Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Peter McDermott. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
	DEC 13, 1966

	THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37 
        OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.

020338,000002:                                                                                                  ## Copyright:   Public domain.
020339,000003:                                                                                                  ## Filename:    P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
020340,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
020341,000005:                                                                                                  ##              It is part of an early development version of the software
020342,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
020343,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
020344,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
020345,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
020346,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
020347,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
020348,000012:                                                                                                  ##              that the code format has been changed to conform to the
020349,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
020350,000014:                                                                                                  ##              original YUL assembler.
020351,000015:                                                                                                  ## Reference:   pp. 468-490
020352,000016:                                                                                                  ## Assembler:   yaYUL
020353,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020354,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
020355,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
020356,000020:                                                                                                  ##              2017-06-03 HG   Transcribed
020357,000021:                                                                                                  ##              2017-06-15 HG   Fix operand EDOTP -> EDOT
020358,000022:                                                                                                  ##              2017-06-15 MAS  Removed a stray 'A' from an EXTEND.
020359,000023:                                                                                                  ##              2017-06-22 RSB  Proofed comment text with
020360,000024:                                                                                                  ##                              octopus/ProoferComments.
020361,000025: 

Page 468

020363,000027: 16,2346                                           BANK     16                                    
020364,000028: 16,2346  E6,1541                                  EBANK=   DT                                    
020365,000029: 
020366,000030:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
020367,000031:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
020368,000032: 
020369,000033: 16,2346           33601        PAXIS              CAF      MS30P                                 #  RESET TIMER IMMEDIATELY: DT = 30 MS
020370,000034: 16,2347           54030                           TS       TIME5                                 
020371,000035: 
020372,000036: 16,2350           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
020373,000037: 16,2351           00006                           EXTEND                                         
020374,000038: 16,2352           22012                           QXCH     QRUPT                                 
020375,000039: 
020376,000040:                                                                                                  #  CHECK TO SEE IF DAP IS STILL IN USE:
020377,000041: 
020378,000042: 16,2353           02104                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
020379,000043: 
020380,000044:                                                                                                  #  WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
020381,000045: 
020382,000046: 16,2354           00006                           EXTEND                                         #  T5ADR IS SET TO EITHER FILTER OR
020383,000047: 16,2355           31572                           DCA      PFILTADR                              #  DUMMYFIL IN A BLIND MANNER SINCE
020384,000048: 16,2356           53001                           DXCH     T5ADR                                 #  PFILTADR IS SET UP ELSEWHERE
020385,000049: 
020386,000050:                                                                                                  #  DO P AXIS RATE DERIVATION AND CONTROL LAW.
020387,000051:                                                                                                  #  DERIVE DELTA P.
020388,000052: 
020389,000053: 16,2357           37761                           CA       ZERO                                  
020390,000054: 16,2360           54061                           TS       ITEMP1                                
020391,000055: 16,2361           31610                           CAE      TP                                    
020392,000056: 16,2362           63600                           AD       NEGCSP1                               
020393,000057: 16,2363           00006                           EXTEND                                         
020394,000058: 16,2364           62370                           BZMF     DOTORQUE                              
020395,000059: 16,2365           54061                           TS       ITEMP1                                
020396,000060: 16,2366           33615                           CA       CSPAT1P                               
020397,000061: 16,2367           12376                           TCF      SCALEDTP                              
020398,000062: 16,2370           31610        DOTORQUE           CA       TP                                    
020399,000063: 16,2371           00006                           EXTEND                                         
020400,000064: 16,2372           77751                           MP       BIT5                                  
020401,000065: 16,2373           30001                           CAE      L                                     
020402,000066: 16,2374           00006                           EXTEND                                         
020403,000067: 16,2375           73603                           MP       16/25                                 
020404,000068: 16,2376           55610        SCALEDTP           TS       TP                                    
020405,000069: 16,2377           00006                           EXTEND                                         
020406,000070: 16,2400           71634                           MP       WFORP                                 
020407,000071: 16,2401           61637                           AD       (1-K)/8                               
020408,000072: 16,2402           00006                           EXTEND                                         
020409,000073: 16,2403           71610                           MP       TP                                    
020410,000074: 16,2404           00006                           EXTEND                                         
020411,000075: 16,2405           77752                           MP       BIT4                                  
020412,000076: 16,2406           31612                           CA       1JACC                                 
020413,000077: 

Page 469

020415,000079: 16,2407           00006                           EXTEND                                         
020416,000080: 16,2410           70001                           MP       L                                     
020417,000081: 16,2411           00006                           EXTEND                                         
020418,000082: 16,2412           71651                           MP       NO.PJETS                              
020419,000083: 16,2413           23603                           LXCH     JETRATE                               
020420,000084: 16,2414           30061                           CA       ITEMP1                                
020421,000085: 16,2415           55610                           TS       TP                                    
020422,000086: 
020423,000087: 16,2416           30032                           CAE      CDUX                                  
020424,000088: 16,2417           54001                           TS       L                                     
020425,000089: 16,2420           00006                           EXTEND                                         
020426,000090: 16,2421           21426                           MSU      OLDXFORP                              #  SCALED AT PI
020427,000091: 16,2422           23426                           LXCH     OLDXFORP                              
020428,000092: 16,2423           00006                           EXTEND                                         
020429,000093: 16,2424           77747                           MP       BIT7                                  
020430,000094: 16,2425           22062                           LXCH     DELTAP                                #  SCALE AT PI/2(6)
020431,000095: 16,2426           30033                           CA       CDUY                                  
020432,000096: 16,2427           54001                           TS       L                                     
020433,000097: 16,2430           00006                           EXTEND                                         
020434,000098: 16,2431           21427                           MSU      OLDYFORP                              #  SCALED AT PI
020435,000099: 16,2432           23427                           LXCH     OLDYFORP                              
020436,000100: 16,2433           00006                           EXTEND                                         
020437,000101: 16,2434           77747                           MP       BIT7                                  #  INTO L SCALED AT PI/2(6)
020438,000102: 16,2435           31404                           CA       M11                                   #  M11 SCALED AT 1
020439,000103: 16,2436           00006                           EXTEND                                         
020440,000104: 16,2437           70001                           MP       L                                     #  INTO A SCALED AT PI/2(6).
020441,000105: 16,2440           60062                           AD       DELTAP                                
020442,000106: 16,2441           00006                           EXTEND                                         
020443,000107: 16,2442           71634                           MP       WFORP                                 #  SCALED AT 2(4)=16, RESULT IN A AT PI/4.
020444,000108: 16,2443           57416                           XCH      OMEGAP                                #  W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
020445,000109: 16,2444           00006                           EXTEND                                         
020446,000110: 16,2445           71636                           MP       (1-K)                                 #  SCALED AT 1
020447,000111: 
020448,000112: 16,2446           61603                           AD       JETRATE                               #  RATE DUE TO JETS TORQUING.
020449,000113: 16,2447           27416                           ADS      OMEGAP                                #  PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
020450,000114: 16,2450           01646        PAXFILT            TC       PJUMPADR                              
020451,000115: 16,2451           32342        SKIPPAXS           CA       VISNORMQ                              
020452,000116: 16,2452           55646                           TS       PJUMPADR                              
020453,000117: 16,2453           15751                           TCF      RESUME                                
020454,000118: 
020455,000119: 16,2454           05041        CHKVISFZ           TC       T6JOBCHK                              #  CHECK FOR T6 RUPT.
020456,000120: 
020457,000121: 16,2455           37745                           CAF      VIZPHASE                              
020458,000122: 16,2456           70077                           MASK     DAPBOOLS                              
020459,000123: 16,2457           00006                           EXTEND                                         
020460,000124: 16,2460           12462                           BZF      +2                                    
020461,000125: 16,2461           13056                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
020462,000126: 
020463,000127: 16,2462           37744                           CAF      BIT10                                 #  BIT10=1 FOR RHC MINIMUM IMPULSE MODE
020464,000128: 16,2463           70077                           MASK     DAPBOOLS                              
020465,000129: 16,2464           00006                           EXTEND                                         
020466,000130: 

Page 470

020468,000132: 
020469,000133: 16,2465           12537                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
020470,000134: 
020471,000135: 16,2466           11007                           CCS      DELAYCTR                              #  DELAYCTR IS SET TO 3 BY RUPTIO
020472,000136: 
020473,000137: 16,2467           12475                           TCF      WHICHONE                              #  LOOK FOR JET TO TURN ON
020474,000138: 
020475,000139: 16,2470           12525                           TCF      CHEKALL6                              
020476,000140: 
020477,000141: 16,2471           37742                           CAF      BIT12                                 #  PERMIT NEXT RUPT10.DELAYCTR IS NEG
020478,000142: 16,2472           00006                           EXTEND                                         #  WHEN PREVIOUS READING OF 31 FOUND
020479,000143: 16,2473           05013                           WOR      13                                    #  ALL SWITCHES OPEN.
020480,000144: 16,2474           13051                           TCF      JETSOFF                               
020481,000145: 
020482,000146: 16,2475           55007        WHICHONE           TS       DELAYCTR                              #  DECREMENT DELAYCTR
020483,000147: 
020484,000148: 16,2476           37753                           CAF      BIT3                                  
020485,000149: 16,2477           00006                           EXTEND                                         
020486,000150: 16,2500           02031                           RAND     31                                    
020487,000151: 16,2501           00006                           EXTEND                                         
020488,000152: 16,2502           12511                           BZF      +MINIMP                               
020489,000153: 
020490,000154: 16,2503           37752                           CAF      BIT4                                  
020491,000155: 16,2504           00006                           EXTEND                                         
020492,000156: 16,2505           02031                           RAND     31                                    
020493,000157: 16,2506           00006                           EXTEND                                         
020494,000158: 
020495,000159: 16,2507           12513                           BZF      -MINIMP                               
020496,000160: 
020497,000161: 16,2510           13051                           TCF      JETSOFF                               
020498,000162: 
020499,000163: 16,2511           37755        +MINIMP            CAF      BIT1                                  
020500,000164: 16,2512           12514                           TCF      +2                                    
020501,000165: 16,2513           47755        -MINIMP            CS       BIT1                                  
020502,000166: 16,2514           55435                 +2        TS       TJETSIGN                              #  SAVE SIGN OF P-AXIS ROTATION
020503,000167: 
020504,000168: 16,2515           33573                           CA       PTJMINT6                              
020505,000169: 16,2516           55007                           TS       DELAYCTR                              #  AGAIN UNTIL NEXT RUPT
020506,000170: 
020507,000171: 16,2517           37737                           CAF      NEGMAX                                #  RECORD TWO JETS FOR MINIMUM IMPULSE BE-
020508,000172: 16,2520           55461                           TS       NJET                                  #  FORE SELECTING POLICY
020509,000173: 
020510,000174: 16,2521           33573                           CAF      PTJMINT6                              #  SET UP JET TIMES
020511,000175: 16,2522           55610                           TS       TP                                    
020512,000176: 16,2523           55475                           TS       TOFJTCHG                              
020513,000177: 16,2524           12730                           TCF      PJETSLEC                              #  AND GO SELECT JET POLICY
020514,000178: 
020515,000179: 16,2525           00006        CHEKALL6           EXTEND                                         
020516,000180: 16,2526           00031                           READ     31                                    
020517,000181: 16,2527           40000                           COM                                            
020518,000182: 16,2530           73612                           MASK     DAPLOW6                               
020519,000183: 16,2531           00006                           EXTEND                                         
020520,000184: 

Page 471

020522,000186: 16,2532           12534                           BZF      +2                                    
020523,000187: 
020524,000188: 16,2533           13051                           TCF      JETSOFF                               
020525,000189: 16,2534           47755                           CS       BIT1                                  #  PUTTING NEGATIVE NUMBER IN DELAYCTR
020526,000190: 16,2535           55007                           TS       DELAYCTR                              #  WILL CAUSE RUPT TO BE ENABLED NEXT TIME
020527,000191: 16,2536           13051                           TCF      JETSOFF                               
020528,000192: 
020529,000193: 16,2537           37737        DETENTCK           CA       BIT15                                 
020530,000194: 16,2540           00006                           EXTEND                                         
020531,000195: 16,2541           02031                           RAND     31                                    #  CHECK OUT-OF-DETENT BIT.INVERTED.
020532,000196: 16,2542           00006                           EXTEND                                         
020533,000197: 16,2543           12600                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT
020534,000198:                                                                                                  # ........................................................................
020535,000199: 16,2544           37755                           CAF      BIT1                                  #  IN DETENT.CHECK THE RATE COMMAND BIT
020536,000200: 16,2545           70077                           MASK     DAPBOOLS                              #  BIT1 OF DAPBOOLS IS RATE COMMAND BIT
020537,000201: 16,2546           00006                           EXTEND                                         
020538,000202: 16,2547           13056                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND
020539,000203:                                                                                                  # ........................................................................
020540,000204: 16,2550           37741                           CAF      BIT13                                 #  CHECK ATTITUDE HOLD BIT
020541,000205: 
020542,000206: 16,2551           00006                           EXTEND                                         
020543,000207: 16,2552           02031                           RAND     31                                    
020544,000208: 16,2553           00006                           EXTEND                                         
020545,000209: 16,2554           12651                           BZF      JOEY                                  #  BRANCH IF IN ATTITUDE HOLD
020546,000210:                                                                                                  # ........................................................................
020547,000211: 16,2555           11416                           CCS      OMEGAP                                #  HERE IF IN X-AXIS OVER-RIDE
020548,000212: 16,2556           12562                           TCF      +4                                    
020549,000213: 16,2557           12566                           TCF      RATEDONE                              
020550,000214: 16,2560           12562                           TCF      +2                                    
020551,000215: 16,2561           12566                           TCF      RATEDONE                              
020552,000216: 16,2562           61476                           AD       -RATEDB                               
020553,000217: 16,2563           00006                           EXTEND                                         
020554,000218: 16,2564           62566                           BZMF     RATEDONE                              
020555,000219: 16,2565           12651                           TCF      JOEY                                  
020556,000220: 
020557,000221: 16,2566           47755        RATEDONE           CS       BIT1                                  
020558,000222: 16,2567           70077                           MASK     DAPBOOLS                              
020559,000223: 16,2570           54077                           TS       DAPBOOLS                              
020560,000224: 
020561,000225:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
020562,000226: 
020563,000227: 16,2571           30032                           CA       CDUX                                  
020564,000228: 16,2572           54766                           TS       CDUXD                                 
020565,000229: 
020566,000230: 16,2573           30033                           CA       CDUY                                  
020567,000231: 16,2574           54767                           TS       CDUYD                                 
020568,000232: 16,2575           30034                           CA       CDUZ                                  
020569,000233: 16,2576           54770                           TS       CDUZD                                 
020570,000234: 
020571,000235: 16,2577           13051                           TCF      JETSOFF                               
020572,000236: 
020573,000237: 16,2600           37755        RHCMOVED           CAF      BIT1                                  #  CHECKING THE RATE COMMAND BIT
020574,000238: 16,2601           70077                           MASK     DAPBOOLS                              
020575,000239: 

Page 472

020577,000241: 16,2602           00006                           EXTEND                                         
020578,000242: 16,2603           12623                           BZF      JUSTOUT                               
020579,000243: 
020580,000244:                                                                                                  #  READ,ZERO, AND ENABLE COUNTERS
020581,000245:                                                                                                  #  SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
020582,000246: 
020583,000247: 16,2604           30043                           CAE      P-RHCCTR                              #  1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
020584,000248: 16,2605           00006                           EXTEND                                         
020585,000249: 16,2606           77745                           MP       BIT9                                  
020586,000250: 16,2607           30001                           CA       L                                     
020587,000251: 16,2610           00006                           EXTEND                                         
020588,000252: 16,2611           73602                           MP       0.88975                               
020589,000253: 16,2612           55436                           TS       PRATECOM                              #  COMMANDED RATE SCALED AT PI/4
020590,000254: 
020591,000255: 16,2613           37761                           CAF      ZERO                                  #  ZERO COUNTERS
020592,000256: 16,2614           54043                           TS       P-RHCCTR                              
020593,000257: 16,2615           54042                           TS       Q-RHCCTR                              
020594,000258: 16,2616           54044                           TS       R-RHCCTR                              
020595,000259: 16,2617           33613                           CA       BITS8,9                               #  ENABALE COUNTERS, START READING
020596,000260: 16,2620           00006                           EXTEND                                         
020597,000261: 16,2621           05013                           WOR      13                                    
020598,000262: 16,2622           12653                           TCF      OBEYRATE                              
020599,000263:                                                                                                  # ........................................................................
020600,000264: 16,2623           24077        JUSTOUT            INCR     DAPBOOLS                              #  ALWAYS SETS BIT1 ON RATE COMMAND BIT
020601,000265: 16,2624           37754                           CAF      BIT2                                  
020602,000266: 16,2625           00006                           EXTEND                                         
020603,000267: 
020604,000268: 16,2626           02030                           RAND     30                                    
020605,000269: 16,2627           00006                           EXTEND                                         
020606,000270: 16,2630           12635                           BZF      +5                                    #  BRANCH FOR ASCENT CONSTANTS
020607,000271: 
020608,000272: 16,2631           33605                           CAF      -D2JTLIM                              #  -1.4 DEG/SEC SCALED AT PI/4
020609,000273: 16,2632           55477                           TS       -2JETLIM                              
020610,000274: 16,2633           33604                           CAF      -DRATEDB                              #  -0.4 DEG/SEC SCALED AT PI/4
020611,000275: 16,2634           12640                           TCF      +4                                    
020612,000276: 
020613,000277: 16,2635           33606                 +5        CAF      -A2JTLIM                              #  -2.0 DEG/SEC SCALED AT PI/4
020614,000278: 16,2636           55477                           TS       -2JETLIM                              
020615,000279: 16,2637           33607                           CAF      -ARATEDB                              #  -1.0 DEG/SEC SCALED AT PI/4
020616,000280: 16,2640           55476                 +4        TS       -RATEDB                               
020617,000281: 
020618,000282: 16,2641           37761                           CAF      ZERO                                  #  ZERO COUNTERS
020619,000283: 16,2642           54043                           TS       P-RHCCTR                              
020620,000284: 16,2643           54042                           TS       Q-RHCCTR                              
020621,000285: 16,2644           54044                           TS       R-RHCCTR                              
020622,000286: 16,2645           33613                           CA       BITS8,9                               
020623,000287: 16,2646           00006                           EXTEND                                         
020624,000288: 16,2647           05013                           WOR      13                                    
020625,000289: 16,2650           13051                           TCF      JETSOFF                               
020626,000290:                                                                                                  # ........................................................................
020627,000291: 
020628,000292: 16,2651           37761        JOEY               CAF      ZERO                                  
020629,000293: 

Page 473

020631,000295: 16,2652           55436                           TS       PRATECOM                              
020632,000296: 
020633,000297:                                                                                                  #  IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
020634,000298: 
020635,000299: 16,2653           41416        OBEYRATE           CS       OMEGAP                                
020636,000300: 16,2654           61436                           AD       PRATECOM                              
020637,000301: 16,2655           10000                           CCS      A                                     #  IF POSITIVE, NON-ZERO, STORE POSITIVE
020638,000302: 16,2656           37755                           CAF      BIT1                                  #  P-AXIS ROTATION
020639,000303: 
020640,000304: 16,2657           12661                           TCF      +2                                    #  WILL NOT COME HERE DIRECTLY
020641,000305: 16,2660           47755                           CS       BIT1                                  #  NEGATIVE, NON-ZERO, STORE NEGATIVE
020642,000306: 16,2661           55435                           TS       TJETSIGN                              #  P-AXIS ROTATION.  NO NEG ZERO POSSIBLE
020643,000307: 
020644,000308: 16,2662           11466        OBEYRAPE           CCS      PERROR                                #  GET ABVAL OF RATE P-ERROR
020645,000309: 16,2663           12667                           TCF      +4                                    
020646,000310: 16,2664           13051                           TCF      JETSOFF                               
020647,000311: 16,2665           12667                           TCF      +2                                    
020648,000312: 16,2666           13051                           TCF      JETSOFF                               
020649,000313: 16,2667           67755                           AD       BIT1                                  
020650,000314: 16,2670           55462                           TS       PRATEDIF                              #  ABVAL OF RATE ERROR SCALED AT PI/4
020651,000315: 
020652,000316: 16,2671           05041                           TC       T6JOBCHK                              #  T6JOBCHK IS IN FIXED-FIXED
020653,000317: 
020654,000318: 16,2672           31476                           CA       -RATEDB                               
020655,000319: 16,2673           61462                           AD       PRATEDIF                              
020656,000320: 16,2674           00006                           EXTEND                                         
020657,000321: 16,2675           63051                           BZMF     JETSOFF                               #  RATE ERROR INSIDE DEADBAND
020658,000322: 
020659,000323: 16,2676           31462                           CAE      PRATEDIF                              #  START TJET COMPUTATION
020660,000324: 16,2677           00006                           EXTEND                                         
020661,000325: 16,2700           71441                           MP       1/2JTSP                               #  1/2JTACC SCALED AT 2EXP(8)/PI
020662,000326: 16,2701           00006                           EXTEND                                         
020663,000327: 
020664,000328: 16,2702           77753                           MP       BIT3                                  #  ENOUGH FOR 4 JETS
020665,000329: 16,2703           30001                           CAE      L                                     
020666,000330: 16,2704           00006                           EXTEND                                         
020667,000331: 16,2705           73610                           MP       25/32                                 #  A CONTAINS TJFT SCALED AT 2EXP(4)(16/25)
020668,000332: 16,2706           55610                           TS       TP                                    
020669,000333: 16,2707           55475                           TS       TOFJTCHG                              
020670,000334: 
020671,000335: 16,2710           31462                           CAE      PRATEDIF                              #  TEST WHETHER 2 OR 4 JETS TO BE USED BY
020672,000336: 16,2711           61477                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
020673,000337: 16,2712           00006                           EXTEND                                         
020674,000338: 16,2713           62717                           BZMF     +4                                    #  IF NEGATIVE, 2 JETS ARE ENOUGH
020675,000339: 
020676,000340: 16,2714           37735                           CAF      POSMAX                                #  POSITIVE, NON-ZERO.  PUT POSMAX IN NJET
020677,000341: 16,2715           55461                           TS       NJET                                  
020678,000342: 16,2716           12730                           TCF      PJETSLEC                              #  AND GO SELECT GOOD POLICY
020679,000343: 
020680,000344: 16,2717           37737                           CAF      NEGMAX                                #  2 JETS, PUT NEGMAX IN NJET,
020681,000345: 16,2720           55461                           TS       NJET                                  
020682,000346: 16,2721           31610                           CAE      TP                                    #  DOUBLE TP,
020683,000347: 

Page 474

020685,000349: 16,2722           60000                           DOUBLE                                         
020686,000350: 16,2723           55610                           TS       TP                                    #  AND GO CHECK MINIMUM IMPULSE
020687,000351: 
020688,000352:                                                                                                  # ........................................................................
020689,000353:                                                                                                  #  CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
020690,000354: 16,2724           55475                           TS       TOFJTCHG                              
020691,000355: 16,2725           63611                           AD       -TJMINT6                              
020692,000356: 16,2726           00006                           EXTEND                                         #    AS TP. TEST JFT TIME. IS IT GREATER OR
020693,000357: 16,2727           63051                           BZMF     JETSOFF                               #  LESS THAN A MINIMUM IMPULSE
020694,000358:                                                                                                  # ........................................................................
020695,000359: 

Page 475

020697,000361:                                                                                                  #  PROGRAM NAME: PJETSLEC                       DATE: DECEMBER 9, 1966
020698,000362: 
020699,000363:                                                                                                  #  MODIFICATION 0 BY JOHN BLISS(ADAMS ASSOCIATES) ROOM 7-286, X183
020700,000364: 
020701,000365:                                                                                                  #  LOG SECTION: P-AXIS REACTION CONTROL SYSTEM AUTOPILOT -- FIRST PUT INTO SUNBURST(III) REVISION 29
020702,000366: 
020703,000367: 
020704,000368: 
020705,000369:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020706,000370: 
020707,000371:                                                                                                  #      THE OBJECT OF PJETSLEC IS TO CHOOSE THE BEST JET POLICY WHOSE NECESSARY JETS HAVE NOT BEEN RECORDED AS
020708,000372:                                                                                                  #  FAILED IN THE CH6MASK REGISTER.  THE CONDITIONS ON SELECTION ARE THE NUMBER OF JETS REQUESTED(2 OR 4), THE
020709,000373:                                                                                                  #  SENSE OF P-AXIS ROTATION REQUIRED(+/-), AND ALTERNATING USE OF DIAGONAL FORCE-COUPLED PAIRS OF JETS.
020710,000374: 
020711,000375:                                                                                                  #      PJETSLEC FIRST READS CHANNEL 6 TO SEE IF THE JETS ARE CURRENTLY FIRING.  IF THEY ARE, THE TIME OF JET
020712,000376:                                                                                                  #  SELECTION COMPUTATION(5 MS.) IS SUBTRACTED FROM TOFJTCHG AND CONTROL GOES DIRECTLY TO TEST THE SENSE OF P-AXIS
020713,000377:                                                                                                  #  ROTATION.  THE DIAGONAL FORCE-COUPLED PAIRS OF JETS ARE NOT SWITCHED, BECAUSE IT WOULD BE INEFFICIENT TO TURN
020714,000378:                                                                                                  #  ONE OFF AND THE OTHER ON IN RAPID SUCCESSION.  IF THE JETS ARE OFF, THE MINIMUM IMPULSE DELAY TIME IS ADDED TO
020715,000379: 
020716,000380:                                                                                                  #  TOFJTCHG AND THE DIAGONAL JETS ARE SWITCHED TO COMPLY WITH THE ALTERNATION CONDITION.
020717,000381: 
020718,000382:                                                                                                  #      IF THE P-AXIS IS +, REL = 7, IF -, REL = 0,.  NJET IS TESTED NEXT; IF POSMAX, 4 JETS DESIRED, REL = REL +6,
020719,000383:                                                                                                  #  CTR = 6.  IF NEGMAX, 2 JETS DESIRED, REL = REL + 5, CTR = 5.  IF 4 JETS DESIRED, GO TO POLICY TESTING LOOP
020720,000384:                                                                                                  #  WITHOUT TESTING TO SEE WHICH DIAGONAL PAIR IS PREFERRED THIS TIME.
020721,000385: 
020722,000386:                                                                                                  #      IF 2 JETS ARE DESIRED, SEE WHETHER NO. 2 PAIR IS PREFERRED.  IF IT IS, TEST IT FIRST AND USE IT IF IT'S OK.
020723,000387:                                                                                                  #  IF IT HAS FAILED, GO TO THE TEST LOOP TO TEST THE POLICIES IN ORDER.  IF NO. 1 POLICY IS PREFERRED, GO DIRECTLY
020724,000388:                                                                                                  #  TO THE TEST LOOP.
020725,000389: 
020726,000390:                                                                                                  #      THE TEST LOOP USES REL TO PICK UP THE NEXT POLICY IN PPOLTABL AND CTR TO KEEP TRACK OF THE NUMBER OF
020727,000391:                                                                                                  #  POLICIES(1-7) TESTED.  WHEN A GOOD POLICY IS FOUND, IT IS WRITTEN INTO CHANNEL 6, OTHERWISE THE NEXT POLICY IS
020728,000392:                                                                                                  #  TRIED.  IF NO GOOD POLICIES ARE FOUND, CONTROL GOES TO ABORTJET TO TURN OFF THE JETS AND THE DAP.
020729,000393: 
020730,000394:                                                                                                  #      WHEN A GOOD POLICY IS FOUND, WRITEP IS CALLED TO WRITE THE POLICY INTO CHANNEL 6, +/-2/4 IS STORED IN
020731,000395:                                                                                                  #  NO.PJETS, AND BIT9 IS PUT INTO JTSATCHG TO CAUSE THE P-AXIS JETS TO BE TURNED OFF ON THE NEXT T6RUPT. CONTROL
020732,000396:                                                                                                  #  THEN TRANSFERS TO TORKVEC.
020733,000397: 
020734,000398:                                                                                                  #  CALLING SEQUENCES: NONE                      SUBROUTINES CALLED:
020735,000399: 
020736,000400:                                                                                                  #                                               WRITEP - WRITES C(A). THE
020737,000401:                                                                                                  #                                               SELECTED JET POLICY, INTO
020738,000402:                                                                                                  #                                               CHANNEL 6
020739,000403: 
020740,000404: 
020741,000405:                                                                                                  #  NORMAL EXIT MODES:                           ALARM OR ABORT EXIT MODES:
020742,000406: 
020743,000407:                                                                                                  #      TCF TORKVEC                                       EXTEND
020744,000408:                                                                                                  #                                                        DCA    ABORTADR
020745,000409:                                                                                                  #                                                        DTCB
020746,000410: 
020747,000411:                                                                                                  #                                                        EBANK= JTSONNOW
020748,000412: 

Page 476

020750,000414:                                                                                                  #                                               ABORTADR 2CADR  ABORTJET
020751,000415: 
020752,000416:                                                                                                  #                                               THIS SEQUENCE IS FOLLOWED
020753,000417:                                                                                                  #                                               IF NONE OF THE POLICIES IS
020754,000418:                                                                                                  #                                               WITHOUT JET FAILURES
020755,000419: 
020756,000420:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020757,000421: 
020758,000422:                                                                                                  #      TP        =  ) TIME PERIOD OF JET FIRING
020759,000423:                                                                                                  #      TOFJTCHG  =  ) AT T6 SCALING, 625 MICROSECONDS PER BIT
020760,000424:                                                                                                  #      NJET      =  37777, 40000, DEPENDING ON WHETHER 4 OR 2 JETS DESIRED
020761,000425:                                                                                                  #      TJETSIGN  = +/-00001, DEPENDING ON DISIRED SENSE OF P-AXIS ROTATION
020762,000426:                                                                                                  #      CH6MASK   =  BITS 1-8 INDICATE WHETHER CORRESPONDING JETS HAVE FAILED - BIT ON IS FAILURE, BIT OFF IS OK.
020763,000427:                                                                                                  #      DAPBOOLS,BIT5(AORBSYST) =0/1, DEPENDING UPON WHETHER DIAGONAL 1 OR DIAGONAL 2 WAS PREFERRED DURING LAST PASS
020764,000428: 
020765,000429:                                                                                                  #  OUTPUT:
020766,000430: 
020767,000431:                                                                                                  #      CHANNEL 6 - CONTAINS SELECTED JET POLICY UNLESS NONE IS AVAILABLE
020768,000432:                                                                                                  #      NO.PJETS  - +/-2/4, SENSE OF P-AXIS ROTATION AND NUMBER OF JETS USED
020769,000433:                                                                                                  #                  BY POLICY ACTUALLY SELECTED(MAY NOT = 4 IF 4 JETS RE-
020770,000434:                                                                                                  #                  QUESTED BUT ONE OR MORE JETS FAILED)
020771,000435:                                                                                                  #      TOFJTCHG  - MODIFIED BY MCOMP OR -14TOMIN DEPENDING ON WHETHER THE
020772,000436:                                                                                                  #                  JETS WERE ON WHEN PJETSLEC WAS CALLED
020773,000437:                                                                                                  #      DAPBOOLS, BIT5(AORBSYST) = 1/0, IF THE INPUT VALUE WAS 0/1, UNLESS JETS WERE ON WHEN PJETSLEC STARTED.
020774,000438: 
020775,000439:                                                                                                  #      JTSATCHG  - = BIT9, UNLESS NO POLICIES AVAILABLE
020776,000440: 
020777,000441:                                                                                                  #      NJET, TP, TJETSIGN, AND CH6MASK NOT CHANGED BY PJETSLEC
020778,000442: 
020779,000443:                                                                                                  #      REL AND CTR ARE LEFT AT THEIR LAST VALUES WHEN THE GOOD POLICY WAS
020780,000444:                                                                                                  #      FOUND
020781,000445: 
020782,000446:                                                                                                  #  DEBRIS:
020783,000447: 
020784,000448:                                                                                                  #      REL = ITEMP5
020785,000449:                                                                                                  #      CTR = ITEMP6
020786,000450:                                                                                                  #      A,L,Q
020787,000451: 
020788,000452: 16,2730           00006        PJETSLEC           EXTEND                                         #  BEGIN JET SELECT ROUTINE BY SEEING WHE-
020789,000453: 16,2731           00006                           READ     6                                     #  THER THE JETS ARE TURNED ON(CHANNEL 6
020790,000454: 16,2732           00006                           EXTEND                                         #  NON-ZERO)
020791,000455: 16,2733           12737                           BZF      +4                                    #  IF THE JETS AREN'T ON, GET MINIMP DELAY
020792,000456: 
020793,000457: 16,2734           33576                           CAF      MCOMPT                                #  CONTAINS -TIME OF JET SELECTION
020794,000458: 16,2735           27475                           ADS      TOFJTCHG                              #  ADD IT TO TOFJTCHG(TO REDUCE JET FIRING)
020795,000459: 16,2736           12746                           TCF      TESTSIGN                              #  SINCE JETS ALREADY ON, DONT SWITCH DIAGS
020796,000460: 
020797,000461: 16,2737           33577                           CAF      14-TJMIN                              #  PICK UP MINIMUM IMPULSE DELAY TIME
020798,000462: 16,2740           27475                           ADS      TOFJTCHG                              #  AND ADD TO TOFJTCHG(TO LENGTHEN FIRING)
020799,000463: 

Page 477

020801,000465: 16,2741           37751                           CAF      AORBSYST                              #  IF JETS NOT ON NOW. START BY
020802,000466: 16,2742           22077                           LXCH     DAPBOOLS                              #  SWITCHING BIT5 IN DAPBOOLS.
020803,000467: 16,2743           00006                           EXTEND                                         #  BIT5 ON - DIAGONAL JETS 15,7 AND 8, 16
020804,000468: 16,2744           06001                           RXOR     L                                     
020805,000469: 16,2745           54077                           TS       DAPBOOLS                              #  BIT5 OFF - DIAGONAL JETS 4,12 AND 3, 11
020806,000470: 
020807,000471: 16,2746           37761        TESTSIGN           CAF      ZERO                                  #  COME HERE DIRECTLY IF JETS ALREADY ON
020808,000472: 16,2747           54065                           TS       REL                                   #  INITIALIZE ADDRESSING INDEX AT ZERO
020809,000473: 
020810,000474: 16,2750           11435                           CCS      TJETSIGN                              #  TEST DIRECTION OF P-AXIS ROTATION(ROLL)
020811,000475: 16,2751           37757                           CAF      SEVEN                                 #  IF POSITIVE, GET POLICY FROM LOWER SEVEN
020812,000476: 16,2752           26065                           ADS      REL                                   #  LOCATIONS OF TABLE
020813,000477: 
020814,000478: 16,2753           11461                           CCS      NJET                                  #  SET IF 4-JET POLICY IS REQUESTED
020815,000479: 16,2754           36276                           CAF      SIX                                   #  IT IS, PICK UP 6 FOR REL AND CTR
020816,000480: 16,2755           12776                           TCF      FILCOUNT                              #  AND GO STORE THEM
020817,000481: 
020818,000482: 16,2756           37760                           CAF      FIVE                                  #  2 JETS ONLY REQUESTED, PICK UP 5, STORE
020819,000483: 16,2757           26065                           ADS      REL                                   #  IN REL AND CTR
020820,000484: 16,2760           54066                           TS       CTR                                   
020821,000485: 16,2761           40077                           CS       DAPBOOLS                              #  CHECK BIT5 IN DAPBOOLS TO SEE WHICH PAIR
020822,000486: 16,2762           77751                           MASK     AORBSYST                              #  OF DIAGONAL JETS SHOULD BE USED NEXT
020823,000487: 16,2763           10000                           CCS      A                                     
020824,000488: 16,2764           13000                           TCF      TESTPOL                               #  FIRST PAIR, SO GO TO TESTING LOOP NOW
020825,000489: 
020826,000490: 16,2765           00006                           EXTEND                                         #  SECOND PAIR, DECREMENT REL TO 4 OR 11.
020827,000491: 16,2766           26065                           DIM      REL                                   
020828,000492: 16,2767           50065                           INDEX    REL                                   #  PICK UP SECOND DIAGONAL PAIR FROM POLICY
020829,000493: 16,2770           33033                           CAF      PPOLTABL                              
020830,000494: 16,2771           71503                           MASK     CH6MASK                               #  TABLE AND COMPARE WITH FAILURE BITS
020831,000495: 16,2772           00006                           EXTEND                                         
020832,000496: 16,2773           13014                           BZF      WRITEPOL                              #  THE JETS ARE GOOD, GO WRITE IN CHANNEL
020833,000497: 
020834,000498: 16,2774           24065                           INCR     REL                                   #  THE JET(S) HAVE FAILED FOR THIS POLICY,
020835,000499: 16,2775           13000                           TCF      TESTPOL                               #  RESTORE REL AND DO TEST POLICY LOOP
020836,000500: 
020837,000501: 16,2776           26065        FILCOUNT           ADS      REL                                   #  COME HERE TO SET REL AND CTR FOR 4-JET
020838,000502: 16,2777           54066                           TS       CTR                                   #  POLICY REQUESTED.  ALSO, SET CTR -1 HERE
020839,000503: 
020840,000504: 16,3000           50065        TESTPOL            INDEX    REL                                   #  PICK UP NEXT POLICY AS LOCATED RELATIVE
020841,000505: 16,3001           33033                           CAF      PPOLTABL                              #  TO PPOLTABL BY REL.
020842,000506: 16,3002           71503                           MASK     CH6MASK                               #  COMPARE WITH FAILURE BITS
020843,000507: 16,3003           00006                           EXTEND                                         
020844,000508: 16,3004           13014                           BZF      WRITEPOL                              #  THE JETS ARE GOOD, WRITE IN THE CHANNEL
020845,000509: 
020846,000510: 16,3005           00006                           EXTEND                                         #  THE JET(S) HAVE FAILED FOR THIS POLICY
020847,000511: 16,3006           26065                           DIM      REL                                   #  DECREMENT THE INDEX.
020848,000512: 16,3007           10066                           CCS      CTR                                   #  SEE IF ALL POLICIES HAVE BEEN TESTED.
020849,000513: 16,3010           12777                           TCF      TESTPOL    -1                         #  CTR NOT ZERO, A = CTR -1, DO LOOP AGAIN
020850,000514: 16,3011           00006                           EXTEND                                         #  CTR ZERO, ALL ALLOWABLE POLICIES FAILED
020851,000515: 16,3012           33032                           DCA      ABORTADR                              #  PICK UP 2CADR OF ABORTJET
020852,000516: 

Page 478

020854,000518: 16,3013           52006                           DTCB                                           #  AND GO THERE
020855,000519: 
020856,000520: 16,3014           50065        WRITEPOL           INDEX    REL                                   #  A GOOD POLICY IS FOUND, PICK IT UP AND
020857,000521: 16,3015           33033                           CAF      PPOLTABL                              
020858,000522: 16,3016           06012                           TC       WRITEP                                #  GO WRITE IT IN CHANNEL 6 AND RETURN
020859,000523: 
020860,000524: 16,3017           10000                           CCS      A                                     #  THE POLICY IS STILL IN A, TEST NUMBER OF
020861,000525: 16,3020           37754                           CAF      TWO                                   
020862,000526: 16,3021           13023                           TCF      +2                                    #  JETS(BIT15 ON FOR 4-JET POLICIES) AND
020863,000527: 16,3022           37753                           CAF      FOUR                                  
020864,000528: 16,3023           00006                           EXTEND                                         #  MULTIPLY BY TJETSIGN(+/-1) TO GET +/-2,4
020865,000529: 16,3024           71435                           MP       TJETSIGN                              
020866,000530: 16,3025           23651                           LXCH     NO.PJETS                              #  IN L, WHICH IS THEN STORED IN NO.PJETS
020867,000531: 
020868,000532: 16,3026           37745                           CAF      BIT9                                  #  TURN OFF P-AXIS JETS AFTER T6RUPT
020869,000533: 16,3027           55472                           TS       JTSATCHG                              
020870,000534: 
020871,000535: 16,3030           13407                           TCF      TORKVEC                               #  RECONSTRUCT P TORQUE VECTOR, THEN JTLST.
020872,000536: 
020873,000537: 16,3031  E6,1471                                  EBANK=   JTSONNOW                              #  WOULD YOU BELIEVE, EBANK = 6
020874,000538: 16,3031           02243 40006  ABORTADR           2CADR    ABORTJET                              #  WHERE TO GO WHEN ALL JET POLICIES FAIL
020875,000539:                                                                                                  #  ................................................................................................................
020876,000540: 
020877,000541:                                                                                                  #  TABLE OF P-AXIS JET POLICIES IS ASSEMBLED HERE TO BE ADDRESSED BY RELATIVE INDEX FROM BASE ADDRESS PPOLTABLE
020878,000542: 
020879,000543:                                                                                                  #                                           CHANNEL 6 BITS                 INDEX                            JETS ON
020880,000544: 
020881,000545: 16,3033           00202        PPOLTABL           OCTAL    00202                                 #  REL=0    -P NON-FORCE COUPLE 4- 16, 3
020882,000546: 16,3034           00210                           OCTAL    00210                                 #  REL=1    -P NON-FORCE COUPLE 3- 11, 16
020883,000547: 16,3035           00050                           OCTAL    00050                                 #  REL=2    -P NON-FORCE COUPLE 2- 8, 11
020884,000548: 16,3036           00042                           OCTAL    00042                                 #  REL=3    -P NON-FORCE COUPLE 1- 3, 8
020885,000549: 16,3037           00240                           OCTAL    00240                                 #  REL=4    NUMBER TWO FORCE COUPLE- 8, 16
020886,000550: 16,3040           00012                           OCTAL    00012                                 #  REL=5    -P 2-JET FORCE COUPLE- 3, 11
020887,000551: 16,3041           40252                           OCTAL    40252                                 #  REL=6    -P 4-JET POLICY- 3, 8, 11, 16
020888,000552: 
020889,000553: 16,3042           00101                           OCTAL    00101                                 #  REL=7    +P NON-FORCE COUPLE 4- 7, 4
020890,000554: 16,3043           00021                           OCTAL    00021                                 #  REL=8D   +P NON-FORCE COUPLE 3- 12, 7
020891,000555: 
020892,000556: 16,3044           00024                           OCTAL    00024                                 #  REL=9D   +P NON-FORCE COUPLE 2- 15, 12
020893,000557: 16,3045           00104                           OCTAL    00104                                 #  REL=10D  +P NON-FORCE COUPLE 1- 4, 15
020894,000558: 16,3046           00005                           OCTAL    00005                                 #  REL=11D  NUMBER TWO FORCE COUPLE- 15, 7
020895,000559: 16,3047           00120                           OCTAL    00120                                 #  REL=12D  +P 2-JET FORCE COUPLE- 4, 12
020896,000560: 16,3050           40125                           OCTAL    40125                                 #  REL=13D  +P 4-JET POLICY- 4, 15, 12, 7
020897,000561: 
020898,000562:                                                                                                  #  ................................................................................................................
020899,000563: 
020900,000564: 16,3051           37761        JETSOFF            CAF      ZERO                                  
020901,000565: 16,3052           55610                           TS       TP                                    
020902,000566: 16,3053           55475                           TS       TOFJTCHG                              
020903,000567: 16,3054           06012                           TC       WRITEP                                #  TURN ON P JETS USING T6JOB SUBROUTINE
020904,000568: 

Page 479

020906,000570: 
020907,000571: 16,3055           15751                           TCF      RESUME                                
020908,000572:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION
020909,000573: 
020910,000574:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
020911,000575: 
020912,000576: 16,3056           30033        PURGENCY           CA       CDUY                                  #  P-ERROR CALCULATION
020913,000577: 16,3057           00006                           EXTEND                                         
020914,000578: 16,3060           20767                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
020915,000579: 16,3061           00006                           EXTEND                                         
020916,000580: 16,3062           71404                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
020917,000581: 16,3063           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
020918,000582: 16,3064           30032                           CA       CDUX                                  #  THIRD COMPONENT
020919,000583: 16,3065           00006                           EXTEND                                         
020920,000584: 16,3066           20766                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
020921,000585:                                                                                                  #                EXTEND
020922,000586:                                                                                                  #                MP              M13
020923,000587: 16,3067           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVR
020924,000588: 
020925,000589: 16,3070           55466                           TS       PERROR                                #  SAVE P ERROR FOR DISPLAY
020926,000590: 
020927,000591: 16,3071           30077                           CAE      DAPBOOLS                              #  BIT15 = 0 FOR SPS BACK-UP
020928,000592: 16,3072           00006                           EXTEND                                         
020929,000593: 16,3073           63145                           BZMF     NOBACKUP                              #  DAPBOOLS IS NEVER +0.
020930,000594: 16,3074           40774                           CS       OMEGAPD                               #  THIS IS THE P-AXIS RCS BACK-UP CODING
020931,000595: 16,3075           61416                           AD       OMEGAP                                
020932,000596: 16,3076           55407                           TS       EDOT                                  
020933,000597: 
020934,000598: 16,3077           37735                           CAF      SLOPEMP                               
020935,000599: 
020936,000600: 16,3100           00006                           EXTEND                                         
020937,000601: 16,3101           71411                           MP       E                                     
020938,000602: 16,3102           61407                           AD       EDOT                                  
020939,000603: 16,3103           00006                           EXTEND                                         
020940,000604: 16,3104           63131                           BZMF     PLUSDP                                
020941,000605: 
020942,000606: 16,3105           33143                           CAF      NEGDP                                 
020943,000607: 
020944,000608: 16,3106           54063        GCOMPER            TS       ITEMP3                                
020945,000609: 16,3107           31407                           CAE      EDOT                                  
020946,000610: 16,3110           00006                           EXTEND                                         
020947,000611: 16,3111           70000                           SQUARE                                         
020948,000612: 16,3112           00006                           EXTEND                                         
020949,000613: 16,3113           73144                           MP       1/2AP                                 
020950,000614: 
020951,000615: 16,3114           61411                           AD       E                                     
020952,000616: 16,3115           63143                           AD       NEGDP                                 
020953,000617: 16,3116           00006                           EXTEND                                         
020954,000618: 16,3117           63137                           BZMF     UCOAST                                
020955,000619: 
020956,000620: 16,3120           30063                           CAE      ITEMP3                                
020957,000621: 16,3121           00006                           EXTEND                                         
020958,000622: 

Page 480

020960,000624: 16,3122           63127                           BZMF     NEGPJET                               
020961,000625: 
020962,000626: 16,3123           33142                           CAF      POSP                                  
020963,000627: 16,3124           00006        JETPON             EXTEND                                         
020964,000628: 16,3125           01006                           WRITE    6                                     
020965,000629: 16,3126           15751                           TCF      RESUME                                
020966,000630: 
020967,000631: 16,3127           33141        NEGPJET            CAF      NEGP                                  
020968,000632: 16,3130           13124                           TCF      JETPON                                
020969,000633: 
020970,000634: 16,3131           41411        PLUSDP             CS       E                                     
020971,000635: 16,3132           57411                           XCH      E                                     
020972,000636: 16,3133           41407                           CS       EDOT                                  
020973,000637: 16,3134           57407                           XCH      EDOT                                  
020974,000638: 16,3135           43143                           CS       NEGDP                                 
020975,000639: 16,3136           13106                           TCF      GCOMPER                               
020976,000640: 16,3137           37761        UCOAST             CAF      ZERO                                  
020977,000641: 16,3140           13124                           TCF      JETPON                                
020978,000642: 16,3141           00120        NEGP               OCT      00120                                 
020979,000643: 16,3142           00240        POSP               OCT      00240                                 
020980,000644: 16,3143           77644        NEGDP              DEC      -0.00555                              
020981,000645: 16,3144     7735               SLOPEMP            EQUALS   POSMAX                                
020982,000646: 16,3144           06743        1/2AP              DEC      0.217                                 
020983,000647: 16,3145           37740        NOBACKUP           CAF      BIT14                                 
020984,000648: 16,3146           55710                           TS       SIGNTAG                               #  INDICATES EDOT POSITIVE FOR TIME BEING
020985,000649: 16,3147           40774                           CS       OMEGAPD                               
020986,000650: 
020987,000651: 16,3150           61416                           AD       OMEGAP                                
020988,000652: 16,3151           10000                           CCS      A                                     
020989,000653: 16,3152           13164                           TCF      SCALEDOT                              
020990,000654: 16,3153           13174                           TCF      PTJETLAW                              
020991,000655: 16,3154           13156                           TCF      REFLECT                               
020992,000656: 16,3155           13174                           TCF      PTJETLAW                              
020993,000657: 16,3156           55407        REFLECT            TS       EDOT                                  
020994,000658: 16,3157           47740                           CS       BIT14                                 
020995,000659: 16,3160           55710                           TS       SIGNTAG                               #  INDICATES EDOT REALLY NEGATIVE
020996,000660: 16,3161           41466                           CS       PERROR                                
020997,000661: 16,3162           55411                           TS       E                                     
020998,000662: 16,3163           31407                           CAE      EDOT                                  
020999,000663: 16,3164           67755        SCALEDOT           AD       BIT1                                  
021000,000664: 16,3165           00006                           EXTEND                                         
021001,000665: 16,3166           77753                           MP       BIT3                                  
021002,000666: 16,3167           00006                           EXTEND                                         
021003,000667: 16,3170           13173                           BZF      PTJETLAW   -1                         
021004,000668: 16,3171           37735                           CAF      POSMAX                                
021005,000669: 16,3172           13174                           TCF      PTJETLAW                              
021006,000670: 16,3173           30001                           CAE      L                                     
021007,000671: 16,3174           55407        PTJETLAW           TS       EDOT                                  
021008,000672: 16,3175           00006                           EXTEND                                         
021009,000673: 16,3176           71407                           MP       EDOT                                  
021010,000674: 
021011,000675: 16,3177           55412                           TS       EDOT(2)                               
021012,000676: 

Page 481

021014,000678: 16,3200           37763                           CAF      NEGONE                                
021015,000679: 16,3201           55435                           TS       TJETSIGN                              
021016,000680: 16,3202           37737                           CAF      NEGMAX                                
021017,000681: 16,3203           55461                           TS       NJET                                  #  INDICATES 2 JETS ONLY FOR TIME BEING
021018,000682: 16,3204           31412                           CAE      EDOT(2)                               
021019,000683: 16,3205           00006                           EXTEND                                         
021020,000684: 16,3206           71441                           MP       1/2JTSP                               
021021,000685: 16,3207           00006                           EXTEND                                         
021022,000686: 
021023,000687: 16,3210           77740                           MP       BIT14                                 
021024,000688: 16,3211           61411                           AD       E                                     
021025,000689: 16,3212           00006                           EXTEND                                         
021026,000690: 16,3213           61415                           SU       DB                                    
021027,000691: 16,3214           55445                           TS       FCT1                                  
021028,000692: 16,3215           00006                           EXTEND                                         
021029,000693: 16,3216           63252                           BZMF     5,6,7,8                               
021030,000694: 16,3217           31407                           CAE      EDOT                                  
021031,000695: 16,3220           00006                           EXTEND                                         
021032,000696: 16,3221           71441                           MP       1/2JTSP                               
021033,000697: 16,3222           55512                           TS       TERMA                                 
021034,000698: 16,3223           40000                           COM                                            
021035,000699: 16,3224           67743                           AD       BIT11                                 #  1SECOND SCALED AT 16 SECONDS
021036,000700: 16,3225           00006                           EXTEND                                         
021037,000701: 16,3226           63247                           BZMF     MULTIJET                              
021038,000702: 16,3227           43575                           CS       +1.5CSP                               
021039,000703: 16,3230           61512                           AD       TERMA                                 
021040,000704: 16,3231           00006                           EXTEND                                         
021041,000705: 16,3232           63235                           BZMF     +3                                    
021042,000706: 16,3233           37740        MAXPTJET           CAF      BIT14                                 
021043,000707: 16,3234           13375                           TCF      FINDSIGN                              
021044,000708: 16,3235           41445                           CS       FCT1                                  
021045,000709: 16,3236           61626                           AD       MINIMPDB                              
021046,000710: 
021047,000711: 16,3237           00006                           EXTEND                                         
021048,000712: 16,3240           63302                           BZMF     PMBR                                  
021049,000713: 16,3241           31512                           CAE      TERMA                                 
021050,000714: 16,3242           63567                           AD       -35AT16                               
021051,000715: 16,3243           00006                           EXTEND                                         
021052,000716: 16,3244           63364                           BZMF     ZONE4                                 
021053,000717: 16,3245           63571                           AD       38.7AT16                              
021054,000718: 16,3246           13344                           TCF      SCALTJET                              
021055,000719: 16,3247           37735        MULTIJET           CAF      POSMAX                                
021056,000720: 16,3250           55461                           TS       NJET                                  
021057,000721: 16,3251           13233                           TCF      MAXPTJET                              
021058,000722: 16,3252           31412        5,6,7,8            CAE      EDOT(2)                               
021059,000723: 16,3253           00006                           EXTEND                                         
021060,000724: 16,3254           72336                           MP       .5ACCMIN                              
021061,000725: 16,3255           61411                           AD       E                                     
021062,000726: 16,3256           61415                           AD       DB                                    
021063,000727: 16,3257           61625                           AD       DBMINIMP                              
021064,000728: 16,3260           00006                           EXTEND                                         
021065,000729: 16,3261           63263                           BZMF     +2                                    
021066,000730: 

Page 482

021068,000732: 16,3262           13051        ZONE5              TCF      JETSOFF                               
021069,000733: 16,3263           43565                 +2        CS       RATEMAX                               
021070,000734: 16,3264           61407                           AD       EDOT                                  
021071,000735: 16,3265           00006                           EXTEND                                         
021072,000736: 16,3266           63270                           BZMF     ZONES6,7                              
021073,000737: 16,3267           13051        ZONE8              TCF      JETSOFF                               
021074,000738: 16,3270           37755        ZONES6,7           CAF      BIT1                                  
021075,000739: 16,3271           55435                           TS       TJETSIGN                              
021076,000740: 16,3272           41407                           CS       EDOT                                  
021077,000741: 16,3273           00006                           EXTEND                                         
021078,000742: 16,3274           71441                           MP       1/2JTSP                               
021079,000743: 16,3275           55512                           TS       TERMA                                 
021080,000744: 16,3276           41445                           CS       FCT1                                  
021081,000745: 16,3277           61411                           AD       E                                     
021082,000746: 
021083,000747: 16,3300           61411                           AD       E                                     
021084,000748: 16,3301           61626                           AD       MINIMPDB                              
021085,000749: 16,3302           55445        PMBR               TS       FCT1                                  #  FCT1 NOW HOLDS -FCT5 OR -FCT2
021086,000750: 16,3303           31441                           CAE      1/2JTSP                               
021087,000751: 16,3304           00006                           EXTEND                                         
021088,000752: 16,3305           77740                           MP       BIT14                                 
021089,000753: 16,3306           62336                           AD       .5ACCMIN                              
021090,000754: 16,3307           55447                           TS       DENOM                                 
021091,000755: 16,3310           00006                           EXTEND                                         
021092,000756: 16,3311           73566                           MP       RATEMAX2                              
021093,000757: 16,3312           61445                           AD       FCT1                                  
021094,000758: 16,3313           00006                           EXTEND                                         
021095,000759: 16,3314           63350                           BZMF     MISSROOT                              
021096,000760: 16,3315           31445                           CAE      FCT1                                  
021097,000761: 16,3316           00006                           EXTEND                                         
021098,000762: 16,3317           11447                           DV       DENOM                                 
021099,000763: 16,3320           00006                           EXTEND                                         
021100,000764: 16,3321           71441                           MP       1/2JTSP                               
021101,000765: 16,3322           00006                           EXTEND                                         
021102,000766: 16,3323           71441                           MP       1/2JTSP                               
021103,000767: 16,3324           55513                           TS       TERMB                                 
021104,000768: 16,3325           43575                           CS       +1.5CSP                               
021105,000769: 16,3326           61512                           AD       TERMA                                 
021106,000770: 
021107,000771: 16,3327           00006                           EXTEND                                         
021108,000772: 16,3330           70000                           SQUARE                                         
021109,000773: 16,3331           61513                           AD       TERMB                                 
021110,000774: 16,3332           00006                           EXTEND                                         
021111,000775: 16,3333           63233                           BZMF     MAXPTJET                              
021112,000776: 16,3334           43572                           CS       TMINAT16                              
021113,000777: 16,3335           61512                           AD       TERMA                                 
021114,000778: 16,3336           00006                           EXTEND                                         
021115,000779: 16,3337           63354                           BZMF     LASTTEST                              
021116,000780: 16,3340           05041        ROOTNEXT           TC       T6JOBCHK                              
021117,000781: 16,3341           41513                           CS       TERMB                                 
021118,000782: 16,3342           05435                           TC       SPROOT                                
021119,000783: 16,3343           61512        SUMTJ              AD       TERMA                                 
021120,000784: 

Page 483

021122,000786: 16,3344           60000        SCALTJET           DOUBLE                                         
021123,000787: 16,3345           00006                           EXTEND                                         
021124,000788: 16,3346           73610                           MP       25/32                                 
021125,000789: 16,3347           13375                           TCF      FINDSIGN                              
021126,000790: 16,3350           33564        MISSROOT           CAF      RATEMAX+                              #  RATEMAX+ = RATEMAX+0.6DEGREES/SECOND
021127,000791: 16,3351           00006                           EXTEND                                         
021128,000792: 16,3352           71441                           MP       1/2JTSP                               
021129,000793: 16,3353           13343                           TCF      SUMTJ                                 
021130,000794: 16,3354           43572        LASTTEST           CS       TMINAT16                              
021131,000795: 16,3355           61512                           AD       TERMA                                 
021132,000796: 16,3356           00006                           EXTEND                                         
021133,000797: 16,3357           70000                           SQUARE                                         
021134,000798: 16,3360           61513                           AD       TERMB                                 
021135,000799: 16,3361           00006                           EXTEND                                         
021136,000800: 16,3362           63340                           BZMF     ROOTNEXT                              
021137,000801: 16,3363           13051                           TCF      JETSOFF                               
021138,000802: 16,3364           31710        ZONE4              CAE      SIGNTAG                               
021139,000803: 16,3365           00006                           EXTEND                                         
021140,000804: 16,3366           63371                           BZMF     +3                                    
021141,000805: 
021142,000806: 16,3367           43574                           CS       .1DPS                                 
021143,000807: 16,3370           13372                           TCF      +2                                    
021144,000808: 16,3371           33574                           CA       .1DPS                                 
021145,000809: 16,3372           60774                           AD       OMEGAPD                               
021146,000810: 16,3373           55416                           TS       OMEGAP                                
021147,000811: 16,3374           33573                           CAF      PTJMINT6                              
021148,000812: 16,3375           55610        FINDSIGN           TS       TP                                    
021149,000813: 16,3376           31710                           CAE      SIGNTAG                               #  NEVER ZERO
021150,000814: 16,3377           00006                           EXTEND                                         
021151,000815: 16,3400           63402                           BZMF     +2                                    #  EQUIVALENT TO BRANCH ON MINUS
021152,000816: 16,3401           13404                           TCF      +3                                    
021153,000817: 16,3402           41435                           CS       TJETSIGN                              
021154,000818: 16,3403           55435                           TS       TJETSIGN                              
021155,000819: 16,3404           31610                           CAE      TP                                    #  LOAD TOFJTCHG
021156,000820: 16,3405           55475                           TS       TOFJTCHG                              
021157,000821: 16,3406           12730                           TCF      PJETSLEC                              #  AND GO SELECT GOOD POLICY
021158,000822: 
021159,000823:                                                                                                  #  TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
021160,000824: 
021161,000825: 16,3407           41475        TORKVEC            CS       TOFJTCHG                              
021162,000826: 16,3410           63575                           AD       +1.5CSP                               #  USE 150 MS. TO TEST FOR A PAXIS SKIP.
021163,000827: 16,3411           00006                           EXTEND                                         
021164,000828: 16,3412           65751                           BZMF     RESUME                                #  TP GREATER THAN 150MS THEN DO NORMAL P.
021165,000829: 
021166,000830: 16,3413           33616                           CA       PSKIPADR                              #  SET UP A P AXIS SKIP.
021167,000831: 16,3414           55646                           TS       PJUMPADR                              #  GOES TO JTLST FROM HERE
021168,000832: 

Page 484

021170,000834: 
021171,000835:                                                                                                  #  PROGRAM NAME   JTLST
021172,000836: 
021173,000837:                                                                                                  #  WRITTEN BY  DICK GRAN ( GAEC - CALL LR-5-1331 AREA CODE 516 )
021174,000838: 
021175,000839:                                                                                                  #  THIS PROGRAM IN CONJUNCTION WITH T6-RUPT PROGRAMS ALLOWS JETS TO BE
021176,000840:                                                                                                  #  TURNED OFF AT THE COMPUTED OFF TIME. THIS TASK IS ACCOMPLISHED BY USING
021177,000841:                                                                                                  #  A JET LIST WHICH IS SET UP AS FOLLOWS ....
021178,000842: 
021179,000843:                                                                                                  #                  JET OFF TIMES    DESIRED JETS AT THIS TIME
021180,000844: 
021181,000845:                                                                                                  #                    TIME6          T6NEXTJT
021182,000846:                                                                                                  #                    T6NEXT         T6NEXTJT +1
021183,000847:                                                                                                  #                    T6NEXT +1      T6NEXTJT +2
021184,000848: 
021185,000849:                                                                                                  #  THESE LOCATIONS RECEIVE THE JET ON TIMES SCALED AS T6 (.625 MS/BIT). AS
021186,000850:                                                                                                  #  AN EXAMPLE OF HOW THE PROGRAM WORKS, CONSIDER THE FOLLOWING PROBLEM...
021187,000851:                                                                                                  #      50 MS AGO A P AXIS JET COMPUTATION DECIDED JETS 12 AND 15 SHOULD BE
021188,000852:                                                                                                  #      ON FOR 120 MS. AFTER 120 MS IT WAS FURTHER DECIDED THAT JETS 12,15
021189,000853:                                                                                                  #      16 AND 3  SHOULD BE ON UNTIL THE NEXT P AXIS COMPUTATION (WHICH
021190,000854:                                                                                                  #      OCCURS IN 200 MS AFTER THE LAST P AXIS JET COMPUTATION). AT THE
021191,000855:                                                                                                  #      CURRENT TIME THE QR AXES COMPUTES THAT JET 2 SHOULD BE ON FOR 65 MS
021192,000856:                                                                                                  #      AND JET 9 SHOULD BE ON FOR 72.5 MS. AFTER 72.5 MS NO FURTHER QR JETS
021193,000857:                                                                                                  #      SHOULD BE ON. THIS SEQUENCE OF JETS CORRESPONDS TO A +P ROTATION
021194,000858:                                                                                                  #      WITH A SIMULTANEOUS +Y AND -Z TRANSLATION AND ALSO A -V (DIAGONAL)
021195,000859:                                                                                                  #      ROTATION ABOUT THE Y AND Z AXES . NOTE JET 9 IS ON LONGER THAN JET 2
021196,000860:                                                                                                  #      WHICH WOULD BE THE CASE IF THE Q-R JETS HAD BEEN ON BEFORE. IN THIS
021197,000861: 
021198,000862:                                                                                                  #      CASE, THE FOLLOWING SEQUENCE OF EVENTS OCCURRED AT THE P AXIS
021199,000863:                                                                                                  #      COMPUTATION .....
021200,000864: 
021201,000865:                                                                                                  #           1) CHANNEL 6 WAS LOADED WITH OCTAL 24 TO TURN ON JETS 12 AND 15
021202,000866: 
021203,000867:                                                                                                  #           2) TIME 6 WAS LOADED WITH 120 MS
021204,000868: 
021205,000869:                                                                                                  #           3) T6NEXT WAS LOADED WITH +0 ( THIS INDICATES THE CONTENTS OF
021206,000870:                                                                                                  #               T6NEXT ARE NOT TO BE USED IN THE T6JOB PROGRAM)
021207,000871: 
021208,000872:                                                                                                  #           4) T6NEXTJT WAS LOADED WITH OCTAL 226 TO CAUSE JETS 3,12,15
021209,000873:                                                                                                  #               AND 16 TO GO ON WHEN T6 HAS BEEN DECREMENTED TO -0.
021210,000874: 
021211,000875:                                                                                                  #           5) THE T6 CLOCK WAS TURNED ON TO BEGIN COUNTING DOWN TIME 6
021212,000876: 
021213,000877:                                                                                                  #      AT THE QR AXES JET LIST COMPUTATION, THE T6 CLOCK HAS BEEN REDUCED
021214,000878:                                                                                                  #      TO 70 MS (120-50) THEREFORE THE FOLLOWING OCCURS ....
021215,000879: 
021216,000880:                                                                                                  #           1) CHANNEL 5 IS LOADED WITH OCTAL 40022 TO TURN ON JETS 2 AND
021217,000881:                                                                                                  #               9. ( THIS IS PERFORMED IN THE SECTION CALLED RATE)
021218,000882: 
021219,000883:                                                                                                  #           2) THE BANK IS SWITCHED FROM THE QR BANK TO THE P BANK (WHERE
021220,000884:                                                                                                  #               THE JET LIST IS STORED) AS FOLLOWS ....
021221,000885: 
021222,000886:                                                                                                  #                      DCA   JTLSTADR
021223,000887: 

Page 485

021225,000889:                                                                                                  #                      DTCB             ( IN THE QR AXES ONLY)
021226,000890: 
021227,000891:                                                                                                  #           3) THE DESIRED JET ON TIME FOR JET 2 IS COMPARED WITH T6.
021228,000892: 
021229,000893:                                                                                                  #           4) SINCE T6 IS GREATER THAN THE DESIRED JET ON TIME FOR JET 2,
021230,000894:                                                                                                  #               T6 IS CHANGED TO 65 MS AND T6NEXT  IS LOADED WITH 5 MS.
021231,000895:                                                                                                  #               ( THE DIFFERENCE BETWEEN JET ON TIME AND T6)
021232,000896: 
021233,000897:                                                                                                  #           5) T6NEXTJT IS CHANGED TO OCTAL 40020 , AND THE FORMER CONTENTS
021234,000898:                                                                                                  #               OF T6NEXTJT IS PLACED IN T6NEXTJT +1. THIS CAUSES JET 9 TO
021235,000899:                                                                                                  #               REMAIN ON AND JET 2 TO BE TURNED OFF WHEN T6 IS DECREMENTED
021236,000900:                                                                                                  #               TO ZERO. IT ALSO ASSIGNS THE P AXIS JET CODE TO THE
021237,000901:                                                                                                  #               TIME IN T6NEXT.
021238,000902: 
021239,000903:                                                                                                  #           6) THE CONTENTS OF T6NEXT (5MS) IS COMPARED WITH THE
021240,000904:                                                                                                  #               DIFFERENCE BETWEEN THE TWO QR AXIS JET ON TIMES. SINCE HERE
021241,000905:                                                                                                  #               THE DIFFERENCE IS 7.5 MS WHICH IS GREATER THAN THE CONTENTS
021242,000906:                                                                                                  #               OF T6NEXT (5MS), THE ADDITIONAL QR AXIS RUPT OCCURS AFTER
021243,000907:                                                                                                  #               THE RUPT STORED IN T6NEXT. THUS 2.5 MS (7.5 - 5) IS STORED
021244,000908:                                                                                                  #               IN T6NEXT +1
021245,000909: 
021246,000910:                                                                                                  #           7) T6NEXTJT +2 IS MADE EQUAL TO THE JETS WHICH ARE TO BE ON
021247,000911:                                                                                                  #               AFTER THE 75 MS HAS ELAPSED (IN THE CASE HERE IT IS ZERO)
021248,000912: 
021249,000913:                                                                                                  #      THUS FOR THE EXAMPLE CONSIDERED THE JET LIST IS ....
021250,000914: 
021251,000915:                                                                                                  #           JET TIMES               JET CODES
021252,000916:                                                                                                  #     TIME6     = 65MS.      T6NEXTJT    = 40020     SIGN IS NEGATIVE TO
021253,000917:                                                                                                  #     T6NEXT    =  5 MS.     T6NEXTJT +1 = 00226        INDICATES Q-R AXIS
021254,000918:                                                                                                  #     T6NEXT +1 =2.5 MS.     T6NEXTJT +2=, 40000        JETS,POSITIVE TO
021255,000919:                                                                                                  #                                                       INDICATE P JETS.
021256,000920:                                                                                                  #     CHANNEL 6 = 00024
021257,000921: 
021258,000922:                                                                                                  #     CHANNEL 5 = 00022   SIGN IS LOST ONCE THE JET CODE IS LOADED
021259,000923: 
021260,000924:                                                                                                  #  THIS EXAMPLE AND THE CODING SHOULD ALLOW ONE TO UNDERSTAND THE JET LIST.
021261,000925:                                                                                                  #    ONE FURTHER COMMENT IS IN ORDER - IF THE JET ON TIMES EXCEED 150 MS,
021262,000926:                                                                                                  #    THE JETS ARE TURNED ON AND THE JET LIST IS NOT ENTERED. IN 100 MS
021263,000927:                                                                                                  #    A NEW JET ON TIME IS COMPUTED WHICH WILL RESET THE JETS IF NEEDED.
021264,000928:                                                                                                  #    WHEN THE JET ON TIME IS LESS THAN 150MS, THE JET LIST IS LOADED AS
021265,000929:                                                                                                  #    DISCUSSED ABOVE AND THE TJET COMPUTATION IS SKIPPED NEXT TIME, THAT IS
021266,000930:                                                                                                  #    THE AXIS IS NOT REPEATED AGAIN UNTIL 200 MS HAS ELAPSED. THIS INSURES
021267,000931:                                                                                                  #    THAT WHEN A NEW JET TIME IS COMPUTED THE JET LIST WILL NOT HAVE
021268,000932:                                                                                                  #    A TIME STORED WHICH CORRESPONDS TO THE AXIS JUST COMPLETED.
021269,000933: 
021270,000934: 16,3415           10031        JTLST              CCS      TIME6                                 #   TEST CURRENT STATE OF T6.
021271,000935: 16,3416           13441                           TCF      T6ONNOW                               #   IF T6 IS + THEN CLOCK IS ON.
021272,000936: 16,3417           13423                           TCF      T6OFFNOW                              #   IF T6 IS + ZERO THEN T6 MUST BE OFF
021273,000937: 16,3420           13441                           TCF      T6ONNOW                               #     SINCE ALL DINC S LEAD TO MINUS ZERO.
021274,000938: 16,3421           05045                           TC       T6JOB                                 #  WE ARE IN THE UNIQUE STATE WHICH SAYS
021275,000939: 16,3422           13415                           TCF      JTLST                                 #    A T6 INTERRUPT IS WAITING.DO T6 JOB.
021276,000940: 

Page 486

021278,000942: 16,3423           31475        T6OFFNOW           CA       TOFJTCHG                              
021279,000943: 16,3424           54031                           TS       TIME6                                 #  WE ARE HERE IF T6 CLOCK IS OFF.
021280,000944: 16,3425           37737                           CA       BIT15                                 
021281,000945: 16,3426           00006                           EXTEND                                         #  TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
021282,000946: 16,3427           05013                           WOR      13                                    
021283,000947: 16,3430           31472                           CA       JTSATCHG                              
021284,000948: 16,3431           55004                           TS       T6NEXTJT                              
021285,000949: 16,3432           37761                           CA       ZERO                                  
021286,000950: 16,3433           57474                           XCH      ADDTLT6                               #  SET UP NEXT T6 INTERRUPT AFTER THE
021287,000951: 16,3434           55002                           TS       T6NEXT                                #    CURRENT ONE IS COMPLETE. ADDTLT6 MAY
021288,000952: 16,3435           37761                           CA       ZERO                                  #    BE ZERO IN WHICH CASE NO MORE T6.
021289,000953: 16,3436           57473                           XCH      ADDT6JTS                              
021290,000954: 16,3437           55005                           TS       T6NEXTJT   +1                         
021291,000955: 16,3440           15751                           TCF      RESUME                                
021292,000956: 
021293,000957: 16,3441           11002        T6ONNOW            CCS      T6NEXT                                #  HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
021294,000958: 16,3442           13522                           TCF      T6NXT=+                               #    ZERO OR NOT.
021295,000959: 16,3443           41475                           CS       TOFJTCHG                              #  T6NEXT IS NEVER NEGATIVE.
021296,000960: 16,3444           60031                           AD       TIME6                                 #  A CONTAINS T6 - TJET.
021297,000961: 16,3445           10000                           CCS      A                                     #  TEST SIGN OF A (SAVING THE DIFFERENCE).
021298,000962: 16,3446           67755                           AD       ONE                                   
021299,000963: 16,3447           13464                           TCF      JTSFIRST                              #  TJET IS LESS THAN T6.
021300,000964: 16,3450           13451                           NOOP                                           #  IF DIFFERENCE I SNEGATIVE OR ZERO
021301,000965: 16,3451           67755                           AD       ONE                                   #    WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
021302,000966: 16,3452           55002                           TS       T6NEXT                                
021303,000967: 16,3453           31472                           CA       JTSATCHG                              
021304,000968: 16,3454           55005                           TS       T6NEXTJT   +1                         #  BEGIN SETTING UP JETS IN THE JET LIST.
021305,000969: 16,3455           37761                           CA       ZERO                                  
021306,000970: 16,3456           57474                           XCH      ADDTLT6                               
021307,000971: 16,3457           55003                           TS       T6NEXT     +1                         
021308,000972: 16,3460           37761                           CA       ZERO                                  
021309,000973: 16,3461           57473                           XCH      ADDT6JTS                              
021310,000974: 16,3462           55006                           TS       T6NEXTJT   +2                         
021311,000975: 16,3463           15751                           TCF      RESUME                                
021312,000976: 16,3464           55002        JTSFIRST           TS       T6NEXT                                #  HERE IF TJET IS LESS THAN T6.
021313,000977: 16,3465           31475                           CA       TOFJTCHG                              
021314,000978: 16,3466           54031                           TS       TIME6                                 #  SWITCH T6 AND TJET)
021315,000979: 16,3467           31472                           CA       JTSATCHG                              
021316,000980: 
021317,000981: 16,3470           57004                           XCH      T6NEXTJT                              #  BEGIN SWITCHING JET WORDS IN JET LIST.
021318,000982: 16,3471           55005                           TS       T6NEXTJT   +1                         
021319,000983: 16,3472           41474                           CS       ADDTLT6                               
021320,000984: 16,3473           00006                           EXTEND                                         
021321,000985: 16,3474           15751                           BZF      RESUME                                #  SEE IF AN ADDITIONAL (QR) JET TIME IS
021322,000986: 16,3475           61002                           AD       T6NEXT                                #    REQUIRED.
021323,000987: 16,3476           10000                           CCS      A                                     #  IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
021324,000988: 16,3477           67755                           AD       ONE                                   #    IT WITH THE CONTENTS OF T6NEXT.
021325,000989: 16,3500           13511                           TCF      +11                                   
021326,000990: 16,3501           13502                           NOOP                                           
021327,000991: 16,3502           67755                           AD       ONE                                   
021328,000992: 16,3503           55003                           TS       T6NEXT     +1                         
021329,000993: 16,3504           37761                           CA       ZERO                                  
021330,000994: 

Page 487

021332,000996: 16,3505           55474                           TS       ADDTLT6                               
021333,000997: 16,3506           57473                           XCH      ADDT6JTS                              
021334,000998: 16,3507           55006                           TS       T6NEXTJT   +2                         
021335,000999: 16,3510           15751                           TCF      RESUME                                
021336,001000: 16,3511           55003                 +11       TS       T6NEXT     +1                         
021337,001001: 16,3512           37761                           CA       ZERO                                  
021338,001002: 16,3513           57474                           XCH      ADDTLT6                               
021339,001003: 16,3514           55002                           TS       T6NEXT                                
021340,001004: 16,3515           37761                           CA       ZERO                                  
021341,001005: 16,3516           57473                           XCH      ADDT6JTS                              
021342,001006: 16,3517           57005                           XCH      T6NEXTJT   +1                         
021343,001007: 16,3520           55006                           TS       T6NEXTJT   +2                         
021344,001008: 16,3521           15751                           TCF      RESUME                                
021345,001009: 16,3522           41475        T6NXT=+            CS       TOFJTCHG                              
021346,001010: 16,3523           60031                           AD       TIME6                                 
021347,001011: 16,3524           61002                           AD       T6NEXT                                
021348,001012: 16,3525           10000                           CCS      A                                     
021349,001013: 16,3526           67755                           AD       ONE                                   
021350,001014: 16,3527           13536                           TCF      +7                                    
021351,001015: 
021352,001016: 16,3530           13531                           NOOP                                           
021353,001017: 16,3531           67755                           AD       ONE                                   
021354,001018: 16,3532           55003                           TS       T6NEXT     +1                         
021355,001019: 16,3533           31472                           CA       JTSATCHG                              
021356,001020: 16,3534           55006                           TS       T6NEXTJT   +2                         
021357,001021: 16,3535           15751                           TCF      RESUME                                
021358,001022: 16,3536           54001                 +7        TS       L                                     
021359,001023: 16,3537           41475                           CS       TOFJTCHG                              
021360,001024: 16,3540           60031                           AD       TIME6                                 
021361,001025: 16,3541           10000                           CCS      A                                     
021362,001026: 16,3542           67755                           AD       ONE                                   
021363,001027: 16,3543           13553                           TCF      JTSB4T6                               
021364,001028: 16,3544           13545                           NOOP                                           
021365,001029: 16,3545           67755                           AD       ONE                                   
021366,001030: 16,3546           55002                           TS       T6NEXT                                
021367,001031: 16,3547           30001                           CA       L                                     
021368,001032: 16,3550           55003                           TS       T6NEXT     +1                         
021369,001033: 16,3551           31472                           CA       JTSATCHG                              
021370,001034: 16,3552           13561                           TCF      +7                                    
021371,001035: 16,3553           57002        JTSB4T6            XCH      T6NEXT                                
021372,001036: 16,3554           55003                           TS       T6NEXT     +1                         
021373,001037: 16,3555           31475                           CA       TOFJTCHG                              
021374,001038: 16,3556           54031                           TS       TIME6                                 
021375,001039: 
021376,001040: 16,3557           31472                           CA       JTSATCHG                              
021377,001041: 16,3560           57004                           XCH      T6NEXTJT                              
021378,001042: 16,3561           57005                 +7        XCH      T6NEXTJT   +1                         
021379,001043: 16,3562           57006                           XCH      T6NEXTJT   +2                         
021380,001044: 16,3563           15751                           TCF      RESUME                                
021381,001045:                                                                                                  #  T-JET LAW FIXED CONSTANTS
021382,001046: 
021383,001047: 16,3564           36115        RATEMAX+           DEC      0.94222                               
021384,001048: 

Page 488

021386,001050: 16,3565           34344        RATEMAX            DEC      0.88889                               
021387,001051: 16,3566           31221        RATEMAX2           DEC      0.79012                               
021388,001052: 
021389,001053: 16,3567           77733        -35AT16            DEC      -0.00219                              
021390,001054: 16,3570           77071        -5DEG+1            DEC      -.02772                               #  -5 DEGREES + CCSBIT SCALED AT PI RADIANS
021391,001055: 16,3571           00050        38.7AT16           DEC      0.00242                               
021392,001056: 16,3572           00010        TMINAT16           DEC      0.00047                               
021393,001057: 16,3573           00014        PTJMINT6           DEC      0.00073                               
021394,001058: 16,3574           00044        .1DPS              DEC      0.00222                               
021395,001059: 16,3575           00360        +1.5CSP            DEC      +0.01465                              
021396,001060: 16,3576           77767        MCOMPT             DEC      -0.00049                              #  -5MS. SCALED AS T6 (P-AXIS COMP TIME).
021397,001061: 16,3577           00013        14-TJMIN           DEC      11         B-14                       
021398,001062: 16,3600           77537        NEGCSP1            DEC      -.00977                               
021399,001063: 16,3601           37775        MS30P              OCTAL    37775                                 
021400,001064: 16,3602           34362        0.88975            DEC      0.88975                               
021401,001065: 16,3603           24366        16/25              DEC      0.64000                               
021402,001066: 16,3604           77555        -DRATEDB           OCTAL    77555                                 #  -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
021403,001067: 16,3605           77001        -D2JTLIM           OCTAL    77001                                 #  -1.4 DEG/SEC SCALED AT PI/4
021404,001068: 16,3606           76447        -A2JTLIM           OCTAL    76447                                 #  -2.0 DEG/SEC SCALED AT PI/4
021405,001069: 16,3607           77223        -ARATEDB           OCTAL    77223                                 #  -1.0 DEG/SEC SCALED AT PI/4
021406,001070: 16,3610           31000        25/32              DEC      .78125                                
021407,001071: 16,3611           77762        -TJMINT6           OCTAL    77762                                 #  -(7.5 MS + 1 BIT) SCALED AS TIME6 CLOCK
021408,001072: 16,3612           00077        DAPLOW6            OCT      00077                                 
021409,001073: 16,3613           00600        BITS8,9            OCTAL    00600                                 
021410,001074: 16,3614           71462        UPM                DEC      -.2                                   #  TEMPORARY ESTIMATE
021411,001075: 16,3615           03146        CSPAT1P            DEC      0.10000                               #  100 MS AT 1.
021412,001076: 
021413,001077: 16,3616           02451        PSKIPADR           GENADR   SKIPPAXS                              
021414,001078: 16,3617           37603        JETLWADR           CADR     TJETLAW                               
021415,001079: 
021416,001080: 
021417,001081: 
021418,001082: 16,3620           22016        SETIDLE            LXCH     BANKRUPT                              #  FIRST T5RUPT AFTER FRESH START COMES
021419,001083: 16,3621           32303                           CAF      IDLERADR                              #  HERE, DAPIDLER IS STARTED IN 1 SECOND.
021420,001084: 16,3622           55000                           TS       T5ADR                                 
021421,001085: 16,3623           33630                           CAF      1SECRUPT                              
021422,001086: 16,3624           54030                           TS       TIME5                                 
021423,001087: 16,3625           32076                           CAF      WIDEDB                                
021424,001088: 16,3626           55415                           TS       DB                                    
021425,001089: 16,3627           15753                           TCF      NOQRSM                                
021426,001090: 
021427,001091: 16,3630           37634        1SECRUPT           OCTAL    37634                                 #  1 SECOND SCALED AS TIME5 (100 PULSES)
021428,001092: 
021429,001093:                                                                                                  #  DUMMY FILTER RUPT AFTER P-AXIS RUPT.
021430,001094: 16,3631  E6,1656                                  EBANK=   AOSQTERM                              
021431,001095: 16,3631           33710        DUMMYFIL           CAF      TWENTYMS                              #  RESET TIMER IMEDIATELY.  DT=20 MS
021432,001096: 16,3632           54030                           TS       TIME5                                 
021433,001097: 16,3633           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD-IN (CONTINUED).
021434,001098: 
021435,001099: 16,3634           00006                           EXTEND                                         #  SET UP QRAXIS RUPT.
021436,001100: 
021437,001101: 16,3635           33712                           DCA      DFQRAXIS                              
021438,001102: 16,3636           53001                           DXCH     T5ADR                                 
021439,001103: 

Page 489

021441,001105:                                                                                                  #  INCREMENT AOSTERM IN DESCENT MODE TO IMPROVE RATE DERIVATION DURING QRAXIS CONTROL.
021442,001106: 
021443,001107: 16,3637           37754                           CAF      BIT2                                  #  STAGE BIT IS ONE FOR DESCENT.
021444,001108: 16,3640           00006                           EXTEND                                         
021445,001109: 16,3641           02030                           RAND     30                                    #  READ STAGE BIT
021446,001110: 16,3642           00006                           EXTEND                                         
021447,001111: 16,3643           15753                           BZF      NOQRSM                                #  NOT IN DESCENT MODE.     RESUME.
021448,001112: 
021449,001113: 
021450,001114: 16,3644           37740                           CAF      BIT14                                 #  IS THE ENGINE OFF BIT SET.
021451,001115: 16,3645           00006                           EXTEND                                         
021452,001116: 16,3646           02011                           RAND     11                                    #  READ ENGINE OFF BIT.
021453,001117: 16,3647           00006                           EXTEND                                         
021454,001118: 16,3650           13655                           BZF      DLOOPBGN                              #  ZERO WHEN ENGINE IS NOT OFF.
021455,001119: 
021456,001120: 16,3651           37761                           CAF      ZERO                                  #  YES.  ENGINE IS OFF.
021457,001121: 16,3652           55656                           TS       AOSQTERM                              
021458,001122: 16,3653           55657                           TS       AOSRTERM                              
021459,001123: 16,3654           15753                           TCF      NOQRSM                                #  RESUME.
021460,001124: 16,3655           37755        DLOOPBGN           CAF      BIT1                                  #  FIRST THE R-AXIS, THEN THE Q-AXIS.
021461,001125: 16,3656           54061        DLOOP              TS       ITEMP1                                
021462,001126: 16,3657           60000                           DOUBLE                                         
021463,001127: 16,3660           54062                           TS       ITEMP2                                
021464,001128: 16,3661           50061                           INDEX    ITEMP1                                
021465,001129: 16,3662           33705                           CA       PITCHBTS                              
021466,001130: 16,3663           00006                           EXTEND                                         
021467,001131: 16,3664           02012                           RAND     12                                    #  IS PITCH(ROLL) GIMBAL MOVING.
021468,001132: 16,3665           00006                           EXTEND                                         
021469,001133: 16,3666           13702                           BZF      DLOOPCHK                              #  ZERO WHEN GIMBAL IS NOT MOVING.
021470,001134: 
021471,001135:                                                                                                  #  FORM ACCDOT*CSP(2)*(1-.5*K) SCALED AT PI/4.  THIS IS THE INCREMENT TO BE ADDED TO THE OFFSET ACCELERATION TERM.
021472,001136: 
021473,001137: 16,3667           31636                           CAE      (1-K)                                 #  (1-K)   IS SCALED AT 1.
021474,001138: 16,3670           00006                           EXTEND                                         
021475,001139: 16,3671           77745                           MP       BIT9                                  #  .5*(1-K) , SCALED AT 2(5).
021476,001140: 16,3672           67745                           AD       BIT9                                  #  (1.-.5*K) SCALED AT 2(5).
021477,001141: 16,3673           00006                           EXTEND                                         
021478,001142: 16,3674           73707                           MP       CSPSQ                                 #  CSP(2)*(1.-.5*K) AT 2(5)
021479,001143: 16,3675           00006                           EXTEND                                         
021480,001144: 16,3676           50062                           INDEX    ITEMP2                                #  SELECT THE AXIS .
021481,001145: 16,3677           71532                           MP       QACCDOT                               #  QACCDOT AT PI/2(7).
021482,001146: 16,3700           50061                           INDEX    ITEMP1                                
021483,001147: 16,3701           27656                           ADS      AOSQTERM                              #  ADD INCREMENT SCALED AT PI/4.
021484,001148: 16,3702           10061        DLOOPCHK           CCS      ITEMP1                                
021485,001149: 16,3703           13656                           TCF      DLOOP                                 #  R-AXIS DONE.  NOW DO THE Q-AXIS.
021486,001150: 16,3704           15753                           TCF      NOQRSM                                #  RESUME.
021487,001151: 16,3705           01400        PITCHBTS           OCT      01400                                 #  PITCH GIMBAL BITS  (9,10).
021488,001152: 16,3706           06000                           OCT      06000                                 #  ROLL GIMBAL BITS,  (11,12).
021489,001153: 16,3707           00243        CSPSQ              OCT      00243                                 #  .01 SCALED AT 1, FOR CSP(2).
021490,001154: 16,3710           37776        TWENTYMS           OCT      37776                                 #  20 MS FOR T5.
021491,001155: 16,3711  E6,1467                                  EBANK=   QERROR                                
021492,001156: 

Page 490

021494,001158: 16,3711           02002 36006  DFQRAXIS           2CADR    QRAXIS                                

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