URGENCYR                              #  BY MULTIPLYING BY THE FUDGE RATIO DURING
022595,000910: 17,3153           55504                           TS       URGENCYR                              #  APS BURNS, WE PREVENT SOME RCS FIRINGS
022596,000911:                                                                                                  #  WHICH WOULD OVER-CORRECT DUE TO THE AOS.
022597,000912: 
022598,000913: 17,3154           31502        URGPLANE           CAE      URGENCYQ                              #  BEGIN URGENCY-PLANE COMPUTATIONS:
022599,000914: 17,3155           00006                           EXTEND                                         
022600,000915: 17,3156           13310                           BZF      BURGZERO                              #  TEST FOR BOTH URGENCIES ZERO
022601,000916: 
022602,000917: 17,3157           00006                           EXTEND                                         
022603,000918: 17,3160           73325                           MP       -TAN22.5                              
022604,000919: 17,3161           61504                           AD       URGENCYR                              
022605,000920: 17,3162           00006                           EXTEND                                         
022606,000921: 17,3163           73323                           MP       COS22.5                               

Page 540

022608,000923: 17,3164           55510                           TS       TERMA                                 #  UR.COS(22.5)-UQ.SIN(22.5)
022609,000924: 
022610,000925: 17,3165           41504                           CS       URGENCYR                              
022611,000926: 17,3166           00006                           EXTEND                                         
022612,000927: 17,3167           73325                           MP       -TAN22.5                              
022613,000928: 17,3170           61502                           AD       URGENCYQ                              
022614,000929: 17,3171           00006                           EXTEND                                         
022615,000930: 17,3172           73323                           MP       COS22.5                               
022616,000931: 17,3173           55511                           TS       TERMB                                 #  UR.SIN(22.5)+UQ.COS(22.5)
022617,000932: 
022618,000933: 17,3174           61510        A+B/A-B            AD       TERMA                                 
022619,000934: 17,3175           55506                           TS       A+B                                   
022620,000935: 17,3176           41511        A-B/ONLY           CS       TERMB                                 
022621,000936: 17,3177           61510                           AD       TERMA                                 
022622,000937: 17,3200           55507                           TS       A-B                                   
022623,000938: 
022624,000939:                                                                                                  #  AXIS AND MODE SELECTION
022625,000940: 
022626,000941: 17,3201           31511                           CAE      TERMB                                 #  B URGENCY TEST
022627,000942: 17,3202           00006                           EXTEND                                         
022628,000943: 17,3203           63326                           BZMF     NEGBURG                               
022629,000944: 
022630,000945: 17,3204           31510        POSBURG            CAE      TERMA                                 #  A URGENCY TEST
022631,000946: 17,3205           00006                           EXTEND                                         
022632,000947: 17,3206           63252                           BZMF     NETAPOSB                              
022633,000948: 
022634,000949: 17,3207           31507        POSAPOSB           CAE      A-B                                   
022635,000950: 17,3210           00006                           EXTEND                                         
022636,000951: 17,3211           63233                           BZMF     MINUSU                                #  NEGATIVE U-AXIS SELECTED
022637,000952: 
022638,000953: 17,3212           31722        2/4JET-R           CAE      1/AMINR                               
022639,000954: 17,3213           55633                           TS       .5ACCMNE                              
022640,000955: 17,3214           00006                           EXTEND                                         
022641,000956: 17,3215           31414                           DCA      ER                                    
022642,000957: 17,3216           53412                           DXCH     E                                     
022643,000958: 17,3217           31410                           CAE      EDOT(R)                               
022644,000959: 17,3220           55407                           TS       EDOT                                  
022645,000960: 17,3221           30066                           CAE      URGLIMIT                              
022646,000961: 17,3222           61504                           AD       URGENCYR                              
022647,000962: 17,3223           00006                           EXTEND                                         
022648,000963: 17,3224           63227                           BZMF     2JETS-R                               
022649,000964: 
022650,000965: 17,3225           47763        4JETS-R            CS       ONE                                   
022651,000966: 17,3226           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022652,000967: 
022653,000968: 17,3227           11671        2JETS-R            CCS      NJ-R                                  
022654,000969: 17,3230           13225                           TCF      4JETS-R                               
022655,000970: 17,3231           47762                           CS       TWO                                   
022656,000971: 17,3232           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022657,000972: 

Page 541

022659,000974: 17,3233           31723        MINUSU             CAE      1/AMINU                               
022660,000975: 17,3234           55633                           TS       .5ACCMNE                              
022661,000976: 17,3235           31502                           CAE      URGENCYQ                              
022662,000977: 17,3236           61504                           AD       URGENCYR                              
022663,000978: 17,3237           60066                           AD       URGLIMIT                              
022664,000979: 17,3240           00006                           EXTEND                                         
022665,000980: 17,3241           63245                           BZMF     2JETS-U                               
022666,000981: 
022667,000982: 17,3242           03445        2JETSM-U           TC       UXFORM                                
022668,000983: 17,3243           36311        2-U.RATE           CAF      THREE                                 
022669,000984: 17,3244           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022670,000985: 
022671,000986: 17,3245           11673        2JETS-U            CCS      NJ-U                                  
022672,000987: 17,3246           13242                           TCF      2JETSM-U                              
022673,000988: 17,3247           03445                           TC       UXFORM                                
022674,000989: 17,3250           37762                           CAF      TWO                                   
022675,000990: 17,3251           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022676,000991: 
022677,000992: 17,3252           31506        NETAPOSB           CAE      A+B                                   
022678,000993: 17,3253           00006                           EXTEND                                         
022679,000994: 17,3254           63271                           BZMF     PLUSV                                 
022680,000995: 
022681,000996: 17,3255           31721        2/4JET-Q           CAE      1/AMINQ                               
022682,000997: 17,3256           55633                           TS       .5ACCMNE                              
022683,000998: 17,3257           30066                           CAE      URGLIMIT                              
022684,000999: 17,3260           61502                           AD       URGENCYQ                              
022685,001000: 17,3261           00006                           EXTEND                                         
022686,001001: 17,3262           63265                           BZMF     2JETS-Q                               
022687,001002: 
022688,001003: 17,3263           47766        4JETS-Q            CS       FIVE                                  
022689,001004: 17,3264           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022690,001005: 
022691,001006: 17,3265           11667        2JETS-Q            CCS      NJ-Q                                  
022692,001007: 17,3266           13263                           TCF      4JETS-Q                               
022693,001008: 17,3267           46306                           CS       SIX                                   
022694,001009: 17,3270           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022695,001010: 
022696,001011: 17,3271           31724        PLUSV              CAE      1/AMINV                               
022697,001012: 17,3272           55633                           TS       .5ACCMNE                              
022698,001013: 17,3273           41504                           CS       URGENCYR                              
022699,001014: 17,3274           61502                           AD       URGENCYQ                              
022700,001015: 17,3275           60066                           AD       URGLIMIT                              
022701,001016: 17,3276           00006                           EXTEND                                         
022702,001017: 17,3277           63303                           BZMF     2JETS+V                               
022703,001018: 
022704,001019: 17,3300           03437        2JETSM+V           TC       VXFORM                                
022705,001020: 17,3301           37766        2+V.RATE           CAF      FIVE                                  
022706,001021: 17,3302           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022707,001022: 
022708,001023: 17,3303           11674        2JETS+V            CCS      NJ+V                                  

Page 542

022710,001025: 17,3304           13300                           TCF      2JETSM+V                              
022711,001026: 17,3305           03437                           TC       VXFORM                                
022712,001027: 17,3306           37761                           CAF      FOUR                                  
022713,001028: 17,3307           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022714,001029: 
022715,001030: 17,3310           31504        BURGZERO           CAE      URGENCYR                              #  TEST FOR SECOND URGENCY ALSO ZERO
022716,001031: 17,3311           00006                           EXTEND                                         
022717,001032: 17,3312           12651                           BZF      GIMBLTRY                              #  BOTH URGENCIES ZERO.  TRY THE GTS.
022718,001033: 
022719,001034: 17,3313           00006                           EXTEND                                         #  TIME SAVING A+B CALCULATION
022720,001035: 17,3314           73324                           MP       SIN22.5                               
022721,001036: 17,3315           55511                           TS       TERMB                                 #  US.SIN(22.5)
022722,001037: 17,3316           31504                           CAE      URGENCYR                              
022723,001038: 17,3317           00006                           EXTEND                                         
022724,001039: 17,3320           73323                           MP       COS22.5                               
022725,001040: 17,3321           55510                           TS       TERMA                                 #  UR.COS(22.5)
022726,001041: 17,3322           13176                           TCF      A-B/ONLY                              
022727,001042: 
022728,001043: 17,3323           35441        COS22.5            DEC      0.92388                               #  COSINE OF 22.5 DEGREES
022729,001044: 17,3324           14176        SIN22.5            DEC      0.38268                               #  SINE OF 22.5 DEGREES
022730,001045: 17,3325           62575        -TAN22.5           DEC      -.41421                               #  NEGATIVE OF TANGENT OF 22.5 DEGREES
022731,001046: 
022732,001047: 17,3326           31510        NEGBURG            CAE      TERMA                                 #  A URGENCY TEST
022733,001048: 17,3327           00006                           EXTEND                                         
022734,001049: 17,3330           63353                           BZMF     NEGANEGB                              
022735,001050: 
022736,001051: 17,3331           31506        POSANEGB           CAE      A+B                                   
022737,001052: 17,3332           00006                           EXTEND                                         
022738,001053: 17,3333           63416                           BZMF     2/4JET+Q                              
022739,001054: 
022740,001055: 17,3334           31724        MINUSV             CAE      1/AMINV                               
022741,001056: 17,3335           55633                           TS       .5ACCMNE                              
022742,001057: 17,3336           41502                           CS       URGENCYQ                              
022743,001058: 17,3337           61504                           AD       URGENCYR                              
022744,001059: 17,3340           60066                           AD       URGLIMIT                              
022745,001060: 17,3341           00006                           EXTEND                                         
022746,001061: 17,3342           63346                           BZMF     2JETS-V                               
022747,001062: 
022748,001063: 17,3343           03437        2JETSM-V           TC       VXFORM                                
022749,001064: 17,3344           37765        2-V.RATE           CAF      SEVEN                                 
022750,001065: 17,3345           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022751,001066: 
022752,001067: 17,3346           11675        2JETS-V            CCS      NJ-V                                  
022753,001068: 17,3347           13343                           TCF      2JETSM-V                              
022754,001069: 17,3350           03437                           TC       VXFORM                                
022755,001070: 17,3351           36306                           CAF      SIX                                   
022756,001071: 17,3352           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022757,001072: 
022758,001073: 17,3353           31507        NEGANEGB           CAE      A-B                                   
022759,001074: 17,3354           00006                           EXTEND                                         

Page 543

022761,001076: 17,3355           63375                           BZMF     2/4JET+R                              
022762,001077: 
022763,001078: 17,3356           31723        PLUSU              CAE      1/AMINU                               
022764,001079: 17,3357           55633                           TS       .5ACCMNE                              
022765,001080: 17,3360           40066                           CS       URGLIMIT                              
022766,001081: 17,3361           61502                           AD       URGENCYQ                              
022767,001082: 17,3362           61504                           AD       URGENCYR                              
022768,001083: 17,3363           00006                           EXTEND                                         
022769,001084: 17,3364           63372                           BZMF     2JETSM+U                              
022770,001085: 
022771,001086: 17,3365           11672        2JETS+U            CCS      NJ+U                                  
022772,001087: 17,3366           13372                           TCF      2JETSM+U                              
022773,001088: 17,3367           03445                           TC       UXFORM                                
022774,001089: 17,3370           37767                           CAF      ZERO                                  
022775,001090: 17,3371           13431                           TCF      POLTYPE                               #  GO TO FIND BEST POLICY
022776,001091: 
022777,001092: 17,3372           03445        2JETSM+U           TC       UXFORM                                
022778,001093: 17,3373           37763        2+U.RATE           CAF      ONE                                   
022779,001094: 17,3374           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022780,001095: 
022781,001096: 17,3375           31722        2/4JET+R           CAE      1/AMINR                               
022782,001097: 17,3376           55633                           TS       .5ACCMNE                              
022783,001098: 17,3377           00006                           EXTEND                                         
022784,001099: 17,3400           31414                           DCA      ER                                    
022785,001100: 17,3401           53412                           DXCH     E                                     
022786,001101: 17,3402           31410                           CAE      EDOT(R)                               
022787,001102: 17,3403           55407                           TS       EDOT                                  
022788,001103: 17,3404           41504                           CS       URGENCYR                              
022789,001104: 17,3405           60066                           AD       URGLIMIT                              
022790,001105: 17,3406           00006                           EXTEND                                         
022791,001106: 17,3407           63412                           BZMF     2JETS+R                               
022792,001107: 
022793,001108: 17,3410           46311        4JETS+R            CS       THREE                                 
022794,001109: 17,3411           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022795,001110: 
022796,001111: 17,3412           11670        2JETS+R            CCS      NJ+R                                  
022797,001112: 17,3413           13410                           TCF      4JETS+R                               
022798,001113: 17,3414           47761                           CS       FOUR                                  
022799,001114: 17,3415           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022800,001115: 
022801,001116: 17,3416           31721        2/4JET+Q           CAE      1/AMINQ                               
022802,001117: 17,3417           55633                           TS       .5ACCMNE                              
022803,001118: 17,3420           41502                           CS       URGENCYQ                              
022804,001119: 17,3421           60066                           AD       URGLIMIT                              
022805,001120: 17,3422           00006                           EXTEND                                         
022806,001121: 17,3423           63426                           BZMF     2JETS+Q                               
022807,001122: 
022808,001123: 17,3424           47765        4JETS+Q            CS       SEVEN                                 
022809,001124: 17,3425           13431                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022810,001125: 

Page 544

022812,001127: 17,3426           11666        2JETS+Q            CCS      NJ+Q                                  
022813,001128: 17,3427           13424                           TCF      4JETS+Q                               
022814,001129: 17,3430           47760                           CS       EIGHT                                 
022815,001130: 
022816,001131:                                                                                                  #  GENERALIZED CALLING SEQUENCE FOR ALL Q,R-AXES ROTATIONS (FROM BANK 17):
022817,001132: 
022818,001133: 17,3431           54061        POLTYPE            TS       NETACNDX                              #  SAVE INDEX INDICATING AXIS, DIRECTION,
022819,001134: 17,3432           00006                           EXTEND                                         #  AND NUMBER OF JETS REQUESTED (THIS SPEC-
022820,001135: 17,3433           33436                           DCA      POLADR                                #  IFIES THE "OPTIMAL" POLICY.  TRANSFER
022821,001136: 17,3434           52006                           DTCB                                           #  ACROSS BANKS TO POLICY SELECTION ROUTINE
022822,001137: 
022823,001138: 17,3435  E6,1471                                  EBANK=   JTSONNOW                              
022824,001139: 17,3435           02321 40066  POLADR             2CADR    POLTYPEP                              #  2CADR OF JET POLICY SELECT ROUINTE.
022825,001140: 
022826,001141: 

Page 545

022828,001143:                                                                                                  #  SUBROUTINES UXFORM AND VXFORM CALCULATE NEEDED VALUES FOR T-JET LAW
022829,001144:                                                                                                  #  (THEY GO OFF TO REDUCE RATE, IF NECESSARY, AND THEN DO NOT RETURN)
022830,001145: 
022831,001146: 17,3437           31713        VXFORM             CAE      1/2JETSV                              #  GET INVERSE OF V-JET ACCELERATION
022832,001147: 17,3440           54066                           TS       1/NJETAC                              
022833,001148: 17,3441           41411                           CS       EQ                                    #  COMPLEMENT FOR TRANSFORMATION
022834,001149: 17,3442           55411                           TS       EQ                                    
022835,001150: 17,3443           41423                           CS       EDOTQ                                 
022836,001151: 17,3444           13450                           TCF      UVXFORM    +1                         
022837,001152: 17,3445           31707        UXFORM             CAE      1/2JETSU                              #  SET INVERSE OF U-JET ACCELERATION
022838,001153: 17,3446           54066                           TS       1/NJETAC                              
022839,001154: 
022840,001155: 17,3447           31423        UVXFORM            CAE      EDOTQ                                 #  TRANSFORM ANGULAR RATE TO U/V-AXIS
022841,001156: 17,3450           61424                           AD       EDOTR                                 
022842,001157: 17,3451           00006                           EXTEND                                         
022843,001158: 17,3452           73525                           MP       .707                                  
022844,001159: 17,3453           55407                           TS       EDOT                                  #  SAVE FOR REDUCEUV
022845,001160: 17,3454           00006                           EXTEND                                         
022846,001161: 17,3455           77761                           MP       BIT3                                  
022847,001162: 17,3456           00006                           EXTEND                                         
022848,001163: 17,3457           13465                           BZF      UVEDOT                                #  BRANCH IF RESCALING SUCCESSFUL.
022849,001164: 
022850,001165: 17,3460           10000                           CCS      A                                     #  LIMIT EDOT TO +/- 11.25 DEG/SEC.
022851,001166: 17,3461           37743                           CAF      POSMAX                                
022852,001167: 17,3462           13466                           TCF      UVEDOT1                               
022853,001168: 17,3463           47743                           CS       POSMAX                                
022854,001169: 17,3464           13466                           TCF      UVEDOT1                               
022855,001170: 
022856,001171: 17,3465           30001        UVEDOT             CAE      L                                     
022857,001172: 17,3466           55407        UVEDOT1            TS       EDOT                                  #  RATE ERROR SCALED AT PI/16.
022858,001173: 17,3467           00006                           EXTEND                                         
022859,001174: 17,3470           70000                           SQUARE                                         
022860,001175: 17,3471           55412                           TS       EDOT(2)                               #  SAVE RATE SQUARED SCALED AT PI(2)/2(8)
022861,001176: 
022862,001177: 17,3472           31411                           CAE      EQ                                    #  TRANSFORM ATTITUDE ERROR TO U/V -AXIS
022863,001178: 17,3473           61413                           AD       ER                                    
022864,001179: 17,3474           00006                           EXTEND                                         
022865,001180: 17,3475           73525                           MP       .707                                  
022866,001181: 17,3476           55411                           TS       E                                     
022867,001182: 
022868,001183: 17,3477           00002                           TC       Q                                     
022869,001184: 
022870,001185: 17,3500           77545        -1.5CSPQ           DEC      -.00938                               
022871,001186: 17,3501           00014        +TJMINT6           DEC      +.00073                               
022872,001187: 17,3502           77757        -TJMIN16           DEC      -.00097                               
022873,001188: 17,3503  17,3502               -TJMINQR           EQUALS   -TJMIN16                              
022874,001189: 17,3503           00050        38.7MAT4           DEC      0.00242                               
022875,001190: 17,3504           77733        -MS35AT4           DEC      -.00219                               #  -35MS SCALED AT 4

Page 546

022877,001192: 17,3505           34344        MAXRATE            DEC      0.88889                               #  10 DEGREES/SECOND SCALED AT PI/16
022878,001193: 17,3506           31221        MAXRATE2           DEC      0.79012                               #  100 DEG(2)/SEC(2) SCALED AT PI(2)/2(8)
022879,001194: 17,3507           01552        .6DEG/SC           DEC      0.05333                               #  6/10 DEGREES/SECOND SCALED AT PI/16
022880,001195: 17,3510           31000        25/32QR            DEC      0.78125                               
022881,001196: 
022882,001197: 

Page 547

022884,001199:                                                                                                  #  THESE TWO SUBROUTINES TRANSFORM EDOTQ,EDOTR INTO THE U/V-AXIS (RESPECTIVELY) FOR THE RATE COMMAND MODE (ONLY).
022885,001200:                                                                                                  #  VALUE IS STORED IN EDOTGEN SCALED AT PI/4 RADIANS/SECOND.
022886,001201: 
022887,001202: 17,3511                                           BANK     17                                    
022888,001203: 
022889,001204: 17,3511           31707        EDOTUGEN           CAE      1/2JETSU                              #  FOR U-AXIS TRANSFORMATION
022890,001205: 17,3512           54066                           TS       1/NJETAC                              
022891,001206: 17,3513           31423                           CAE      EDOTQ                                 
022892,001207: 17,3514           13520                           TCF      +4                                    
022893,001208: 17,3515           31713        EDOTVGEN           CAE      1/2JETSV                              #  FOR V-AXIS TRANSFORMATION
022894,001209: 17,3516           54066                           TS       1/NJETAC                              
022895,001210: 17,3517           41423                           CS       EDOTQ                                 
022896,001211: 17,3520           61424                           AD       EDOTR                                 
022897,001212: 17,3521           00006                           EXTEND                                         
022898,001213: 17,3522           73525                           MP       .707                                  
022899,001214: 17,3523           55437                           TS       RATEDIF                               
022900,001215: 17,3524           00002                           TC       Q                                     
022901,001216: 
022902,001217: 
022903,001218: 17,3525           26501        .707               DEC      0.70711                               
022904,001219: 
022905,001220: 17,3526           00006        SPSBAKUP           EXTEND                                         
022906,001221: 17,3527           33532                           DCA      SPSRCSAD                              
022907,001222: 17,3530           52006                           DXCH     Z                                     
022908,001223: 17,3531  E6,1542                                  EBANK=   DT                                    
022909,001224: 17,3531           03417 42066  SPSRCSAD           2CADR    SPSRCS                                
022910,001225: 
022911,001226: 

Page 548

022913,001228:                                                                                                  #  *********TJETLAW************************************************************************************************
022914,001229: 
022915,001230: 17,3533           41407        TJETLAW            CS       EDOT                                  #  TEST ON EDOT SIGN:
022916,001231: 17,3534           00006                           EXTEND                                         
022917,001232: 17,3535           63541                           BZMF     +4                                    
022918,001233: 17,3536           55407                           TS       EDOT                                  #  SIGNS OF E AND EDOT CHANGED IF EDOT NEG,
022919,001234: 17,3537           41411                           CS       E                                     #  TO CONSIDER FUNCTIONS IN THE UPPER HALF
022920,001235: 17,3540           55411                           TS       E                                     #  OF THE E-DOT PHASE PLANE.
022921,001236: 
022922,001237: 17,3541           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(+8) RAD(2)/SEC(2)
022923,001238: 17,3542           00006                           EXTEND                                         #  1/NETACC HAS BEEN SET FOR N-JETS WITH
022924,001239: 17,3543           70066                           MP       1/NETACC                              #  IMPLICIT FACTOR OF (1/2).
022925,001240: 17,3544           61411                           AD       E                                     #  ATTITUDE ERROR SCALED AT PI RADIANS.
022926,001241: 17,3545           00006                           EXTEND                                         #  DEADBAND VALUE SCALED AT PI RADIANS.
022927,001242: 17,3546           60375                           SU       DB                                    #  E+.5EDOT/NETACC-DB
022928,001243: 17,3547           55444                           TS       HDAP                                  #  SCALED AT PI RADIANS.
022929,001244: 
022930,001245: 17,3550           00006                           EXTEND                                         
022931,001246: 17,3551           63617                           BZMF     NEGHDAP                               
022932,001247: 
022933,001248: 17,3552           31407                           CAE      EDOT                                  #  RATE ERROR; LIMITED TO +/- 11.25 DEG/SEC
022934,001249: 17,3553           00006                           EXTEND                                         #  SCALED AT PI/16 RADIANS/SECOND.
022935,001250: 17,3554           70066                           MP       1/NETACC                              #  SCALED AT 2(+8)/PI SEC(2)/RAD: (ACC) (-1)
022936,001251: 17,3555           20001                           DDOUBL                                         #  SCALED AT 2(+4) SECONDS.
022937,001252: 17,3556           55510                           TS       TERMA                                 
022938,001253: 
022939,001254: 17,3557           63500                           AD       -1.5CSPQ                              #  (EDOT/NETACC)-1.5CSP SCALED AT 16 SECS.
022940,001255: 17,3560           00006                           EXTEND                                         
022941,001256: 17,3561           63564                           BZMF     +3                                    
022942,001257: 
022943,001258: 17,3562           37746        MAXTJET            CAF      BIT14                                 #  (1/2) IS LIKE POSMAX AT THIS SCALING.
022944,001259: 17,3563           12456                           TCF      NORMRETN                              #  (OVERFLOW IS PREVENTED IN THIS WAY.)
022945,001260: 
022946,001261: 17,3564           41444                           CS       HDAP                                  #  MINIMPDB-E-(EDOT(2)/NETACC)+DB
022947,001262: 17,3565           61631                           AD       MINIMPDB                              #  SCALED AT PI RADIANS.
022948,001263: 17,3566           00006                           EXTEND                                         #  (DURING APS BURNS, MINIMPDB = -DB.)
022949,001264: 17,3567           63646                           BZMF     MAINBRCH                              
022950,001265: 
022951,001266: 17,3570           31510                           CAE      TERMA                                 #  EDOT/NETACC-35MS SCALED AT 16 SECONDS.
022952,001267: 17,3571           63504                           AD       -MS35AT4                              
022953,001268: 17,3572           00006                           EXTEND                                         #  COMPARE TIME-TO-GET-ZERO-RATE WITH 35MS.
022954,001269: 17,3573           63576                           BZMF     INZONE4                               
022955,001270: 
022956,001271: 17,3574           63503                           AD       38.7MAT4                              #  TIME-TO-GET-ZERO-RATE + 1/2 MINIMP.
022957,001272: 17,3575           13742                           TCF      TJETSCAL                              
022958,001273: 
022959,001274: 17,3576           11407        INZONE4            CCS      EDOT                                  #  IF EDOT IS EITHER 00001, 00000, 77777,
022960,001275: 17,3577           00006                           EXTEND                                         #  OR 77776 (IN OCTAL), THEN THIS CODING
022961,001276: 17,3600           12413                           BZF      XTRANS                                #  CAUSES A BRANCH TO XTRANS, NO ROTATION
022962,001277: 17,3601           00006                           EXTEND                                         #  JETS ARE FIRED. *** NOTE: IF THE EXTEND

Page 549

022964,001279: 17,3602           12413                           BZF      XTRANS                                #  CODE IS SKIPPED, BZF EXECUTES LIKE TCF.
022965,001280: 
022966,001281: 
022967,001282: 17,3603           31607                           CAE      NO.QJETS                              #  IF NO Q-AXIS JETS THEN MUST HAVE R-AXIS.
022968,001283: 17,3604           00006                           EXTEND                                         
022969,001284: 17,3605           13613                           BZF      ROTRAXIS                              
022970,001285: 
022971,001286: 17,3606           30775                           CAE      OMEGAQD                               #  WITH Q-AXIS JETS, ZERO THE RATE ERROR.
022972,001287: 17,3607           55416                           TS       OMEGAQ                                
022973,001288: 
022974,001289: 17,3610           31610                           CAE      NO.RJETS                              #  IF NO R-AXIS JETS, THEN Q-AXIS JETS WERE
022975,001290: 17,3611           00006                           EXTEND                                         #  ALREADY FOUND.
022976,001291: 17,3612           13615                           BZF      DOTJMIN                               
022977,001292: 
022978,001293: 17,3613           30776        ROTRAXIS           CAE      OMEGARD                               #  WITH R-AXIS JETS, ZERO THE RATE ERROR.
022979,001294: 17,3614           55420                           TS       OMEGAR                                
022980,001295: 
022981,001296: 17,3615           33501        DOTJMIN            CAF      +TJMINT6                              #  USE MINIMUM IMPULSE DT FOR TQR.
022982,001297: 17,3616           12456                           TCF      NORMRETN                              
022983,001298: 
022984,001299: 17,3617           31412        NEGHDAP            CAE      EDOT(2)                               #  RATE ERROR SQUARED SCALED AT PI(2)/2(8).
022985,001300: 17,3620           00006                           EXTEND                                         
022986,001301: 17,3621           71633                           MP       .5ACCMNE                              #  .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD.
022987,001302: 17,3622           61411                           AD       E                                     #  ATTITUDE ERROR SCALED AT PI RADIANS
022988,001303: 17,3623           60375                           AD       DB                                    #  DEADBANDS (2) SCALED AT PI RADIANS
022989,001304: 17,3624           61630                           AD       DBMINIMP                              #  (DURING APS BURNS DBMINIMP = 0.)
022990,001305: 17,3625           00006                           EXTEND                                         
022991,001306: 17,3626           63630                           BZMF     +2                                    
022992,001307: 17,3627           12413                           TCF      XTRANS                                #  NO ROTATION JETS NEEDED.
022993,001308: 
022994,001309: 17,3630           43505                 +2        CS       MAXRATE                               #  10 DEGREES/SECOND SCALED AT PI/16.
022995,001310: 17,3631           61407                           AD       EDOT                                  #  EDOT-MAXRATE SCALED AT PI/16 RAD/SEC.
022996,001311: 17,3632           00006                           EXTEND                                         
022997,001312: 17,3633           63635                           BZMF     +2                                    
022998,001313: 17,3634           12413                           TCF      XTRANS                                
022999,001314: 
023000,001315: 17,3635           41407                 +2        CS       EDOT                                  #  RATE ERROR SCALED AT PI/16 RAD/SEC.
023001,001316: 17,3636           00006                           EXTEND                                         #  (LIMITED TO +/- 11.25 DEG/SEC.)
023002,001317: 17,3637           70066                           MP       1/NETACC                              #  SCALED AT 2(+8)/PI SEC(2)/RAD; (ACC):-1)
023003,001318: 17,3640           20001                           DDOUBL                                         #  SCALED AT 2(+4) SECONDS.
023004,001319: 17,3641           55510                           TS       TERMA                                 
023005,001320: 
023006,001321: 17,3642           41444                           CS       HDAP                                  #  -E+(.5EDOT(2)/NETACC)+DB
023007,001322: 17,3643           61411                           AD       E                                     
023008,001323: 17,3644           61411                           AD       E                                     #  TWICE ERROR NEGATES E OF HDAP(ABOVE)
023009,001324: 17,3645           61631                           AD       MINIMPDB                              
023010,001325: 17,3646           55444        MAINBRCH           TS       HDAP                                  #  -HDAP(ABOVE)+2E+DBMINIMP AT PI RADIANS.
023011,001326: 
023012,001327: 17,3647           30066                           CAE      1/NETACC                              #  .5(1/NETACC+1/ACCMIN) SCALED AT 2(8)/PI.

Page 550

023014,001329: 17,3650           27633                           ADS      .5ACCMNE                              #  .5ACCMNE NOW HOLDS DENOM.
023015,001330: 
023016,001331: 17,3651           00006                           EXTEND                                         #  DENOM(MAXRATE(2)).HDAP AT PI RADIANS.
023017,001332: 17,3652           73506                           MP       MAXRATE2                              
023018,001333: 17,3653           61444                           AD       HDAP                                  
023019,001334: 17,3654           00006                           EXTEND                                         
023020,001335: 17,3655           63734                           BZMF     NOROOT                                
023021,001336: 
023022,001337: 17,3656           30066                           CAE      1/NETACC                              #  SAVE (1/NETACC)(2)
023023,001338: 17,3657           60000                           DOUBLE                                         
023024,001339: 17,3660           00006                           EXTEND                                         
023025,001340: 17,3661           70000                           SQUARE                                         
023026,001341: 17,3662           53514                           DXCH     INVACCSQ                              
023027,001342: 
023028,001343: 17,3663           31444                           CAE      HDAP                                  #  (HDAP)/(DENOM)
023029,001344: 17,3664           22007                           ZL                                             
023030,001345: 17,3665           00006                           EXTEND                                         
023031,001346: 17,3666           11633                           DV       .5ACCMNE                              
023032,001347: 17,3667           55727                           TS       QUOTTEMP                              
023033,001348: 
023034,001349: 17,3670           00006                           EXTEND                                         #  +(HDAP/DENOM)(1/NETACC)(2) AT 2(8) SECS.
023035,001350: 17,3671           71514                           MP       INVACCSQ   +1                         
023036,001351: 17,3672           55514                           TS       INVACCSQ   +1                         
023037,001352: 17,3673           37767                           CAF      ZERO                                  
023038,001353: 17,3674           57513                           XCH      INVACCSQ                              
023039,001354: 17,3675           00006                           EXTEND                                         
023040,001355: 17,3676           71727                           MP       QUOTTEMP                              
023041,001356: 17,3677           21514                           DAS      INVACCSQ                              
023042,001357: 
023043,001358: 17,3700           00006                           EXTEND                                         #  SAVE COPY OF ABOVE D.P. VALUE
023044,001359: 17,3701           31514                           DCA      INVACCSQ                              
023045,001360: 17,3702           53512                           DXCH     TERMB                                 
023046,001361: 
023047,001362: 17,3703           33500                           CAF      -1.5CSPQ                              #  (1.5CSP-EDOT/NETACC) AT 16 SECS.
023048,001363: 17,3704           61510                           AD       TERMA                                 
023049,001364: 17,3705           00006                           EXTEND                                         
023050,001365: 17,3706           70000                           SQUARE                                         #  (1.5CSP-EDOT/NETACC)(2) AT 256 SECS.
023051,001366: 17,3707           21514                           DAS      INVACCSQ                              #  (1.5CSP-EDOT/NETACC)(2) - TERMB
023052,001367: 
023053,001368: 17,3710           31513                           CAE      INVACCSQ                              #  CHECK HIGH ORDER PART, IF NON-ZERO.
023054,001369: 17,3711           00006                           EXTEND                                         
023055,001370: 17,3712           13714                           BZF      ONLYTST1                              
023056,001371: 17,3713           13715                           TCF      ONLYTST1   +1                         
023057,001372: 
023058,001373: 17,3714           31514        ONLYTST1           CAE      INVACCSQ   +1                         #  USE LOW ORDER PART, SINCE HIGH PART 0.
023059,001374: 17,3715           00006                           EXTEND                                         
023060,001375: 17,3716           63562                           BZMF     MAXTJET                               
023061,001376: 
023062,001377: 17,3717           33502                           CAF      -TJMIN16                              #  -EDOT/NETACC-TJMIN SCALED AT 16.
023063,001378: 17,3720           61510                           AD       TERMA                                 

Page 551

023065,001380: 17,3721           00006                           EXTEND                                         
023066,001381: 17,3722           63746                           BZMF     MAYNOJET                              
023067,001382: 
023068,001383: 17,3723           33733        PREROOT            CAF      AFTRUTAD                              #  THIS WILL CAUSE SQUARE ROOT TO BE TAKEN
023069,001384: 17,3724           55000                           TS       T5ADR                                 #  ON THE NEXT T5RUPT.
023070,001385: 17,3725           00006                           EXTEND                                         
023071,001386: 17,3726           00005                           READ     5                                     
023072,001387: 17,3727           55654                           TS       CH5TEMP                               
023073,001388: 17,3730           31471        JETSON             CAE      JTSONNOW                              #  TURN ON JETS AND END RUPT
023074,001389: 17,3731           06046                           TC       WRITEQR                               
023075,001390: 17,3732           15733                           TCF      RESUME                                
023076,001391: 
023077,001392: 17,3733           03214        AFTRUTAD           GENADR   DORUTDUM                              
023078,001393: 17,3734           33505        NOROOT             CAF      MAXRATE                               
023079,001394: 17,3735           63507                           AD       .6DEG/SC                              #  MAXRATE+DEL SCALED AT PI/16 RAD/SEC.
023080,001395: 17,3736           00006                           EXTEND                                         
023081,001396: 17,3737           70066                           MP       1/NETACC                              #  (MAXRATE+DEL)/NETACC
023082,001397: 17,3740           20001                           DDOUBL                                         #  SCALED AT 2(+4) SECONDS
023083,001398: 17,3741           61510        TJSUM              AD       TERMA                                 
023084,001399: 17,3742           60000        TJETSCAL           DOUBLE                                         #  NOW SCALED AT 2(+3) SECONDS.
023085,001400: 17,3743           00006                           EXTEND                                         
023086,001401: 17,3744           73510                           MP       25/32QR                               #  SCALED TO 16/25 2(+4) SECONDS AS TIME6.
023087,001402: 17,3745           12456                           TCF      NORMRETN                              
023088,001403: 
023089,001404: 17,3746           00006        MAYNOJET           EXTEND                                         #  RE-INITIALIZE C(INVACCSQ,D.P.)
023090,001405: 17,3747           31512                           DCA      TERMB                                 #  SINCE CLOBBERED ABOVE.
023091,001406: 17,3750           53514                           DXCH     INVACCSQ                              
023092,001407: 
023093,001408: 17,3751           33502                           CAF      -TJMIN16                              
023094,001409: 17,3752           61510                           AD       TERMA                                 #  TERMA-TJMIN SCALED AT 2(+4) SECONDS.
023095,001410: 17,3753           00006                           EXTEND                                         
023096,001411: 17,3754           70000                           SQUARE                                         #  SCALED AT 2(+8) SECONDS.
023097,001412: 17,3755           21514                           DAS      INVACCSQ                              #  FORM D.P. SUM.
023098,001413: 
023099,001414: 17,3756           31513                           CAE      INVACCSQ                              #  CHECK HIGH ORDER PART IF NON-ZERO.
023100,001415: 17,3757           00006                           EXTEND                                         
023101,001416: 17,3760           13762                           BZF      ONLYTST2                              
023102,001417: 17,3761           13763                           TCF      ONLYTST2   +1                         
023103,001418: 
023104,001419: 17,3762           31514        ONLYTST2           CAE      INVACCSQ   +1                         #  USE LOW ORDER PART, SINCE HIGH PART 0.
023105,001420: 17,3763           00006                           EXTEND                                         
023106,001421: 17,3764           63723                           BZMF     PREROOT                               
023107,001422: 17,3765           13615                           TCF      DOTJMIN                               #  FIRE FOR MINIMUM IMPULSE.
023108,001423: 17,3766           37777        CHKSUM17           OCT      37777                                 
023109,001424: 
023110,001425: 

Page 552

023112,001427:                                                                                                  #  SUBROUTINE NAME: DAPSQRT        MOD. NO. 0  DATE: DECEMBER 28, 1966
023113,001428: 
023114,001429:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
023115,001430: 
023116,001431:                                                                                                  #  DAPSQRT IS A SUBROUTINE WHICH PERFORMS THE NECESSARY AND APPROPRIATE INTERFACE FUNCTIONS BETWEEN THE LM DAP AND
023117,001432:                                                                                                  #  THE PRESENT SPROOT SUBROUTINE IN MASTER.  DAPSQRT EXPECTS A DOUBLE PRECISION ARGUMENT IN C(A,L) AND WILL SHIFT
023118,001433:                                                                                                  #  THAT QUANTITY SIX OR FOUR BITS TO THE LEFT TO FORM A MORE ACCURATE SINGLE PRECISION ARGUMENT FOR SPROOT (AND
023119,001434:                                                                                                  #  THEN SHIFT THE SINGLE PRECISION RESULT OF SPROOT THREE OR TWO BITS TO THE RIGHT IN ORDER TO MAINTAIN SCALING
023120,001435:                                                                                                  #  CONSISTENCY).  DAPSQRT ALSO PERFORMS THE HERETOFORE NEGLECTED FUNCTION OF SAVING AND RESTORING THE CONTENTS OF
023121,001436:                                                                                                  #  THE SR (SHIFT-RIGHT) REGISTER WHICH MUST BE DONE BY ALL USERS OF SPROOT IN INTERRUPT.
023122,001437: 
023123,001438:                                                                                                  #  NOTE: IF ORIGINAL C(A) = 0, THEN THE SQUARE ROOT SINGLE PRECISION ARGUMENT IS C(L), AND THE RESULT FROM SPROOT
023124,001439:                                                                                                  #  IS SHIFTED LEFT SEVEN BITS.
023125,001440: 
023126,001441:                                                                                                  #  CALLING SEQUENCE:
023127,001442: 
023128,001443:                                                                                                  #                                          L        TC     IBNKCALL        CALL IS ALWAYS FROM ANOTHER BANK.
023129,001444:                                                                                                  #                                          L +1     CADR   DAPSQRT         ENTER ROUTINE WITH C(A,L) = D.P. ARG.
023130,001445:                                                                                                  #                                          L +2     (RETURN)               C(A) = BEST VALUE OF SQUARE ROOT.
023131,001446: 
023132,001447:                                                                                                  #  ALARM/ABORT MODE: NONE.
023133,001448: 
023134,001449:                                                                                                  #  SUBROUTINES CALLED: SPROOT AND T6JOBCHK.
023135,001450: 
023136,001451:                                                                                                  #  NORMAL EXIT MODE: RETURN TO L +2.
023137,001452: 
023138,001453:                                                                                                  #  OUTPUT: C(A) AT RETURN TO CALLER IS THE BEST SINGLE PRECISION SQUARE ROOT OF THE GIVEN DOUBLE PRECISION ARGUMENT
023139,001454: 
023140,001455:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED: DOUBLE PRECISION ARGUMENT AS C(A,L).
023141,001456: 
023142,001457:                                                                                                  #  DEBRIS: ITEMP4, ITEMP5, ITEMP6 AND A,L,Q.
023143,001458: 
023144,001459: 
023145,001460: 26,2525                                           BANK     26                                    
023146,001461: 26,2525  E6,1521                                  EBANK=   FUNCTION                              
023147,001462: 
023148,001463:                                                                                                  #  SRTEMP        ERASE                                   SCRATCH CELLS FOR DAPSQRT
023149,001464:                                                                                                  #  SQRTTEMP      ERASE                                   SCRATCH CELLS FOR DAPSQRT
023150,001465:                                                                                                  #  SQRTTEMQ      ERASE                                   SCRATCH CELLS FOR DAPSQRT
023151,001466: 
023152,001467: 26,2525           55730        DAPSQRT            TS       SQRTTEMP                              #  SAVE C(A) PART OF DOUBLE PRECISION ARG.
023153,001468: 
023154,001469: 26,2526           00006                           EXTEND                                         #  SAVE C(Q) FOR RETURN TO LM DAP CALLER.
023155,001470: 26,2527           23731                           QXCH     SQRTTEMQ                              
023156,001471: 
023157,001472: 26,2530           30021                           CAE      SR                                    #  SAVE C(SR) SINCE ALL INTERRUPT PROGRAMS
023158,001473: 26,2531           60000                           DOUBLE                                         #  USING SPROOT MUST DO SO.
023159,001474: 26,2532           55727                           TS       SRTEMP                                

Page 553

023161,001476: 26,2533           06013                           TC       T6JOBCHK                              #  CHECK TIME6-RUPT BEFORE SPROOT.
023162,001477: 
023163,001478: 26,2534           31730                           CAE      SQRTTEMP                              #  RESTORE D.P. ARG. TO C(A,L), AND THEN
023164,001479: 26,2535           00006                           EXTEND                                         #  CHECK FOR C(A) = +0.  IF SO, TAKE THE
023165,001480: 26,2536           12570                           BZF      DAPSQRT3                              #  SQUARE ROOT OF C(L) AND POST-SHIFT.
023166,001481: 
023167,001482: 26,2537           72574                           MASK     DAPHIGH7                              #  IF THIS MASK PRODUCES A WORD OF ZEROS,
023168,001483: 26,2540           00006                           EXTEND                                         #  C(D.P.ARG) WILL BE SHIFTED LEFT 6 BITS
023169,001484: 26,2541           12552                           BZF      SQRTSL6                               #  WITHOUT OVERFLOWING BEFORE USING SPROOT.
023170,001485: 
023171,001486: 26,2542           72575                           MASK     DAPHIGH5                              #  IF THIS MASK PRODUCES A WORD OF ZEROS,
023172,001487: 26,2543           00006                           EXTEND                                         #  C(D.P.ARG) WILL BE SHIFTED LEFT 4 BITS
023173,001488: 26,2544           12556                           BZF      SQRTSL4                               #  WITHOUT OVERFLOWING BEFORE USING SPROOT.
023174,001489: 
023175,001490: 26,2545           31730                           CAE      SQRTTEMP                              #  GET UNSHIFTED S.P. ARGUMENT FOR SPROOT.
023176,001491: 
023177,001492: 26,2546           05417                           TC       SPROOT                                #  CALL SUBROUTINE IN FIXED-FIXED.
023178,001493: 
023179,001494: 26,2547           23727        DAPSQRT1           LXCH     SRTEMP                                #  RESTORE C(SR).
023180,001495: 26,2550           22021                           LXCH     SR                                    
023181,001496: 
023182,001497: 26,2551           01731                           TC       SQRTTEMQ                              #  RETURN WITH SQUARE ROOT AS C(A).
023183,001498: 
023184,001499: 26,2552           37753        SQRTSL6            CAF      BIT9                                  #  SET UP TO SHIFT D.P. ARG. LEFT 6 BITS
023185,001500: 26,2553           54002                           TS       Q                                     
023186,001501: 26,2554           37750                           CAF      BIT12                                 #  AND TO SHIFT SPROOT ANS. RIGHT 3 BITS.
023187,001502: 26,2555           12561                           TCF      DAPSQRT2                              
023188,001503: 
023189,001504: 26,2556           37751        SQRTSL4            CAF      BIT11                                 #  SET UP TO SHIFT D.P. ARG. LEFT 4 BITS
023190,001505: 26,2557           54002                           TS       Q                                     
023191,001506: 26,2560           37747                           CAF      BIT13                                 #  AND TO SHIFT SPROOT ANS. RIGHT 2 BITS.
023192,001507: 26,2561           57730        DAPSQRT2           XCH      SQRTTEMP                              #  (RECONSTRUCT D.P. ARGUMENT.)
023193,001508: 
023194,001509: 26,2562           00006                           EXTEND                                         #  VARIABLE LEFT SHIFT (4 OR 6 BITS).
023195,001510: 26,2563           10002                           DV       Q                                     #  (MAC HAS DIFFEQ, LM DAP HAS DV Q - PUN?)
023196,001511: 26,2564           05417        DAPROOT            TC       SPROOT                                #  CALL SUBROUTINE IN FIXED-FIXED
023197,001512: 26,2565           00006                           EXTEND                                         #  VARIABLE RIGHT SHIFT (2 OR 3 BITS).
023198,001513: 26,2566           71730                           MP       SQRTTEMP                              
023199,001514: 
023200,001515: 26,2567           12547                           TCF      DAPSQRT1                              #  RETURN SEQUENCE.
023201,001516: 
023202,001517: 26,2570           37754        DAPSQRT3           CAF      BIT8                                  #  SET UP TO SHIFT SPROOT ANS. RIGHT 7 BITS
023203,001518: 26,2571           55730                           TS       SQRTTEMP                              
023204,001519: 26,2572           30001                           CAE      L                                     #  USE C(L) AS SPROOT ARGUMENT.
023205,001520: 26,2573           12564                           TCF      DAPROOT                               
023206,001521: 
023207,001522: 26,2574           77400        DAPHIGH7           OCTAL    77400                                 
023208,001523: 26,2575           76000        DAPHIGH5           OCTAL    76000                                 
023209,001524: 

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