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.

021497,000002:                                                                                                  ## Copyright:   Public domain.
021498,000003:                                                                                                  ## Filename:    Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
021499,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
021500,000005:                                                                                                  ##              It is part of an early development version of the software
021501,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
021502,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
021503,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
021504,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
021505,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
021506,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
021507,000012:                                                                                                  ##              that the code format has been changed to conform to the
021508,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
021509,000014:                                                                                                  ##              original YUL assembler.
021510,000015:                                                                                                  ## Reference:   pp. 491-519
021511,000016:                                                                                                  ## Assembler:   yaYUL
021512,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
021513,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
021514,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
021515,000020:                                                                                                  ##              2017-06-01 HG   Transcribed
021516,000021:                                                                                                  ##              2017-06-15 HG   Fix operator DXCH -> TS
021517,000022:                                                                                                  ##                                           DAS  -> ADS
021518,000023:                                                                                                  ##                                           DXCH -> XCH
021519,000024:                                                                                                  ##                                           TC   -> TCF
021520,000025:                                                                                                  ##                                           BZMF -> BZF
021521,000026:                                                                                                  ##                              change value MCOMPTQR  DEC -16  -> OCTAL 77765
021522,000027:                                                                                                  ##              2017-06-22 RSB  Proofed comment text with
021523,000028:                                                                                                  ##                              octopus/ProoferComments.
021524,000029: 

Page 491

021526,000031: 17,2000                                           BANK     17                                    
021527,000032: 17,2000  E6,1541                                  EBANK=   DT                                    
021528,000033:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE Q,R-AXIS ACTION OF THE LEM USING THE RCS JETS.
021529,000034:                                                                                                  #  THE NOMINAL TIME BETWEEN THE Q,R-AXIS RUPTS IS 100 MS (UNLESS THE TRIM GIMBAL CONTROL SYSTEM IS USED, IN WHICH
021530,000035:                                                                                                  #  CASE THIS PROGRAM IS IDLE).
021531,000036: 
021532,000037: 17,2000  E6,1541                                  EBANK=   DT                                    
021533,000038: 17,2000           03011 40006  NULLFILT           2CADR    FILDUMMY                              
021534,000039: 
021535,000040: 17,2002           32563        QRAXIS             CAF      MS30QR                                #  RESET TIME IMMEDIATELY: DT = 30 MS
021536,000041: 17,2003           54030                           TS       TIME5                                 
021537,000042: 
021538,000043: 17,2004           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
021539,000044: 17,2005           00006                           EXTEND                                         
021540,000045: 17,2006           22012                           QXCH     QRUPT                                 
021541,000046: 
021542,000047:                                                                                                  #  SET UP A DUMMY KALMAN FILTER T5RUPT.  (THIS MAY BE RESET TO THE KALMAN FILTER INITIALIZATION PASS, IF THE TRIM
021543,000048:                                                                                                  #  GIMBAL CONTROL SYSTEM SHOULD BE USED.)
021544,000049: 
021545,000050: 17,2007           00006                           EXTEND                                         
021546,000051: 17,2010           32001                           DCA      NULLFILT                              
021547,000052: 17,2011           53001                           DXCH     T5ADR                                 
021548,000053: 
021549,000054:                                                                                                  #  CALCULATE LEM BODY RATES FOR Q AND R AXES:
021550,000055: 
021551,000056:                                                                                                  #  THIS COMPUTATION IS VALID FOR BOTH ASCENT AND DESCENT SINCE THE OFFSET ACCELERATION TERM IS INCLUDED ALWAYS,
021552,000057:                                                                                                  #  BUT HAS VALUE ZERO IN DESCENT, AND SINCE THE WEIGHTING FACTORS ARE IN ERASABLE AND DISTINCT.
021553,000058: 
021554,000059:                                                                                                  #  FIRST, CONSTRUCT Y AND Z CDU INCREMENTS:
021555,000060: 
021556,000061: 17,2012           30033                           CAE      CDUY                                  #  2'S COMPLEMENT MEASUREMENT SCALED AT PI
021557,000062: 17,2013           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDYFORQ)
021558,000063: 17,2014           00006                           EXTEND                                         #  FORM INCREMENT IN CDUY FOR LAST 100 MS
021559,000064: 17,2015           21430                           MSU      OLDYFORQ                              #  (100 MS OLD CDUY SAVED FROM LAST PASS)
021560,000065: 17,2016           23430                           LXCH     OLDYFORQ                              #  UPDATE OLDYFORQ WITH NEW CDUY VALUE
021561,000066: 17,2017           00006                           EXTEND                                         #  RESCALE DELTA CDUY FROM PI RADIANS TO
021562,000067: 17,2020           77747                           MP       BIT7                                  #  PI/2(6) RADIANS BY MULTIPLYING BY 64
021563,000068: 17,2021           22061                           LXCH     ITEMP1                                #  SAVE 1'S COMPLEMENT VALUE TEMPORARILY
021564,000069: 17,2022           30034                           CAE      CDUZ                                  #  2'S COMPLEMENT MEASUREMENT SCALED AT PI
021565,000070: 17,2023           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDZFORQ)
021566,000071: 17,2024           00006                           EXTEND                                         #  FORM INCREMENT IN CDUZ FOR LAST 100 MS
021567,000072: 17,2025           21431                           MSU      OLDZFORQ                              #  (100 MS OLD CDUZ SAVED FROM LAST PASS)
021568,000073: 
021569,000074: 17,2026           23431                           LXCH     OLDZFORQ                              #  UPDATE OLDZFORQ WITH NEW CDUZ VALUE
021570,000075: 17,2027           00006                           EXTEND                                         #  RESCALE DELTA CDUZ FROM PI RADIANS TO
021571,000076: 17,2030           77747                           MP       BIT7                                  #  PI/2(6) RADIANS BY MULTIPLYING BY 64
021572,000077: 17,2031           22062                           LXCH     ITEMP2                                #  SAVE 1'S COMPLEMENT VALUE TEMPORARILY
021573,000078: 

Page 492

021575,000080:                                                                                                  #  SECOND, TRANSFORM CPU INCREMENTS TO BODY-ANGLE INCREMENTS:
021576,000081: 
021577,000082: 17,2032           31406                           CAE      M31                                   #  MATRIX*VECTOR(WITH X COMPONENT ZERO)
021578,000083: 17,2033           00006                           EXTEND                                         
021579,000084: 17,2034           70061                           MP       ITEMP1                                #  M31 * ITEMP1 = M31 * DELTA CDUY
021580,000085: 17,2035           54063                           TS       ITEMP3                                
021581,000086: 17,2036           31403                           CAE      M32                                   #  M32 * ITEMP2 = M32 * DELTA CDUZ
021582,000087: 17,2037           00006                           EXTEND                                         
021583,000088: 17,2040           70062                           MP       ITEMP2                                #  DELTAR = M31*(DEL CDUY) + M32*(DEL CDUZ)
021584,000089: 17,2041           26063                           ADS      ITEMP3                                #  R_BODY_ANGLE INCREMENT SCALED AT PI/2(6)
021585,000090: 
021586,000091: 17,2042           31405                           CAE      M21                                   #  MATRIX*VECTOR(WITH X COMPONENT ZERO)
021587,000092: 17,2043           00006                           EXTEND                                         #  CLOBBERS ITEMP2=DEL CDUZ, FOR EFFICIENCY
021588,000093: 17,2044           70061                           MP       ITEMP1                                #  M21 * ITEMP1 = M21 * DELTA CDUY
021589,000094: 17,2045           56062                           XCH      ITEMP2                                #  M22 * ITEMP2 = M22 * DELTA CDUZ
021590,000095: 17,2046           00006                           EXTEND                                         
021591,000096: 17,2047           71401                           MP       M22                                   #  DELTAQ = M21*(DEL CDUY) + M22*(DEL CDUZ)
021592,000097: 17,2050           26062                           ADS      ITEMP2                                #  Q_BODY_ANGLE INCREMENT SCALED AT PI/2(6)
021593,000098: 
021594,000099:                                                                                                  #  FINALLY, DERIVE Q AND R BODY ANGULAR RATES:
021595,000100: 
021596,000101: 17,2051           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
021597,000102: 17,2052           71635                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
021598,000103: 17,2053           57417                           XCH      OMEGAQ                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
021599,000104: 17,2054           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
021600,000105: 17,2055           71636                           MP       (1-K)                                 #  (K CHANGES EVERY 2 SECONDS IN ASCENT.)
021601,000106: 
021602,000107: 17,2056           61604                           AD       JETRATEQ                              #  WEIGHTED TERM DUE TO JET ACCELERATION
021603,000108: 17,2057           61656                           AD       AOSQTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
021604,000109: 17,2060           27417                           ADS      OMEGAQ                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
021605,000110: 
021606,000111: 17,2061           30063                           CAE      ITEMP3                                #  GET DELTAR
021607,000112: 17,2062           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
021608,000113: 17,2063           71635                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
021609,000114: 17,2064           57421                           XCH      OMEGAR                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
021610,000115: 17,2065           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
021611,000116: 17,2066           71636                           MP       (1-K)                                 #  (K CHANGES EVERY 2 SECONDS IN ASCENT.)
021612,000117: 17,2067           61605                           AD       JETRATER                              #  WEIGHTED TERM DUE TO JET ACCELERATION
021613,000118: 17,2070           61657                           AD       AOSRTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
021614,000119: 17,2071           27421                           ADS      OMEGAR                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
021615,000120: 
021616,000121: 17,2072           01647                           TC       QJUMPADR                              
021617,000122: 17,2073           32076        SKIPQRAX           CA       NORMQADR                              
021618,000123: 17,2074           55647                           TS       QJUMPADR                              
021619,000124: 17,2075           15751                           TCF      RESUME                                
021620,000125: 17,2076           02077        NORMQADR           GENADR   NORMALQ                               
021621,000126: 17,2077           37741        NORMALQ            CAF      BIT13                                 #  CHECKING ATTITUDE HOLD BIT
021622,000127: 17,2100           00006                           EXTEND                                         
021623,000128: 17,2101           02031                           RAND     31                                    #  BITS INVERTED
021624,000129: 17,2102           00006                           EXTEND                                         
021625,000130: 
021626,000131: 17,2103           12117                           BZF      CHKBIT10                              
021627,000132: 

Page 493

021629,000134: 17,2104           37740                           CAF      BIT14                                 #  ATT HOLD BIT NOT PRESENT. CHECK FOR AUTO
021630,000135: 17,2105           00006                           EXTEND                                         
021631,000136: 17,2106           02031                           RAND     31                                    
021632,000137: 17,2107           00006                           EXTEND                                         
021633,000138: 17,2110           12620                           BZF      ATTSTEER                              #  AUTOMATIC STEERING, CHECK FOR RATE HOLD
021634,000139: 17,2111           00006                           EXTEND                                         #  IF MODE SELECT SW OFF DO DAPIDLER NEXT
021635,000140: 17,2112           32116                           DCA      IDLEADRQ                              
021636,000141: 17,2113           53001                           DXCH     T5ADR                                 
021637,000142: 
021638,000143: 17,2114           15751                           TCF      RESUME                                
021639,000144: 
021640,000145: 17,2115  E6,1541                                  EBANK=   DT                                    
021641,000146: 17,2115           02136 34006  IDLEADRQ           2CADR    DAPIDLER                              
021642,000147: 17,2117           37744        CHKBIT10           CAF      BIT10                                 #  BIT10=1 FOR MIN IMP USE OF RHC
021643,000148: 17,2120           70077                           MASK     DAPBOOLS                              
021644,000149: 17,2121           00006                           EXTEND                                         
021645,000150: 17,2122           12162                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
021646,000151: 
021647,000152: 17,2123           31007                           CAE      DELAYCTR                              #  SET TO 2 BY RUPT 10
021648,000153: 17,2124           00006                           EXTEND                                         
021649,000154: 17,2125           12416                           BZF      XTRANS                                
021650,000155: 
021651,000156: 17,2126           32571                           CA       MINTADR                               
021652,000157: 17,2127           54062                           TS       TJETADR                               
021653,000158: 
021654,000159: 17,2130           37755                           CA       BIT1                                  
021655,000160: 17,2131           00006                           EXTEND                                         
021656,000161: 17,2132           02031                           RAND     31                                    
021657,000162: 17,2133           00006                           EXTEND                                         
021658,000163: 17,2134           13504                           BZF      2JETS+Q                               
021659,000164: 
021660,000165: 17,2135           37754                           CA       BIT2                                  
021661,000166: 17,2136           00006                           EXTEND                                         
021662,000167: 17,2137           02031                           RAND     31                                    
021663,000168: 17,2140           00006                           EXTEND                                         
021664,000169: 17,2141           13331                           BZF      2JETS-Q                               
021665,000170: 
021666,000171: 17,2142           37751                           CA       BIT5                                  
021667,000172: 17,2143           00006                           EXTEND                                         
021668,000173: 17,2144           02031                           RAND     31                                    
021669,000174: 17,2145           00006                           EXTEND                                         
021670,000175: 17,2146           13470                           BZF      2JETS+R                               
021671,000176: 
021672,000177: 17,2147           37750                           CA       BIT6                                  
021673,000178: 17,2150           00006                           EXTEND                                         
021674,000179: 17,2151           02031                           RAND     31                                    
021675,000180: 17,2152           00006                           EXTEND                                         
021676,000181: 17,2153           13270                           BZF      2JETS-R                               
021677,000182: 
021678,000183: 17,2154           12416                           TCF      XTRANS                                
021679,000184: 

Page 494

021681,000186: 17,2155           32560        MINTJET            CAF      +T6TJMIN                              
021682,000187: 17,2156           55611                           TS       TQR                                   
021683,000188: 17,2157           37761                           CA       ZERO                                  
021684,000189: 17,2160           55007                           TS       DELAYCTR                              
021685,000190: 17,2161           12462                           TCF      TORQUEV                               
021686,000191: 
021687,000192: 17,2162           37737        CHEKSTIK           CAF      BIT15                                 #  OUT-OF-DETENT BIT
021688,000193: 17,2163           00006                           EXTEND                                         
021689,000194: 17,2164           02031                           RAND     31                                    #  BITS INVERTED
021690,000195: 
021691,000196: 17,2165           00006                           EXTEND                                         
021692,000197: 17,2166           12231                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT
021693,000198: 17,2167           37755                           CA       BIT1                                  #  OUR RATE COMMAND BIT
021694,000199: 17,2170           70077                           MASK     DAPBOOLS                              
021695,000200: 
021696,000201: 17,2171           00006                           EXTEND                                         
021697,000202: 17,2172           62620                           BZMF     ATTSTEER                              #  AUTOMATIC STEERING, CHECK FOR RATE HOLD
021698,000203:                                                                                                  #  WE WERE IN RATE COMMAND AND RATES MUST BE MADE SMALLER
021699,000204: 
021700,000205:                                                                                                  #   ARE RATES SMALL ENOUGH NOW
021701,000206: 17,2173           31416                           CA       OMEGAP                                
021702,000207: 17,2174           00006                           EXTEND                                         
021703,000208: 17,2175           70000                           SQUARE                                         
021704,000209: 17,2176           52062                           DXCH     ITEMP1                                
021705,000210: 
021706,000211: 17,2177           31417                           CA       OMEGAQ                                
021707,000212: 17,2200           00006                           EXTEND                                         
021708,000213: 17,2201           70000                           SQUARE                                         
021709,000214: 17,2202           20062                           DAS      ITEMP1                                
021710,000215: 
021711,000216: 17,2203           31421                           CA       OMEGAR                                
021712,000217: 17,2204           00006                           EXTEND                                         
021713,000218: 17,2205           70000                           SQUARE                                         
021714,000219: 17,2206           20062                           DAS      ITEMP1                                
021715,000220: 
021716,000221:                                                                                                  #  WE NOW HAVE SQUARED MAGNITUDE OF RATE VECTOR IN ITEMP1
021717,000222: 17,2207           42565                           CS       16/32400                              #  1 DEG/SEC SCALED AT PI.PI/16
021718,000223: 17,2210           60061                           AD       ITEMP1                                
021719,000224: 
021720,000225: 17,2211           00006                           EXTEND                                         
021721,000226: 17,2212           62220                           BZMF     RATESMAL                              
021722,000227: 
021723,000228:                                                                                                  #           THE RATE IS NOT SMALL ENOUGH YET.
021724,000229: 
021725,000230: 17,2213           31417                           CA       OMEGAQ                                
021726,000231: 17,2214           55424                           TS       QRATEDIF                              
021727,000232: 17,2215           31421                           CA       OMEGAR                                
021728,000233: 17,2216           55425                           TS       RRATEDIF                              
021729,000234: 17,2217           12264                           TCF      OBEYQRRC                              
021730,000235: 
021731,000236: 17,2220           47755        RATESMAL           CS       BIT1                                  
021732,000237: 

Page 495

021734,000239: 17,2221           70077                           MASK     DAPBOOLS                              #  RATE COMMAND BIT SET TO ZERO
021735,000240: 17,2222           54077                           TS       DAPBOOLS                              
021736,000241: 
021737,000242: 17,2223           30032                           CAE      CDUX                                  
021738,000243: 17,2224           54766                           TS       CDUXD                                 
021739,000244: 17,2225           30033                           CAE      CDUY                                  
021740,000245: 17,2226           54767                           TS       CDUYD                                 
021741,000246: 17,2227           30034                           CAE      CDUZ                                  
021742,000247: 17,2230           54770                           TS       CDUZD                                 
021743,000248: 
021744,000249: 17,2231           37755        RHCACTIV           CAF      BIT1                                  
021745,000250: 17,2232           70077                           MASK     DAPBOOLS                              
021746,000251: 17,2233           00006                           EXTEND                                         
021747,000252: 17,2234           12416                           BZF      XTRANS                                #  LET P AXIS SET THE RATE COMMAND BIT
021748,000253:                                                                                                  #  COMPUTE RATE ERRORS
021749,000254: 17,2235           30042                           CAE      Q-RHCCTR                              
021750,000255: 17,2236           00006                           EXTEND                                         
021751,000256: 17,2237           77745                           MP       BIT9                                  
021752,000257: 17,2240           32572                           CA       -.88975                               
021753,000258: 
021754,000259: 17,2241           00006                           EXTEND                                         
021755,000260: 17,2242           70001                           MP       L                                     #  -Q RATE COMMAND SCALED AT PI/4
021756,000261: 17,2243           61417                           AD       OMEGAQ                                
021757,000262: 17,2244           55424                           TS       QRATEDIF                              
021758,000263: 
021759,000264: 17,2245           30044                           CAE      R-RHCCTR                              
021760,000265: 17,2246           00006                           EXTEND                                         
021761,000266: 17,2247           77745                           MP       BIT9                                  
021762,000267: 17,2250           32572                           CA       -.88975                               
021763,000268: 17,2251           00006                           EXTEND                                         
021764,000269: 17,2252           70001                           MP       L                                     #  -R RATE COMMAND SCALED AT PI/4.
021765,000270: 17,2253           61421                           AD       OMEGAR                                
021766,000271: 17,2254           55425                           TS       RRATEDIF                              
021767,000272: 
021768,000273:                                                                                                  #  ZERO,ENABLE,AND START COUNTERS 99
021769,000274: 17,2255           37761                           CAF      ZERO                                  
021770,000275: 17,2256           54043                           TS       P-RHCCTR                              
021771,000276: 17,2257           54042                           TS       Q-RHCCTR                              
021772,000277: 17,2260           54044                           TS       R-RHCCTR                              
021773,000278: 17,2261           32566                           CAF      BIT8,9                                
021774,000279: 17,2262           00006                           EXTEND                                         
021775,000280: 17,2263           05013                           WOR      13                                    
021776,000281: 
021777,000282: 17,2264           32611        OBEYQRRC           CA       RTJETADR                              
021778,000283: 17,2265           54062                           TS       TJETADR                               
021779,000284: 
021780,000285: 17,2266           11424                           CCS      QRATEDIF                              
021781,000286: 17,2267           12330                           TCF      POSQEROR                              
021782,000287: 17,2270           12272                           TCF      NOQJETS                               
021783,000288: 17,2271           12277                           TCF      NEGQEROR                              
021784,000289: 

Page 496

021786,000291: 17,2272           11425        NOQJETS            CCS      RRATEDIF                              #  CHECK SIGN OF RATE ERROR AND GET ABVAL
021787,000292: 17,2273           12357                           TCF      R+,CHKDB                              
021788,000293: 
021789,000294: 17,2274           12416                           TCF      XTRANS                                
021790,000295: 17,2275           12370                           TCF      R-,CHKDB                              
021791,000296: 17,2276           12416                           TCF      XTRANS                                
021792,000297: 
021793,000298: 17,2277           61476        NEGQEROR           AD       -RATEDB                               
021794,000299: 17,2300           00006                           EXTEND                                         
021795,000300: 17,2301           62272                           BZMF     NOQJETS                               
021796,000301: 
021797,000302: 17,2302           11425                           CCS      RRATEDIF                              
021798,000303: 17,2303           12314                           TCF      R+Q-CHKR                              
021799,000304: 17,2304           12306                           TCF      Q-NORJTS                              
021800,000305: 17,2305           12321                           TCF      R-Q-CHKR                              
021801,000306: 
021802,000307: 17,2306           41424        Q-NORJTS           CS       QRATEDIF                              
021803,000308: 17,2307           55440                           TS       RATEDIF                               
021804,000309: 17,2310           61477                           AD       -2JETLIM                              
021805,000310: 17,2311           00006                           EXTEND                                         
021806,000311: 17,2312           63504                           BZMF     2JETS+Q                               
021807,000312: 17,2313           13502                           TCF      4JETS+Q                               
021808,000313: 
021809,000314: 17,2314           61476        R+Q-CHKR           AD       -RATEDB                               
021810,000315: 17,2315           00006                           EXTEND                                         
021811,000316: 17,2316           62306                           BZMF     Q-NORJTS                              
021812,000317: 
021813,000318: 17,2317           03565                           TC       EDOTVGEN                              
021814,000319: 17,2320           13417                           TCF      2-V.RATE                              
021815,000320: 
021816,000321: 17,2321           61476        R-Q-CHKR           AD       -RATEDB                               
021817,000322: 17,2322           00006                           EXTEND                                         
021818,000323: 17,2323           62306                           BZMF     Q-NORJTS                              
021819,000324: 17,2324           03561                           TC       EDOTUGEN                              
021820,000325: 17,2325           00006                           EXTEND                                         
021821,000326: 17,2326           61425                           SU       RRATEDIF                              
021822,000327: 17,2327           13444                           TCF      2+U.RATE                              
021823,000328: 
021824,000329: 17,2330           61476        POSQEROR           AD       -RATEDB                               
021825,000330: 17,2331           00006                           EXTEND                                         
021826,000331: 17,2332           62272                           BZMF     NOQJETS                               
021827,000332: 
021828,000333: 17,2333           11425                           CCS      RRATEDIF                              
021829,000334: 17,2334           12345                           TCF      R+Q+CHKR                              
021830,000335: 17,2335           12337                           TCF      Q+NORJTS                              
021831,000336: 17,2336           12352                           TCF      R-Q+CHKR                              
021832,000337: 
021833,000338: 17,2337           31424        Q+NORJTS           CA       QRATEDIF                              
021834,000339: 17,2340           55440                           TS       RATEDIF                               
021835,000340: 17,2341           61477                           AD       -2JETLIM                              
021836,000341: 
021837,000342: 17,2342           00006                           EXTEND                                         
021838,000343: 17,2343           63331                           BZMF     2JETS-Q                               
021839,000344: 

Page 497

021841,000346: 17,2344           13327                           TCF      4JETS-Q                               
021842,000347: 
021843,000348: 17,2345           61476        R+Q+CHKR           AD       -RATEDB                               
021844,000349: 17,2346           00006                           EXTEND                                         
021845,000350: 17,2347           62337                           BZMF     Q+NORJTS                              
021846,000351: 17,2350           03561                           TC       EDOTUGEN                              
021847,000352: 17,2351           13307                           TCF      2-U.RATE                              
021848,000353: 
021849,000354: 17,2352           61476        R-Q+CHKR           AD       -RATEDB                               
021850,000355: 17,2353           00006                           EXTEND                                         
021851,000356: 17,2354           62337                           BZMF     Q+NORJTS                              
021852,000357: 17,2355           03565                           TC       EDOTVGEN                              
021853,000358: 17,2356           13350                           TCF      2+V.RATE                              
021854,000359: 
021855,000360: 17,2357           61476        R+,CHKDB           AD       -RATEDB                               
021856,000361: 17,2360           00006                           EXTEND                                         
021857,000362: 17,2361           62416                           BZMF     XTRANS                                
021858,000363: 17,2362           31425                           CA       RRATEDIF                              
021859,000364: 17,2363           55440                           TS       RATEDIF                               
021860,000365: 17,2364           61477                           AD       -2JETLIM                              
021861,000366: 17,2365           00006                           EXTEND                                         
021862,000367: 17,2366           63270                           BZMF     2JETS-R                               
021863,000368: 17,2367           13266                           TCF      4JETS-R                               
021864,000369: 
021865,000370: 17,2370           61476        R-,CHKDB           AD       -RATEDB                               
021866,000371: 17,2371           00006                           EXTEND                                         
021867,000372: 17,2372           62416                           BZMF     XTRANS                                
021868,000373: 17,2373           41425                           CS       RRATEDIF                              
021869,000374: 17,2374           55440                           TS       RATEDIF                               
021870,000375: 17,2375           61477                           AD       -2JETLIM                              
021871,000376: 17,2376           00006                           EXTEND                                         
021872,000377: 17,2377           63470                           BZMF     2JETS+R                               
021873,000378: 
021874,000379: 17,2400           13466                           TCF      4JETS+R                               
021875,000380: 
021876,000381: 17,2401           11440        RTJETIME           CCS      RATEDIF                               #  SCALED AT PI/4 RADIANS/SECOND
021877,000382: 17,2402           67755                           AD       ONE                                   
021878,000383: 17,2403           12405                           TCF      +2                                    
021879,000384: 17,2404           67755                           AD       ONE                                   #  ABS(RATEDIF)
021880,000385: 17,2405           00006                           EXTEND                                         
021881,000386: 17,2406           70066                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SECOND(2)/RADIANS
021882,000387: 17,2407           00006                           EXTEND                                         
021883,000388: 17,2410           77752                           MP       BIT4                                  #  SCALED AT 2(3) SECONDS
021884,000389: 17,2411           30001                           CAE      L                                     
021885,000390: 17,2412           00006                           EXTEND                                         
021886,000391: 17,2413           72561                           MP       25/32.QR                              #  TJET NOW PROPERLY SCALED IN A
021887,000392: 17,2414           55611                           TS       TQR                                   #  AT 2(4)16/25 SECONDS
021888,000393: 17,2415           12462                           TCF      TORQUEV                               
021889,000394: 

Page 498

021891,000396:                                                                                                  #  DAPSECTION: XTRANS              MOD. NO. 1  DATE: NOVEMBER 20, 1966
021892,000397: 
021893,000398:                                                                                                  #  AUTHOR: JOHN S. BLISS (ADAMS ASSOCIATES)
021894,000399: 
021895,000400:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
021896,000401: 
021897,000402:                                                                                                  #  X-AXIS TRANSLATION LOGIC (IN THE ABSENSE OF Q,R-AXIS ROTATION) IS INITIATED IN THE "XTRANS" SECTION.
021898,000403: 
021899,000404:                                                                                                  #  XTRANS FIRST SETS ADDTLT6 AND ADDT6JTS TO ZERO FOR USE BY "JTLST" AND "T6JOB" WHEN THEY ARE CALLED.  IT THEN
021900,000405:                                                                                                  #  CHECKS FOR PLUS OR MINUS X TRANSLATION REQUESTS FROM THE ASTRONAUT'S STICK.  IF NONE IS REQUESTED IN THAT WAY,
021901,000406:                                                                                                  #  THE ULLAGE BIT OF DAPBOOLS IS CHECKED.  (NOTE THAT THE ORDER OF THE TESTS ALLOWS THE ASTRONAUT TO OVERRIDE THE
021902,000407:                                                                                                  #  INTERNAL ULLAGE REQUEST.)  IF NO TRANSLATION IS REQUESTED, ALL Q,R-AXIS JETS ARE TURNED OFF AND THE INTERRUPT
021903,000408:                                                                                                  #  IS TERMINATED.
021904,000409: 
021905,000410: 
021906,000411:                                                                                                  #  CALLING SEQUENCE: NONE.         SUBROUTINES CALLED: +/-TRANS
021907,000412: 
021908,000413:                                                                                                  #  NORMAL EXIT: 1. IF NO TRANSLATION: RESUME.
021909,000414:                                                                                                  #               2.IF SOME TRANSLATION: +/-TRANS.
021910,000415: 
021911,000416:                                                                                                  #  ALARM/ABORT MODE: NONE.
021912,000417: 
021913,000418:                                                                                                  #  INPUT:  ULLAGER/DAPBOOLS,BITS7,8/CHANNEL 31.
021914,000419: 
021915,000420:                                                                                                  #  OUTPUT: C(ANYTRANS) = NEGMAX FOR +X TRANSLATION.
021916,000421:                                                                                                  #          C(ANYTRANS) = POSMAX FOR -X TRANSLATION.
021917,000422:                                                                                                  #          C(TRANSNOW) = C(TRANSAVE) = +0.
021918,000423:                                                                                                  #          C(TRANONLY) = PNZ.
021919,000424: 
021920,000425:                                                                                                  #  DEBRIS: A,L,
021921,000426: 
021922,000427: 
021923,000428: 17,2416           37761        XTRANS             CAF      ZERO                                  #  PICK UP ZERO AND INITIALIZE
021924,000429: 17,2417           55474                           TS       ADDTLT6                               
021925,000430: 17,2420           55473                           TS       ADDT6JTS                              
021926,000431: 
021927,000432: 17,2421           55611                           TS       TQR                                   #  A ZERO OF JET TIME FOR THE TORQUE VEXTOR
021928,000433: 
021929,000434: 17,2422           37747                           CAF      BIT7                                  #  IS PLUS X TRANSLATION DESIRED
021930,000435: 
021931,000436: 17,2423           00006                           EXTEND                                         
021932,000437: 17,2424           02031                           RAND     31                                    #  CHANNEL 31 BITS INVERTED
021933,000438: 17,2425           00006                           EXTEND                                         
021934,000439: 17,2426           12444                           BZF      +XORULGE                              #  YES, +X
021935,000440: 
021936,000441: 17,2427           37746                           CAF      BIT8                                  #  NO, IS MINUS X TRANSLATION DESIRED
021937,000442: 17,2430           00006                           EXTEND                                         
021938,000443: 17,2431           02031                           RAND     31                                    #  CHANNEL 31 BITS INVERTED
021939,000444: 17,2432           00006                           EXTEND                                         
021940,000445: 17,2433           12446                           BZF      -XTRANS                               #  YES, -X
021941,000446: 
021942,000447: 17,2434           37750                           CAF      BIT6                                  #  NO, IS ULLAGE(+X TRANSLATION) DESIRED
021943,000448: 17,2435           70077                           MASK     DAPBOOLS                              
021944,000449: 

Page 499

021946,000451: 17,2436           10000                           CCS      A                                     
021947,000452: 17,2437           12444                           TCF      +XORULGE                              #  YES, ULLAGE
021948,000453: 
021949,000454: 17,2440           37761                           CAF      ZERO                                  #  SINCE NEITHER ROTATION NOR TRANSLATION
021950,000455: 17,2441           00006                           EXTEND                                         #  ARE NEEDED, TURN OFF ALL JETS FOR THE
021951,000456: 17,2442           01005                           WRITE    5                                     #  Q,R-AXES.
021952,000457: 
021953,000458: 17,2443           15751                           TCF      RESUME                                
021954,000459: 
021955,000460: 17,2444           37737        +XORULGE           CAF      NEGMAX                                #  PLUS TRANSLATION OR ULLAGE DESIRED:
021956,000461: 17,2445           12447                           TCF      +2                                    #  LOAD NEGMAX IN A AND SKIP NEXT OPCODE TO
021957,000462: 
021958,000463: 17,2446           37735        -XTRANS            CAF      POSMAX                                #  -X TRANSLATION DESIRED, A = POSMAX, AND
021959,000464: 17,2447           54071                           TS       ANYTRANS                              #  LOAD ANYTRANS WITH A(NEG/POS MAX)
021960,000465: 
021961,000466: 17,2450           37761                           CAF      ZERO                                  #  INITIALIZE TRANSNOW AND TRANSAVE WITH
021962,000467: 17,2451           54072                           TS       TRANSNOW                              #  ZERO FOR USE IN THE JET POLICY SELECTION
021963,000468: 17,2452           54073                           TS       TRANSAVE                              #  PROGRAM.
021964,000469: 
021965,000470: 17,2453           00006                           EXTEND                                         #  SET UP 2CADR FOR TRANSFER TO +/-XTRAN.
021966,000471: 17,2454           32460                           DCA      JTPOLADR                              
021967,000472: 17,2455           54070                           TS       TRANONLY                              #  STORE POSITIVE, NON-ZERO S-REGISTER IN
021968,000473: 17,2456           52006                           DTCB                                           #  TRANONLY.  AFTER +/-XTRAN, GO TO JTLST.
021969,000474: 
021970,000475: 17,2457  E6,1471                                  EBANK=   JTSONNOW                              
021971,000476: 17,2457           02316 40006  JTPOLADR           2CADR    +/-XTRAN                              #  TRANSLATION ONLY ENTRY TO JET POLICY
021972,000477: 

Page 500

021974,000479:                                                                                                  #  DO NECESSARY PARTS OF Q,R-AXES TORQUE VECTOR RECONSTRUCTION HERE AND NOW.  FOR OTHER PARTS WAIT UNTIL THE NEXT
021975,000480:                                                                                                  #  P-AXIS RCS DAP T5RUPT.
021976,000481: 
021977,000482: 17,2461           55611        NORMRETN           TS       TQR                                   
021978,000483: 
021979,000484: 
021980,000485: 17,2462           41611        TORQUEV            CS       TQR                                   #  CALCULATED Q,R JET TIME (AS IN TIME6)
021981,000486: 17,2463           62560                           AD       +T6TJMIN                              
021982,000487: 17,2464           00006                           EXTEND                                         #    CORRECT BRANCH.
021983,000488: 17,2465           62471                           BZMF     TQRGTTMI                              #  BRANCH FOR TQR = OR GREATER THAN MINIMP.
021984,000489: 17,2466           37761                           CA       ZERO                                  
021985,000490: 17,2467           55475                           TS       TOFJTCHG                              #  SINCE TQR LESS THAN A MINIMUM IMPULSE,
021986,000491: 17,2470           12416                           TCF      XTRANS                                #  SEE IF TRANSLATION IS DESIRED .
021987,000492: 17,2471           31611        TQRGTTMI           CAE      TQR                                   
021988,000493: 17,2472           55475                           TS       TOFJTCHG                              
021989,000494: 17,2473           62557                           AD       -1.5CSP                               
021990,000495: 17,2474           00006                           EXTEND                                         
021991,000496: 17,2475           62502                           BZMF     DOQRSKIP                              
021992,000497: 17,2476           31471                           CAE      JTSONNOW                              
021993,000498: 17,2477           06015                           TC       WRITEQR                               #  TURN ON QR JETS USING T6JOB SUBROUTINE.
021994,000499: 17,2500           15751                           TCF      RESUME                                
021995,000500: 
021996,000501: 17,2501           02073        SKIPQRAD           GENADR   SKIPQRAX                              
021997,000502: 17,2502           32501        DOQRSKIP           CA       SKIPQRAD                              
021998,000503: 17,2503           55647                           TS       QJUMPADR                              
021999,000504: 
022000,000505:                                                                                                  #  CHANGE JET ON AND OFF BITS TO ACCOUNT FOR THE PRESENT STATE OF THE
022001,000506:                                                                                                  #    CHANNEL. THE CHANGES ACCOUNT FOR PURE ROTATION ONLY- NOT TRANSLATION.
022002,000507: 17,2504           31471                           CA       JTSONNOW                              #  = JETS WHICH ARE TO GO ON NOW.
022003,000508: 17,2505           00006                           EXTEND                                         
022004,000509: 17,2506           02005                           RAND     5                                     #  MASK THE CHANNEL WITH THE DESIRED STATE.
022005,000510: 17,2507           00006                           EXTEND                                         
022006,000511: 17,2510           12535                           BZF      NOQRON                                #  A IS ZERO IF NO JETS TO GO ON ARE ON.
022007,000512: 17,2511           67737                           AD       BIT15                                 #  MAKE DIFFERENCE CORRESPOND TO A QR JET.
022008,000513: 17,2512           00006                           EXTEND                                         
022009,000514: 17,2513           61471                           SU       JTSONNOW                              #  RESULT IS COMPLEMENT OF JET BITS WHICH
022010,000515: 17,2514           54001                           TS       L                                     #    ARE TO BE ON FOR 6.5MS MORE THAN CALC.
022011,000516: 17,2515           00006                           EXTEND                                         
022012,000517: 17,2516           12542                           BZF      JTSAREON                              #  A=0,THUS ALL JETS TO GO ON ARE NOW ON.
022013,000518: 17,2517           31472        TRSLTMN2           CAE      JTSATCHG                              
022014,000519: 17,2520           77735                           MASK     POSMAX                                #  REMOVE BIT15 FROM JTSATCHG.
022015,000520: 17,2521           00006                           EXTEND                                         
022016,000521: 17,2522           12526                           BZF      NOTRANS                               #  IF JTSATCHG = 0 THEN NO TRANSLATION NOW.
022017,000522: 17,2523           32570                           CA       14-TQRMN                              
022018,000523: 17,2524           27475                           ADS      TOFJTCHG                              #  INSURE T GREATER THAN 14 MS.
022019,000524: 17,2525           12552                           TCF      TOJTLST                               
022020,000525: 17,2526           40001        NOTRANS            CS       L                                     
022021,000526: 17,2527           67737                           AD       BIT15                                 #  MAKE JET BITS CORRESPOND TO QR AXIS.
022022,000527: 17,2530           57472                           XCH      JTSATCHG                              #  JTSONNOW - L = JETS ON AT TOFJTCHG.
022023,000528: 
022024,000529: 17,2531           55473                           TS       ADDT6JTS                              #  JTS ON AT TOFJTCHG +ONDELAY.
022025,000530: 

Page 501

022027,000532: 17,2532           32570                           CA       14-TQRMN                              
022028,000533: 17,2533           55474                           TS       ADDTLT6                               
022029,000534: 17,2534           12552                           TCF      TOJTLST                               
022030,000535: 17,2535           32570        NOQRON             CA       14-TQRMN                              
022031,000536: 17,2536           27475                           ADS      TOFJTCHG                              
022032,000537: 17,2537           37761                           CA       ZERO                                  
022033,000538: 17,2540           55474                           TS       ADDTLT6                               
022034,000539: 17,2541           12552                           TCF      TOJTLST                               
022035,000540: 
022036,000541: 17,2542           31472        JTSAREON           CAE      JTSATCHG                              
022037,000542: 17,2543           77735                           MASK     POSMAX                                
022038,000543: 17,2544           00006                           EXTEND                                         
022039,000544: 17,2545           12550                           BZF      +3                                    
022040,000545: 17,2546           32567                           CAF      MCOMPTQR                              
022041,000546: 17,2547           27475                           ADS      TOFJTCHG                              
022042,000547: 17,2550           37761                           CA       ZERO                                  
022043,000548: 17,2551           55474                           TS       ADDTLT6                               
022044,000549: 17,2552           31471        TOJTLST            CA       JTSONNOW                              
022045,000550: 17,2553           06015                           TC       WRITEQR                               
022046,000551: 17,2554           00006                           EXTEND                                         
022047,000552: 17,2555           32610                           DCA      JTLSTADR                              
022048,000553: 17,2556           52006                           DTCB                                           
022049,000554: 17,2557           77417        -1.5CSP            DEC      -0.01465                              
022050,000555: 17,2560           00014        +T6TJMIN           DEC      +.00073                               
022051,000556: 17,2561           31000        25/32.QR           DEC      0.78125                               
022052,000557: 17,2562           37776        MS20QR             OCTAL    37776                                 
022053,000558: 17,2563           37775        MS30QR             OCTAL    37775                                 
022054,000559: 17,2564           37773        MS50QR             OCTAL    37773                                 
022055,000560: 17,2565           00010        16/32400           DEC      0.00049                               
022056,000561: 17,2566           00600        BIT8,9             OCTAL    00600                                 
022057,000562: 17,2567           77765        MCOMPTQR           OCTAL    77765                                 #  -10 MS COMPUTATION TIME
022058,000563: 17,2570           00013        14-TQRMN           DEC      11         B-14                       
022059,000564: 
022060,000565: 17,2571           02155        MINTADR            GENADR   MINTJET                               
022061,000566: 17,2572           43415        -.88975            DEC      -.88975                               
022062,000567: 17,2573           20000        (1-K),QR           DEC      0.50000                               #  K = 1/2
022063,000568: 17,2574           02000        (1-KQ)/8           DEC      0.06250                               
022064,000569: 17,2575           77557        -90MS              DEC      -.00879                               
022065,000570: 17,2576           00220        +90MS              DEC      0.00879                               
022066,000571: 17,2577           77537        NEGCSP2            DEC      -.00977                               
022067,000572: 17,2600           40252        ALL+XJTS           OCTAL    40252                                 
022068,000573: 17,2601           00201        2,10-OUT           OCTAL    00201                                 
022069,000574: 17,2602           40042        +X,A               OCTAL    40042                                 
022070,000575: 17,2603           40210        +X,B               OCTAL    40210                                 
022071,000576: 17,2604           00104        1,9-OUT            OCTAL    00104                                 
022072,000577: 17,2605           40104        -X,A               OCTAL    40104                                 
022073,000578: 17,2606           40021        -X,B               OCTAL    40021                                 
022074,000579: 17,2607  E6,1471                                  EBANK=   JTSONNOW                              
022075,000580: 17,2607           03415 34006  JTLSTADR           2CADR    JTLST                                 
022076,000581: 17,2611           02401        RTJETADR           GENADR   RTJETIME                              
022077,000582: 

Page 502

022079,000584:                                                                                                  #  Q,R-AXES ATTITUDE STEERING CALCULATIONS:
022080,000585: 
022081,000586:                                                                                                  #  (EXECUTED WHEN LGC IS IN AUTOMATIC SCSMODE OR IF SCSMODE IS ATTITUDE HOLD AND THE ROTATIONAL HAND CONTROLLER IS
022082,000587:                                                                                                  #  NEITHER OUT OF DETENT NOR IS THE RATE COMMAND BIT SET IN DAPBOOLS)
022083,000588: 
022084,000589:                                                                                                  #  IMMEDIATELY AFTER CALCULATING THE ATTITUDE ERRORS, THE FOLLOWING TESTS ARE MADE TO DETERMINE WHETHER THE DESCENT
022085,000590:                                                                                                  #  ENGINE TRIM GIMBAL SHOULD BE USED TO CONTROL THE LEM ATTITUDE RATHER THAN THE RCS JETS:
022086,000591: 
022087,000592:                                                                                                  #           1) IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
022088,000593:                                                                                                  #           2) ARE THE Q,R-AXES RCS JETS OFF?
022089,000594:                                                                                                  #           3) ARE BOTH TRIM GIMBAL DRIVES OFF?
022090,000595:                                                                                                  #           4) IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
022091,000596: 
022092,000597: 17,2612           32617        GOTOGTS            CAF      INITFILT                              #  ERRORS NOW CONTROLLABLE BY TRIM GIMBAL
022093,000598: 
022094,000599: 17,2613           55000                           TS       T5ADR                                 #  SET T5RUPT TO GO TO FILTER INITIALIZING
022095,000600: 17,2614           15751                           TCF      RESUME                                #  PROGRAM
022096,000601: 
022097,000602: 17,2615           07400        BGIM24             OCTAL    07400                                 
022098,000603: 17,2616           03603        DESCADR            GENADR   TJETLAW                               
022099,000604: 17,2617           02000        INITFILT           GENADR   FILTINIT                              #  ADDRESS OF FILTER INITIALIZATION RUPT
022100,000605: 
022101,000606:                                                                                                  #  "ATTSTEER" IS THE NOMINAL ENTRY POINT FOR REACTION CONTROL SYSTEM ATTITUDE STEERING:
022102,000607:                                                                                                  #  BEGIN ATTSTEER BY CHECKING IF RATE HOLD MODE(CURRENTLY USED ONLY AT SIVB
022103,000608:                                                                                                  #  -LEM SEPARATION-206 MISSION PHASE 6) IS REQUESTED(BIT 14 OF DAPBOOLS ON)
022104,000609:                                                                                                  #  IF BIT 14 IS OFF, BRANCH TO QERRCALC DIRECTLY AND BEGIN AUTOMATIC
022105,000610:                                                                                                  #  STEERING.  IF BIT 14 IS ON, TEST BIT 3 OF DAPBOOLS TO SEE IF THE DESIRED
022106,000611:                                                                                                  #  RATE HAS BEEN SAVED YET.  IF IT IS ON, THIS IS NOT THE FIRST PASS AND
022107,000612:                                                                                                  #  THE RATE HAS BEEN SAVED.  GO DIRECTLY TO QERRCALC FOR AUTOMATIC STEERING
022108,000613:                                                                                                  #  IF THE BIT IS OFF, THE RATE MUST BE SAVED.  TRANSFER TO SAVERATE(BANK25)
022109,000614:                                                                                                  #  AND RETURN AFTER FIRST PASS TO RESUME AND DAPIDLER.
022110,000615: 
022111,000616:                                                                                                  #  IN ORDER TO USE RATE HOLD, THE MISSION PROGRAMMER MUST SET BIT 14 OF
022112,000617:                                                                                                  #  DAPBOOLS ON AND SET BIT 3 OF DAPBOOLS TO ZERO.  UPON RETURNING FROM THE
022113,000618:                                                                                                  #  FIRST PASS AT LEAST THROUGH RATE HOLD, THE MISSION PROGRAMMER MUST RESET
022114,000619:                                                                                                  #  BIT 3 TO ITS PREVIOUS VALUE IF THIS IS NOT 1, BECAUSE SAVERATE SETS BIT3
022115,000620:                                                                                                  #  TO 1 FOR ALL PASSES AFTER THE FIRST IN ORDER NOT TO SAVE THE RATE AGAIN.
022116,000621: 
022117,000622: 
022118,000623:                                                                                                  #  IN ADDITION TO NON-RATE HOLD MODE AND NON-FIRST PASS RATE HOLD MODE
022119,000624:                                                                                                  #  EXITS TO QERRCALC, THE FIRST PASS EXITS TO RESUME, IE. OUT OF INTERRUPT
022120,000625:                                                                                                  #  AND BACK TO DAPIDLER TO AWAIT THE NEXT CALL TO DAP.
022121,000626: 
022122,000627:                                                                                                  #  RATE HOLD PRODUCES THE FOLLOWING OUTPUT IN ERASABLE --
022123,000628: 
022124,000629:                                                                                                  #     CDUD - SCALED AT +/-PI, DESIRED GIMBAL ANGLE
022125,000630: 
022126,000631:                                                                                                  #     DELCDU - SCALED AT +/-PI, INCREMENT TO CDUD EVERY 100 MS.
022127,000632: 
022128,000633:                                                                                                  #     OMEGAPD, QD, RD - SCALED AT +/-PI/4, BODY AXIS RATES
022129,000634: 
022130,000635:                                                                                                  #  ALL THESE ARE USED BY AUTOMATIC STEERING MODE EQUATIONS.
022131,000636: 

Page 503

022133,000638:                                                                                                  #  RATE HOLD REQUIRES OMEGAP, Q, R EVERY .25 SEC, AND ALSO REQUIRES PILOT-
022134,000639:                                                                                                  #  TO-GIMBAL AXIS MATRIX ELEMENTS, MR12, 22, 13, 23 TO BE LOCATED IN THAT
022135,000640:                                                                                                  #  ORDER.
022136,000641: 
022137,000642:                                                                                                  #  FINALLY, RATE HOLD LEAVES DEBRIS IN --
022138,000643: 
022139,000644:                                                                                                  #     DLCDUIDX - LOOP INDEX USED IN COMPUTING DELCDUS, =1, 0
022140,000645: 
022141,000646:                                                                                                  #     ITEMP1 - STORES TEMPORARY PRODUCTS AND SUMS, LEFT WITH DELCDUY IN 1S.
022142,000647: 
022143,000648: 
022144,000649: 
022145,000650: 17,2620           40077        ATTSTEER           CS       DAPBOOLS                              #  DOES BIT14 OF DAPBOOLS REQUEST RATE HOLD
022146,000651: 17,2621           77740                           MASK     BIT14                                 #  (SIVB-LEM SEPARATION)
022147,000652: 17,2622           10000                           CCS      A                                     
022148,000653: 17,2623           12660                           TCF      QERRCALC                              #  NO, GO DIRECTLY TO AUTOMATIC STEERING
022149,000654: 
022150,000655:                                                                                                  #  CHECK DAPBOOLS, BIT3, TO SEE IF DESIRED RATE HAS BEEN SAVED YET
022151,000656: 
022152,000657:                                                                                                  #  TO COMPUTE THE DELCDUS, Y AND Z, WE SET UP A LOOP AND SOLVE THE EQUATION
022153,000658: 
022154,000659:                                                                                                  #   C(DELCDUY+DLCDUIDX)=(OMEGAQ).C(MR12+DLCDUIDX)+OMEGARD.C(MR13+DLCDUIDX))
022155,000660:                                                                                                  #                          .(100MS) SCALED AT PI IN 2S COMPLEMENT(LIKE CDUS)
022156,000661: 
022157,000662:                                                                                                  #  DURING THIS COMPUTATION, ITEMP1 IS USED TO STORE THE PARTIAL SUMS AND
022158,000663:                                                                                                  #  PRODUCTS.  DELCDUY IS RESCALED TO 1 AS MR12 AND MR13 ARE SCALED AT 2.
022159,000664:                                                                                                  #  AFTER CONVERTING TO TWOS COMPLEMENT, WE SET DELCDUX TO ZERO TO AVOID ANY
022160,000665:                                                                                                  #  ROLL DURING RATE HOLD MODE.  NOTE THAT DELCDUS ARE COMPUTED IN THE NEGA-
022161,000666:                                                                                                  #  TIVE TO ALLOW 2S COMP. MOD. SUBTRACT LATER ON (CDU-(-DELCDU))
022162,000667: 
022163,000668: 17,2624           37755                           CAF      ONE                                   #  SET UP LOOP INDEX TO COMPUTE DELCDUS.
022164,000669: 17,2625           55645        NEXDLCDU           TS       DLCDUIDX                              #  DLCDUIDX = C(A)
022165,000670: 
022166,000671: 17,2626           40775                           CS       OMEGAQD                               #  DLCDUIDX = 1              DLCDUIDX = 0
022167,000672: 17,2627           00006                           EXTEND                                         #  ITEMP1=-OMEGAQD.MR22
022168,000673: 17,2630           51645                           INDEX    DLCDUIDX                              
022169,000674: 17,2631           71400                           MP       MR12                                  #  MR22 SCALED AT 1       MR12 SCALED AT 2
022170,000675: 17,2632           54061                           TS       ITEMP1                                #                      ITEMP1=-OMEGAQD.MR12
022171,000676: 
022172,000677: 17,2633           40776                           CS       OMEGARD                               #  C(A)=ITEMP1 -OMEGARD.MR23
022173,000678: 17,2634           00006                           EXTEND                                         
022174,000679: 17,2635           51645                           INDEX    DLCDUIDX                              #                 C(A)=ITEMP1 -OMEGARD.MR13
022175,000680: 17,2636           71402                           MP       MR13                                  #  MR23 SCALED AT 1        MR13 SCALED AT 2
022176,000681: 
022177,000682: 17,2637           60061                           AD       ITEMP1                                
022178,000683: 17,2640           00006                           EXTEND                                         #  DELT = 100 MS. SCALED AT 4 SEC.
022179,000684: 17,2641           73374                           MP       100MSCAL                              
022180,000685: 17,2642           54061                           TS       ITEMP1                                #  ITEMP1 = C(A) . DELT
022181,000686: 
022182,000687: 17,2643           11645                           CCS      DLCDUIDX                              #  CHECK INDEX FOR RESCALING
022183,000688: 17,2644           12647                           TCF      +3                                    #  DELCDUZ SCALED AT PI/4, RESCALE UNNEEDED
022184,000689: 

Page 504

022186,000691: 17,2645           30061                           CAE      ITEMP1                                #  DELCDUY SCALED AT PI/2, RESCALE BY
022187,000692: 17,2646           26061                           ADS      ITEMP1                                #  ADDING TO ITSELF
022188,000693: 
022189,000694: 17,2647           10061                           CCS      ITEMP1                                #  CONVERT DELCDUS TO TWOS COMPLEMENT (SAME
022190,000695: 17,2650           67755                           AD       ONE                                   #  AS CDUS).  ADD ONE TO RESTORE PRE-CCS A
022191,000696: 17,2651           12653                           TCF      STODLCDU                              #  STORE DIRECT IF POSITIVE ZERO
022192,000697: 17,2652           40000                           COM                                            #  COMPLEMENT IF NEGATIVE, CCS INCREMENTS
022193,000698: 17,2653           51645        STODLCDU           INDEX    DLCDUIDX                              #  IF NEGATIVE ZERO, STORE POSITIVE ZERO
022194,000699: 17,2654           54772                           TS       DELCDUY                               #  STORE FINAL DELCDUZ OR DELCDUY
022195,000700: 
022196,000701: 17,2655           11645                           CCS      DLCDUIDX                              #  TEST INDEX DLCDUIDX, EITHER 1 OR 0
022197,000702: 17,2656           12625                           TCF      NEXDLCDU                              #  IF 1, DO DELCDUY
022198,000703: 17,2657           54771                           TS       DELCDUX                               #  DELCDUZ,Y DONE, 0 TO DELCDUX-NO ROLL
022199,000704: 
022200,000705: 17,2660           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
022201,000706: 17,2661           00006                           EXTEND                                         
022202,000707: 17,2662           20767                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
022203,000708: 17,2663           54061                           TS       ITEMP1                                #  SAVE FOR RERRCALC
022204,000709: 17,2664           00006                           EXTEND                                         
022205,000710: 17,2665           71405                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
022206,000711: 17,2666           57413                           XCH      ER                                    #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
022207,000712: 17,2667           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
022208,000713: 17,2670           00006                           EXTEND                                         
022209,000714: 17,2671           20770                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
022210,000715: 17,2672           54062                           TS       ITEMP2                                #  SAVE FOR RERRCALC
022211,000716: 17,2673           00006                           EXTEND                                         
022212,000717: 
022213,000718: 17,2674           71401                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
022214,000719: 17,2675           27413                           ADS      ER                                    #  SAVE SUM OF TERMS, NO OVERFLOW EVER
022215,000720: 17,2676           55467                           TS       QERROR                                #  SAVE QERROR FOR EIGHT-BALL DISPLAY
022216,000721: 
022217,000722: 17,2677           30061        RERRCALC           CAE      ITEMP1                                #  R-ERROR CALCULATION:
022218,000723: 17,2700           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
022219,000724: 17,2701           71406                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
022220,000725: 17,2702           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
022221,000726: 17,2703           30062                           CAE      ITEMP2                                #  SECOND TERM CALCULATION:
022222,000727: 17,2704           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
022223,000728: 17,2705           71403                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
022224,000729: 17,2706           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVER
022225,000730: 17,2707           55470                           TS       RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY
022226,000731: 
022227,000732:                                                                                                  #  TEST (1): IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
022228,000733: 
022229,000734: 17,2710           37754                           CAF      BIT2                                  #  ETST TO SEE IF LEM AND DAP MODES ALLOW
022230,000735: 17,2711           70077                           MASK     DAPBOOLS                              #  USE OF TRIM GIMBAL CONTROL SYSTEM:
022231,000736: 17,2712           10000                           CCS      A                                     #  BIT2 = 0 MEANS THAT TRIM GIMBAL CONTROL
022232,000737: 17,2713           12755                           TCF      STILLRCS                              #  IS POSSIBLE, SO TEST OTHER TG CONDITIONS
022233,000738: 
022234,000739:                                                                                                  #  TEST (2): ARE THE Q,R-AXES RCS JETS OFF?
022235,000740: 17,2714           00006                           EXTEND                                         #  BUT, IF JETS ARE OFF AND TRIM GIMBAL MAY
022236,000741: 
022237,000742: 17,2715           00005                           READ     5                                     #  POSSIBLY BE USED: BEING IN THE JET COAST
022238,000743: 

Page 505

022240,000745: 17,2716           10000                           CCS      A                                     #  REGION OF THE PHASE PLANE IS A NECESSARY
022241,000746: 17,2717           12755                           TCF      STILLRCS                              #  BUT INSUFFICIENT REASON FOR GTS USE
022242,000747: 
022243,000748:                                                                                                  #  TEST(3): ARE BOTH TRIM GIMBAL DRIVES OFF?
022244,000749: 
022245,000750: 17,2720           00006                           EXTEND                                         #  BITS 9-12 OF CHANNEL 12 ARE THE SIGNALS
022246,000751: 17,2721           00012                           READ     12                                    #  WHICH DRIVE THE TRIM GIMBAL ENGINE:
022247,000752: 17,2722           72615                           MASK     BGIM24                                #  IF NONE OF THESE BITS ARE ON, THEN BOTH
022248,000753: 
022249,000754: 17,2723           10000                           CCS      A                                     #  WAITLIST TASKS TO TURN OFF THE DRIVES
022250,000755: 17,2724           12755                           TCF      STILLRCS                              #  HAVE BEEN DONE AND GTS CONTROL CAN OCCUR
022251,000756: 
022252,000757:                                                                                                  #  TEST(4): IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
022253,000758: 
022254,000759: 17,2725           37755                           CA       BIT1                                  
022255,000760: 17,2726           54066        LOOPTOP            TS       QRCNTR                                
022256,000761: 17,2727           60000                           DOUBLE                                         
022257,000762: 17,2730           50000                           INDEX    A                                     
022258,000763: 17,2731           11417                           CCS      OMEGAQ                                #  IS ERROR RATE SMALL ENOUGH FOR GTS.
022259,000764: 17,2732           62753                           AD       -RATLM+1                              #  -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
022260,000765: 17,2733           12735                           TCF      +2                                    
022261,000766: 17,2734           62753                           AD       -RATLM+1                              
022262,000767: 17,2735           00006                           EXTEND                                         
022263,000768: 17,2736           62740                           BZMF     +2                                    #  IS RATE LESS,EQUAL .5 DEG/SEC.
022264,000769: 17,2737           12755                           TCF      STILLRCS                              #  NO.      SO USE RCS.
022265,000770: 17,2740           50066                           INDEX    QRCNTR                                #  YES.     TRY THE ERROR MAGNITUDE.
022266,000771: 17,2741           11467                           CCS      QDIFF                                 #  IS ERROR SMALL ENOUGH FOR GTS.
022267,000772: 17,2742           62754                           AD       -XBND+1                               #  -1.4 DEG SCALED AT PI    + 1 BIT
022268,000773: 17,2743           12745                           TCF      +2                                    
022269,000774: 17,2744           62754                           AD       -XBND+1                               
022270,000775: 17,2745           00006                           EXTEND                                         
022271,000776: 17,2746           62750                           BZMF     +2                                    #  IS ERROR LESS,EQUAL 1.4 DEG.
022272,000777: 
022273,000778: 17,2747           12755                           TCF      STILLRCS                              #  NO.      USE RCS CONTROL.
022274,000779: 17,2750           10066                           CCS      QRCNTR                                #  THIS AXIS IS FINE.   ARE BOTH DONE.
022275,000780: 17,2751           12726                           TCF      LOOPTOP                               #  NOW TRY THE Q AXIS.
022276,000781: 17,2752           12612                           TCF      GOTOGTS                               #  TRANSFER TO TRIM GIMBAL CONTROL
022277,000782: 17,2753           77512        -RATLM+1           OCT      77512                                 #  -.5 DEG/SEC SCALED AT PI/4  + 1 BIT
022278,000783: 17,2754           77601        -XBND+1            OCT      77601                                 #  -1.4 DEG SCALED AT PI, + 1 BIT.
022279,000784:                                                                                                  #  "STILLRCS" IS THE ENTRY POINT TO RCS ATTITUDE STERRING WHENEVER IT IS FOUND THAT THE TRIM GIMBAL CONTROL
022280,000785:                                                                                                  #  SYSTEM SHOULD NOT BE USED;
022281,000786: 
022282,000787:                                                                                                  #  BRANCH TO SPSRCS WHEN BIT 15 = 0 FOR SPS BACKUP
022283,000788: 
022284,000789: 17,2755           10077        STILLRCS           CCS      DAPBOOLS                              
022285,000790: 17,2756           13576                           TCF      SPSBAKUP                              
022286,000791: 17,2757           12760                           NOOP                                           
022287,000792: 17,2760           32616                           CAF      DESCADR                               #  SET JET SELECT LOGIC RETURN ADDRESS TO
022288,000793: 17,2761           54062                           TS       TJETADR                               #  THE Q,R-AXIS TJETLAW CALCULATION
022289,000794: 
022290,000795: 17,2762           05041                           TC       T6JOBCHK                              #  CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
022291,000796: 

Page 506

022293,000798: 
022294,000799:                                                                                                  #  Q,R-AXES URGENCY FUNCTION LOOP:
022295,000800: 
022296,000801:                                                                                                  #  SET UP LOOP TO DO R-AXIS, THEN Q-AXIS:
022297,000802: 
022298,000803: 17,2763           37755                           CAF      ONE                                   #  1: REFERS TO R-AXIS VARIABLES.
022299,000804: 17,2764           54061                           TS       AXISCNTR                              #  2: REFERS TO Q-AXIS VARIABLES.
022300,000805: 
022301,000806:                                                                                                  #  PICK UP EDOT AND RESCALE FROM PI/4 TO PI/16 RADIANS/SECOND:
022302,000807: 
022303,000808: 17,2765           50061        URGLOOP            INDEX    AXISCNTR                              #  ERROR RATES ARE PRE-CALCULATED BY RATE
022304,000809: 17,2766           31424                           CAE      EDOTQ                                 #  DERIVATION SCALED AT PI/4 RADIANS/SECOND
022305,000810: 17,2767           00006                           EXTEND                                         #  MULTIPLYING BY FOUR (BIT3) LEAVES EDOT
022306,000811: 17,2770           77753                           MP       FOUR                                  #  AS C(L) IF EDOT LESS THAN 11.25 DEG/SEC.
022307,000812: 17,2771           00006                           EXTEND                                         
022308,000813: 
022309,000814: 17,2772           12774                           BZF      +2                                    #  IF C(A) NON-ZERO, THEN EDOT GREATER THAN
022310,000815: 17,2773           13042                           TCF      EDOTMAX                               #  11.25 DEG/SEC IN MAGNITUDE, SO LIMIT IT.
022311,000816: 
022312,000817: 17,2774           10001                           CCS      L                                     #  INSURE NON-ZERO EDOT:
022313,000818: 17,2775           67754                           AD       TWO                                   #  C(L) PNZ REMAINS UNCHANGED.
022314,000819: 17,2776           13000                           TCF      +2                                    #  C(L) NNZ REMAINS UNCHANGED.
022315,000820: 17,2777           40000                           COM                                            #  C(L)  +0 BECOMES 77776.
022316,000821: 17,3000           67763                           AD       NEG1                                  #  C(L)  -0 BECOMES 77776.
022317,000822: 17,3001           55407        EDOTSTOR           TS       EDOT                                  #  SAVE NON-ZERO EDOT SCALED AT PI/16.
022318,000823: 
022319,000824: 17,3002           00006                           EXTEND                                         #  CALCULATE (EDOT)(EDOT):
022320,000825: 17,3003           70000                           SQUARE                                         
022321,000826: 17,3004           55412                           TS       EDOT(2)                               #  SCALED AT PI(2)/2(+8) RAD(2)/SEC(2).
022322,000827: 
022323,000828: 17,3005           00006                           EXTEND                                         #   0.5               +8       2
022324,000829: 17,3006           50061                           INDEX    AXISCNTR                              #  ------  SCALED AT 2  /PI SEC /RAD.
022325,000830: 17,3007           71711                           MP       1/ACCQ                                #  ACCQ,R
022326,000831: 17,3010           00006                           EXTEND                                         #  DEADBAND = 5.0 OR 1.0 OR 0.3 DEGREES
022327,000832: 17,3011           61415                           SU       DB                                    #  SCALED AT PI RADIANS.
022328,000833: 17,3012           55442                           TS       FPQR                                  #  0.5(1/ACC)EDOT(2)-DB SCALED AT PI RADS.
022329,000834: 
022330,000835: 17,3013           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2).
022331,000836: 17,3014           00006                           EXTEND                                         
022332,000837: 
022333,000838: 17,3015           50061                           INDEX    AXISCNTR                              
022334,000839: 17,3016           71713                           MP       1/AMINQ                               #  .5(1/ACCMIN) 2(8)/PI SEC(2)/RAD.
022335,000840: 17,3017           61415                           AD       DB                                    #  DEADBAND SCALED AT PI RADIANS.
022336,000841: 17,3020           55460                           TS       FPQRMIN                               #  .5(1/ACCMIN)EDOT(2)+DB SCALED AT PI RAD.
022337,000842: 
022338,000843: 17,3021           11407                           CCS      EDOT                                  #  EDOT TEST ON SIGN (NON-ZERO):
022339,000844: 17,3022           31411                           CAE      E                                     #  ATTITUDE ERROR FOR THIS AXIS
022340,000845: 17,3023           13025                           TCF      +2                                    #  SCALED AT PI RADIANS.
022341,000846: 17,3024           13047                           TCF      EDOTNEG                               
022342,000847: 17,3025           27442                           ADS      FPQR                                  #  E+0.5(1/ACC)EDOT(2)-DB SCALED AT PI RAD.
022343,000848: 
022344,000849: 17,3026           11407        FTEST              CCS      EDOT                                  #  EDOT GUARANTEED NOT +0 OR -0.
022345,000850: 17,3027           11442                           CCS      FPQR                                  #  FPQR ---------- NOT +0.
022346,000851: 

Page 507

022348,000853: 17,3030           13035                           TCF      QUICKURG                              #  EDOT.G.+0, FPQR.G.+0.
022349,000854: 17,3031           11442                           CCS      FPQR                                  #  EDOT.L.-0.
022350,000855: 17,3032           13053                           TCF      FMINCALC                              #  EDOT.L.-0,FPQR.G.+0/EDOT.G.+0,FPQR.L.-0.
022351,000856: 17,3033           13053                           TCF      FMINCALC                              #  EDOT.G.+0,FPQR.E.-0 (FROM FIRST CCS).
022352,000857: 17,3034           13035                           TCF      QUICKURG                              #  EDOT.L.-0,FPQR.L.-0.
022353,000858: 
022354,000859: 17,3035           31407        QUICKURG           CAE      EDOT                                  #  EDOT.L.-0,FPQR.E.-0 (FROM 2ND CCS).
022355,000860: 17,3036           00006                           EXTEND                                         #  SCALE FROM PI/16 TO PI RADIANS/SECOND
022356,000861: 17,3037           77743                           MP       BIT11                                 #  TO HAVE SAME SCALING AS FPQR AFTER THE
022357,000862: 17,3040           61442                           AD       FPQR                                  #  IMPLICIT MULT. OF FPQR BY 1/SEC.
022358,000863: 17,3041           13075                           TCF      URGMULT                               #  THIS URGENCY = (1/ACC)(FPQR+EDOT).
022359,000864: 
022360,000865: 17,3042           10000        EDOTMAX            CCS      A                                     #  GUARANTEED NOT +0 OR -0.
022361,000866: 17,3043           37735                           CAF      POSMAX                                
022362,000867: 17,3044           13001                           TCF      EDOTSTOR                              #  SET EDOT TO SIGNED MAXIMUM.
022363,000868: 17,3045           47735                           CS       POSMAX                                
022364,000869: 17,3046           13001                           TCF      EDOTSTOR                              #  SCALED AT PI/16 RADIANS/SECOND.
022365,000870: 
022366,000871: 17,3047           41442        EDOTNEG            CS       FPQR                                  #  SCALED AT PI RADIANS
022367,000872: 
022368,000873: 17,3050           61411                           AD       E                                     #  ATTITUDE ERROR FOR THIS AXIS
022369,000874: 17,3051           55442                           TS       FPQR                                  #  E-0.5(1/ACC)EDOT(2)+DB SCALED AT PI RAD.
022370,000875: 17,3052           13026                           TCF      FTEST                                 
022371,000876: 
022372,000877: 17,3053           11442        FMINCALC           CCS      FPQR                                  #  NECESSARY RETEST ON FPQR;
022373,000878: 17,3054           41460                           CS       FPQRMIN                               
022374,000879: 17,3055           13057                           TCF      +2                                    #  E-0.5(1/ACCMIN)EDOT(2)-DB
022375,000880: 17,3056           31460                           CAE      FPQRMIN                               
022376,000881: 17,3057           61411                           AD       E                                     #  E+0.5(1/ACCMIN)EDOT(2)+DB
022377,000882: 17,3060           55460                           TS       FPQRMIN                               #  SCALED AT PI RADIANS.
022378,000883: 
022379,000884: 17,3061           11407                           CCS      EDOT                                  #  EDOT    GUARANTEED NOT +0 OR -0.
022380,000885: 17,3062           11460                           CCS      FPQRMIN                               #  FPQRMIN GUARANTEED NOT +0 (CALL IT F).
022381,000886: 17,3063           13070                           TCF      ZEROURG                               #  EDOT.G.+0, F.G.+0.
022382,000887: 17,3064           11460                           CCS      FPQRMIN                               #  EDOT.L.-0.
022383,000888: 17,3065           13074                           TCF      NORMURG                               #  EDOT.L.-0, F.G.+0 / EDOT.G.+0, F.L.-0.
022384,000889: 17,3066           13074                           TCF      NORMURG                               #  EDOT.G.+0, F.E.-0 (FROM FIRST CCS).
022385,000890: 17,3067           13070                           TCF      ZEROURG                               #  EDOT.L.-0, F.L.-0.
022386,000891: 17,3070           00006        ZEROURG            EXTEND                                         #  EDOT.L.-0, F.E.-0 (FROM 2ND CCS).
022387,000892: 
022388,000893: 17,3071           33166                           DCA      DPZEROY                               #  THIS URGENCY IS ZERO.
022389,000894: 17,3072           53505                           DXCH     URGENCYQ                              
022390,000895: 17,3073           13101                           TCF      MOREURG                               #  TEST FOR NEXT AXIS
022391,000896: 
022392,000897: 17,3074           31460        NORMURG            CAE      FPQRMIN                               #  THIS URGENCY IS FPQRMIN(1/ACC).
022393,000898: 17,3075           00006        URGMULT            EXTEND                                         
022394,000899: 17,3076           50061                           INDEX    AXISCNTR                              
022395,000900: 17,3077           71711                           MP       1/ACCQ                                
022396,000901: 17,3100           53505                           DXCH     URGENCYQ                              #  SAVE D.P. SCALED AT 2(+9).
022397,000902: 
022398,000903: 17,3101           10061        MOREURG            CCS      AXISCNTR                              #  TEST FOR END OF LOOP
022399,000904: 

Page 508

022401,000906: 17,3102           13104                           TCF      +2                                    #  CONTINUE.
022402,000907: 17,3103           13167                           TCF      URGSCALQ                              #  FINISHED.
022403,000908: 
022404,000909: 17,3104           54061                           TS       AXISCNTR                              #  Q-AXIS
022405,000910: 
022406,000911: 17,3105           00006                           EXTEND                                         
022407,000912: 17,3106           31505                           DCA      URGENCYQ                              #  SET URGENCYR
022408,000913: 17,3107           53507                           DXCH     URGENCYR                              
022409,000914: 
022410,000915: 17,3110           53412                           DXCH     E                                     #  SET ER,EDOT(2)R
022411,000916: 17,3111           53414                           DXCH     ER                                    
022412,000917: 17,3112           55411                           TS       EQ                                    #  SET EQ
022413,000918: 17,3113           31407                           CAE      EDOT                                  
022414,000919: 17,3114           55410                           TS       EDOT(R)                               #  SET EDOT(R).
022415,000920: 
022416,000921: 17,3115           12765                           TCF      URGLOOP                               #  CONTINUE.
022417,000922: 
022418,000923:                                                                                                  #  SUFFICIENT TEST FOR URGENCY RESCALING:
022419,000924: 
022420,000925: 17,3116           11506        URGSCALR           CCS      URGENCYR                              #  IF ABVAL(URGENCYR) LESS THAN SCALE BOUND
022421,000926: 17,3117           63164                           AD       SCALEBND                              
022422,000927: 17,3120           13122                           TCF      +2                                    #  THEN BOTH URGENCIES CAN BE RESCALED FROM
022423,000928: 17,3121           63164                           AD       SCALEBND                              
022424,000929: 17,3122           00006                           EXTEND                                         #  2(+9) TO 2(+4) SECONDS.
022425,000930: 17,3123           63125                           BZMF     URGSCALE                              
022426,000931: 17,3124           13175                           TCF      URGLIMS                               
022427,000932: 
022428,000933:                                                                                                  #  RESCALE BOTH URGENCIES FROM 2(+9) TO 2(+4) SECONDS:
022429,000934: 
022430,000935: 17,3125           31504        URGSCALE           CAE      URGENCYQ                              
022431,000936: 17,3126           00006                           EXTEND                                         
022432,000937: 17,3127           77750                           MP       BIT6                                  
022433,000938: 17,3130           23504                           LXCH     URGENCYQ                              
022434,000939: 17,3131           31505                           CAE      URGENCYQ   +1                         
022435,000940: 17,3132           00006                           EXTEND                                         
022436,000941: 17,3133           77750                           MP       BIT6                                  
022437,000942: 17,3134           27504                           ADS      URGENCYQ                              
022438,000943: 
022439,000944: 17,3135           31506                           CAE      URGENCYR                              
022440,000945: 17,3136           00006                           EXTEND                                         
022441,000946: 17,3137           77750                           MP       BIT6                                  
022442,000947: 17,3140           23506                           LXCH     URGENCYR                              
022443,000948: 17,3141           31507                           CAE      URGENCYR   +1                         
022444,000949: 17,3142           00006                           EXTEND                                         
022445,000950: 17,3143           77750                           MP       BIT6                                  
022446,000951: 17,3144           27506                           ADS      URGENCYR                              
022447,000952: 
022448,000953: 17,3145           33163                           CAF      URGLM2                                #  SET URGENCY LIMIT FOR 2(+4) SCALING.
022449,000954: 17,3146           54066                           TS       URGLIMIT                              
022450,000955: 17,3147           13177                           TCF      URGFUDGE                              
022451,000956: 

Page 509

022453,000958: 17,3150           31717        URGRATQM           CAE      URGRATQ                               
022454,000959: 17,3151           00006                           EXTEND                                         
022455,000960: 17,3152           71504                           MP       URGENCYQ                              
022456,000961: 17,3153           55504                           TS       URGENCYQ                              
022457,000962: 17,3154           13206                           TCF      URGFUDG1                              
022458,000963: 
022459,000964: 17,3155           31720        URGRATRM           CAE      URGRATR                               
022460,000965: 17,3156           00006                           EXTEND                                         
022461,000966: 
022462,000967: 17,3157           71506                           MP       URGENCYR                              
022463,000968: 17,3160           55506                           TS       URGENCYR                              
022464,000969: 17,3161           13215                           TCF      URGPLANE                              
022465,000970: 
022466,000971: 17,3162           77637        URGLM1             DEC      -0.00586                              #  -3 SECONDS SCALED AT 2(+9)
022467,000972: 17,3163           71777        URGLM2             DEC      -0.1875                               #  -3 SECONDS SCALED AT 2(+4)
022468,000973: 17,3164           77002        SCALEBND           DEC      -0.03105                              #  -16 SECONDS SCALED AT 2(+9)
022469,000974: 17,3165           00000 00000  DPZEROY            2DEC     0          B-28                       
022470,000975:                                                                                                  #  NECESSARY TEST FOR URGENCY RESCALING:
022471,000976: 
022472,000977: 17,3167           11504        URGSCALQ           CCS      URGENCYQ                              #  IF ABVAL(URGENCYQ) LESS THAN SCALE BOUND
022473,000978: 17,3170           63164                           AD       SCALEBND                              
022474,000979: 17,3171           13173                           TCF      +2                                    #  THEN TEST URGENCYR FOR RESCALABLE
022475,000980: 17,3172           63164                           AD       SCALEBND                              
022476,000981: 17,3173           00006                           EXTEND                                         #  MAGNITUDE.
022477,000982: 17,3174           63116                           BZMF     URGSCALR                              
022478,000983: 
022479,000984:                                                                                                  #  USE URGENCY CORRECTION FACTOR RATIO WHEN NECESSARY:
022480,000985: 
022481,000986: 17,3175           33162        URGLIMS            CAF      URGLM1                                #  SET URGENCY LIMIT FOR 2(+9) SCALING
022482,000987: 17,3176           54066                           TS       URGLIMIT                              
022483,000988: 
022484,000989: 
022485,000990: 17,3177           31652        URGFUDGE           CAE      AOSQ                                  #  TEST ON ASOQ(URGENCYQ) GREATER THAN ZERO
022486,000991: 17,3200           00006                           EXTEND                                         
022487,000992: 
022488,000993: 17,3201           13206                           BZF      URGFUDG1                              #  (IF AOSQ ZERO, DO NOT USE URGRATQ.)
022489,000994: 17,3202           00006                           EXTEND                                         
022490,000995: 17,3203           71504                           MP       URGENCYQ                              #  IF PRODUCT NEGATIVE, APPLY URGRATQ.
022491,000996: 17,3204           00006                           EXTEND                                         
022492,000997: 17,3205           63150                           BZMF     URGRATQM                              
022493,000998: 
022494,000999: 17,3206           31653        URGFUDG1           CAE      AOSR                                  #  TEST ON AOSR(URGENCYR) GREATER THAN ZERO
022495,001000: 17,3207           00006                           EXTEND                                         
022496,001001: 17,3210           13215                           BZF      URGPLANE                              #  (IF AOSR ZERO, DO NOT USE URGRATQ.)
022497,001002: 17,3211           00006                           EXTEND                                         
022498,001003: 17,3212           71506                           MP       URGENCYR                              #  IF PRODUCT NEGATIVE, APPLY URGRATR.
022499,001004: 17,3213           00006                           EXTEND                                         
022500,001005: 17,3214           63155                           BZMF     URGRATRM                              
022501,001006: 
022502,001007: 17,3215           31504        URGPLANE           CAE      URGENCYQ                              #  BEGIN URGENCY-PLANE COMPUTATIONS:
022503,001008: 17,3216           00006                           EXTEND                                         
022504,001009: 

Page 510

022506,001011: 17,3217           13357                           BZF      BURGZERO                              #  TEST FOR BOTH URGENCIES ZERO
022507,001012: 
022508,001013: 17,3220           00006                           EXTEND                                         
022509,001014: 17,3221           73375                           MP       -TAN22.5                              
022510,001015: 17,3222           61506                           AD       URGENCYR                              
022511,001016: 17,3223           00006                           EXTEND                                         
022512,001017: 17,3224           73372                           MP       COS22.5                               
022513,001018: 17,3225           55512                           TS       TERMA                                 #  UR.COS(22.5)-UQ.SIN(22.5)
022514,001019: 
022515,001020: 17,3226           41506                           CS       URGENCYR                              
022516,001021: 17,3227           00006                           EXTEND                                         
022517,001022: 17,3230           73375                           MP       -TAN22.5                              
022518,001023: 17,3231           61504                           AD       URGENCYQ                              
022519,001024: 17,3232           00006                           EXTEND                                         
022520,001025: 
022521,001026: 17,3233           73372                           MP       COS22.5                               
022522,001027: 17,3234           55513                           TS       TERMB                                 #  UR.SIN(22.5)+UQ.COS(22.5)
022523,001028: 
022524,001029: 17,3235           61512        A+B/A-B            AD       TERMA                                 
022525,001030: 17,3236           55510                           TS       A+B                                   
022526,001031: 17,3237           41513        A-B/ONLY           CS       TERMB                                 
022527,001032: 17,3240           61512                           AD       TERMA                                 
022528,001033: 17,3241           55511                           TS       A-B                                   
022529,001034: 
022530,001035:                                                                                                  #  AXIS AND MODE SELECTION
022531,001036: 
022532,001037: 17,3242           31513                           CAE      TERMB                                 #  B URGENCY TEST
022533,001038: 17,3243           00006                           EXTEND                                         
022534,001039: 17,3244           63376                           BZMF     NEGBURG                               
022535,001040: 
022536,001041: 17,3245           31512        POSBURG            CAE      TERMA                                 #  A URGENCY TEST
022537,001042: 17,3246           00006                           EXTEND                                         
022538,001043: 17,3247           63316                           BZMF     NETAPOSB                              
022539,001044: 
022540,001045: 17,3250           31511        POSAPOSB           CAE      A-B                                   
022541,001046: 17,3251           00006                           EXTEND                                         
022542,001047: 17,3252           63274                           BZMF     MINUSU                                #  NEGATIVE U-AXIS SELECTED
022543,001048: 
022544,001049: 17,3253           31714        2/4JET-R           CAE      1/AMINR                               
022545,001050: 17,3254           55627                           TS       .5ACCMNE                              
022546,001051: 17,3255           00006                           EXTEND                                         
022547,001052: 17,3256           31414                           DCA      ER                                    
022548,001053: 17,3257           53412                           DXCH     E                                     
022549,001054: 17,3260           31410                           CAE      EDOT(R)                               
022550,001055: 17,3261           55407                           TS       EDOT                                  
022551,001056: 17,3262           30066                           CAE      URGLIMIT                              
022552,001057: 17,3263           61506                           AD       URGENCYR                              
022553,001058: 17,3264           00006                           EXTEND                                         
022554,001059: 17,3265           63270                           BZMF     2JETS-R                               
022555,001060: 
022556,001061: 17,3266           47755        4JETS-R            CS       ONE                                   
022557,001062: 

Page 511

022559,001064: 17,3267           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022560,001065: 
022561,001066: 17,3270           11663        2JETS-R            CCS      NJ-R                                  
022562,001067: 17,3271           13266                           TCF      4JETS-R                               
022563,001068: 17,3272           47754                           CS       TWO                                   
022564,001069: 17,3273           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022565,001070: 
022566,001071: 17,3274           31715        MINUSU             CAE      1/AMINU                               
022567,001072: 17,3275           55627                           TS       .5ACCMNE                              
022568,001073: 17,3276           31506                           CAE      URGENCYR                              
022569,001074: 17,3277           61506                           AD       URGENCYR                              
022570,001075: 17,3300           10000                           CCS      A                                     
022571,001076: 17,3301           60066                           AD       URGLIMIT                              
022572,001077: 17,3302           13304                           TCF      +2                                    
022573,001078: 17,3303           60066                           AD       URGLIMIT                              
022574,001079: 17,3304           00006                           EXTEND                                         
022575,001080: 17,3305           63311                           BZMF     2JETS-U                               
022576,001081: 
022577,001082: 17,3306           03523        2JETSM-U           TC       UXFORM                                
022578,001083: 
022579,001084: 17,3307           36301        2-U.RATE           CAF      THREE                                 
022580,001085: 17,3310           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022581,001086: 
022582,001087: 17,3311           11665        2JETS-U            CCS      NJ-U                                  
022583,001088: 17,3312           13306                           TCF      2JETSM-U                              
022584,001089: 17,3313           03523                           TC       UXFORM                                
022585,001090: 17,3314           37754                           CAF      TWO                                   
022586,001091: 17,3315           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022587,001092: 
022588,001093: 17,3316           31510        NETAPOSB           CAE      A+B                                   
022589,001094: 17,3317           00006                           EXTEND                                         
022590,001095: 17,3320           63335                           BZMF     PLUSV                                 
022591,001096: 
022592,001097: 17,3321           31713        2/4JET-Q           CAE      1/AMINQ                               
022593,001098: 17,3322           55627                           TS       .5ACCMNE                              
022594,001099: 17,3323           30066                           CAE      URGLIMIT                              
022595,001100: 17,3324           61504                           AD       URGENCYQ                              
022596,001101: 17,3325           00006                           EXTEND                                         
022597,001102: 17,3326           63331                           BZMF     2JETS-Q                               
022598,001103: 
022599,001104: 17,3327           47760        4JETS-Q            CS       FIVE                                  
022600,001105: 17,3330           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022601,001106: 
022602,001107: 17,3331           11661        2JETS-Q            CCS      NJ-Q                                  
022603,001108: 17,3332           13327                           TCF      4JETS-Q                               
022604,001109: 17,3333           46276                           CS       SIX                                   
022605,001110: 17,3334           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022606,001111: 
022607,001112: 17,3335           31716        PLUSV              CAE      1/AMINV                               
022608,001113: 17,3336           55627                           TS       .5ACCMNE                              
022609,001114: 17,3337           41504                           CS       URGENCYQ                              
022610,001115: 

Page 512

022612,001117: 17,3340           61506                           AD       URGENCYR                              
022613,001118: 17,3341           10000                           CCS      A                                     
022614,001119: 
022615,001120: 
022616,001121: 17,3342           60066                           AD       URGLIMIT                              
022617,001122: 17,3343           13345                           TCF      +2                                    
022618,001123: 17,3344           60066                           AD       URGLIMIT                              
022619,001124: 17,3345           00006                           EXTEND                                         
022620,001125: 17,3346           63352                           BZMF     2JETS+V                               
022621,001126: 
022622,001127: 17,3347           03515        2JETSM+V           TC       VXFORM                                
022623,001128: 17,3350           37760        2+V.RATE           CAF      FIVE                                  
022624,001129: 17,3351           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022625,001130: 
022626,001131: 17,3352           11666        2JETS+V            CCS      NJ+V                                  
022627,001132: 17,3353           13347                           TCF      2JETSM+V                              
022628,001133: 17,3354           03515                           TC       VXFORM                                
022629,001134: 17,3355           37753                           CAF      FOUR                                  
022630,001135: 17,3356           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022631,001136: 
022632,001137: 17,3357           31506        BURGZERO           CAE      URGENCYR                              #  TEST FOR SECOND URGENCY ALSO ZERO
022633,001138: 17,3360           00006                           EXTEND                                         
022634,001139: 17,3361           12416                           BZF      XTRANS                                #  NO ROTATION NEEDED NOW
022635,001140: 
022636,001141: 17,3362           00006                           EXTEND                                         #  TIME SAVING A,B CALCULATION
022637,001142: 17,3363           73373                           MP       SIN22.5                               
022638,001143: 17,3364           55513                           TS       TERMB                                 #  UR.SIN(22.5)
022639,001144: 
022640,001145: 17,3365           31506                           CAE      URGENCYR                              
022641,001146: 17,3366           00006                           EXTEND                                         
022642,001147: 17,3367           73372                           MP       COS22.5                               
022643,001148: 17,3370           55512                           TS       TERMA                                 #  UR.COS(22.5)
022644,001149: 17,3371           13237                           TCF      A-B/ONLY                              
022645,001150: 
022646,001151: 17,3372           35441        COS22.5            DEC      0.92388                               #  COSINE OF 22.5 DEGREES
022647,001152: 17,3373           14176        SIN22.5            DEC      0.38268                               #  SINE OF 22.5 DEGREES
022648,001153: 17,3374           00632        100MSCAL           DEC      0.025                                 
022649,001154: 17,3375           62575        -TAN22.5           DEC      -.41421                               #  NEGATIVE OF TANGENT OF 22.5 DEGREES
022650,001155: 
022651,001156: 17,3376           31512        NEGBURG            CAE      TERMA                                 #  A URGENCY TEST
022652,001157: 17,3377           00006                           EXTEND                                         
022653,001158: 17,3400           63426                           BZMF     NEGANEGB                              
022654,001159: 
022655,001160: 17,3401           31510        POSANEGB           CAE      A+B                                   
022656,001161: 17,3402           00006                           EXTEND                                         
022657,001162: 17,3403           63474                           BZMF     2/4JET+Q                              
022658,001163: 
022659,001164: 17,3404           31716        MINUSV             CAE      1/AMINV                               
022660,001165: 17,3405           55627                           TS       .5ACCMNE                              
022661,001166: 17,3406           41504                           CS       URGENCYQ                              
022662,001167: 17,3407           61506                           AD       URGENCYR                              
022663,001168: 
022664,001169: 17,3410           10000                           CCS      A                                     
022665,001170: 17,3411           60066                           AD       URGLIMIT                              
022666,001171: 

Page 513

022668,001173: 17,3412           13414                           TCF      +2                                    
022669,001174: 17,3413           60066                           AD       URGLIMIT                              
022670,001175: 17,3414           00006                           EXTEND                                         
022671,001176: 17,3415           63421                           BZMF     2JETS-V                               
022672,001177: 
022673,001178: 17,3416           03515        2JETSM-V           TC       VXFORM                                
022674,001179: 17,3417           37757        2-V.RATE           CAF      SEVEN                                 
022675,001180: 17,3420           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022676,001181: 
022677,001182: 17,3421           11667        2JETS-V            CCS      NJ-V                                  
022678,001183: 17,3422           13416                           TCF      2JETSM-V                              
022679,001184: 17,3423           03515                           TC       VXFORM                                
022680,001185: 17,3424           36276                           CAF      SIX                                   
022681,001186: 17,3425           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022682,001187: 
022683,001188: 17,3426           31511        NEGANEGB           CAE      A-B                                   
022684,001189: 17,3427           00006                           EXTEND                                         
022685,001190: 17,3430           63453                           BZMF     2/4JET+R                              
022686,001191: 
022687,001192: 17,3431           31715        PLUSU              CAE      1/AMINU                               
022688,001193: 17,3432           55627                           TS       .5ACCMNE                              
022689,001194: 17,3433           31504                           CAE      URGENCYQ                              
022690,001195: 17,3434           61506                           AD       URGENCYR                              
022691,001196: 17,3435           10000                           CCS      A                                     
022692,001197: 17,3436           60066                           AD       URGLIMIT                              
022693,001198: 17,3437           13441                           TCF      +2                                    
022694,001199: 17,3440           60066                           AD       URGLIMIT                              
022695,001200: 17,3441           00006                           EXTEND                                         
022696,001201: 17,3442           63446                           BZMF     2JETS+U                               
022697,001202: 
022698,001203: 17,3443           03523        2JETSM+U           TC       UXFORM                                
022699,001204: 17,3444           37755        2+U.RATE           CAF      ONE                                   
022700,001205: 
022701,001206: 17,3445           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022702,001207: 
022703,001208: 17,3446           11664        2JETS+U            CCS      NJ+U                                  
022704,001209: 17,3447           13443                           TCF      2JETSM+U                              
022705,001210: 17,3450           03523                           TC       UXFORM                                
022706,001211: 17,3451           37761                           CAF      ZERO                                  
022707,001212: 17,3452           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022708,001213: 
022709,001214: 17,3453           31714        2/4JET+R           CAE      1/AMINR                               
022710,001215: 17,3454           55627                           TS       .5ACCMNE                              
022711,001216: 17,3455           00006                           EXTEND                                         
022712,001217: 17,3456           31414                           DCA      ER                                    
022713,001218: 17,3457           53412                           DXCH     E                                     
022714,001219: 17,3460           31410                           CAE      EDOT(R)                               
022715,001220: 17,3461           55407                           TS       EDOT                                  
022716,001221: 17,3462           30066                           CAE      URGLIMIT                              
022717,001222: 17,3463           61506                           AD       URGENCYR                              
022718,001223: 
022719,001224: 17,3464           00006                           EXTEND                                         
022720,001225: 

Page 514

022722,001227: 17,3465           63470                           BZMF     2JETS+R                               
022723,001228: 
022724,001229: 17,3466           46301        4JETS+R            CS       THREE                                 
022725,001230: 17,3467           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022726,001231: 
022727,001232: 17,3470           11662        2JETS+R            CCS      NJ+R                                  
022728,001233: 17,3471           13466                           TCF      4JETS+R                               
022729,001234: 17,3472           47753                           CS       FOUR                                  
022730,001235: 17,3473           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022731,001236: 
022732,001237: 17,3474           31713        2/4JET+Q           CAE      1/AMINQ                               
022733,001238: 17,3475           55627                           TS       .5ACCMNE                              
022734,001239: 17,3476           30066                           CAE      URGLIMIT                              
022735,001240: 17,3477           61504                           AD       URGENCYQ                              
022736,001241: 
022737,001242: 17,3500           00006                           EXTEND                                         
022738,001243: 17,3501           63504                           BZMF     2JETS+Q                               
022739,001244: 
022740,001245: 17,3502           47757        4JETS+Q            CS       SEVEN                                 
022741,001246: 17,3503           13507                           TCF      POLTYPE                               #  GO FIND BEST POLICY
022742,001247: 
022743,001248: 17,3504           11660        2JETS+Q            CCS      NJ+Q                                  
022744,001249: 17,3505           13502                           TCF      4JETS+Q                               
022745,001250: 17,3506           47752                           CS       EIGHT                                 
022746,001251: 
022747,001252:                                                                                                  #  GENERALIZED CALLING SEQUENCE FOR ALL Q,R-AXES ROTATIONS (FROM BANK 17):
022748,001253: 
022749,001254: 17,3507           54061        POLTYPE            TS       NETACNDX                              #  SAVE INDEX INDICATING AXIS, DIRECTION,
022750,001255: 17,3510           00006                           EXTEND                                         #  AND NUMBER OF JETS REQUESTED (THIS SPEC-
022751,001256: 17,3511           33514                           DCA      POLADR                                #  IFIES THE "OPTIMAL" POLICY.  TRANSFER
022752,001257: 17,3512           52006                           DTCB                                           #  ACROSS BANKS TO POLICY SELECTION ROUTINE
022753,001258: 
022754,001259: 17,3513  E6,1471                                  EBANK=   JTSONNOW                              
022755,001260: 17,3513           02170 40006  POLADR             2CADR    POLTYPEP                              #  2CADR OF JET POLICY SELECT ROUINTE.
022756,001261: 
022757,001262: 

Page 515

022759,001264:                                                                                                  #  SUBROUTINES UXFORM AND VXFORM CALCULATE NEEDED VALUES FOR T-JET LAW
022760,001265:                                                                                                  #  (THEY GO OFF TO REDUCE RATE, IF NECESSARY, AND THEN DO NOT RETURN)
022761,001266: 
022762,001267: 17,3515           31705        VXFORM             CAE      1/2JETSV                              #  GET INVERSE OF V-JET ACCELERATION
022763,001268: 17,3516           54066                           TS       1/NJETAC                              
022764,001269: 17,3517           41411                           CS       EQ                                    #  COMPLEMENT FOR TRANSFORMATION
022765,001270: 17,3520           55411                           TS       EQ                                    
022766,001271: 17,3521           41424                           CS       EDOTQ                                 
022767,001272: 17,3522           13526                           TCF      UVXFORM    +1                         
022768,001273: 17,3523           31701        UXFORM             CAE      1/2JETSU                              #  SET INVERSE OF U-JET ACCELERATION
022769,001274: 17,3524           54066                           TS       1/NJETAC                              
022770,001275: 
022771,001276: 17,3525           31424        UVXFORM            CAE      EDOTQ                                 #  TRANSFORM ANGULAR RATE TO U/V-AXIS
022772,001277: 17,3526           61425                           AD       EDOTR                                 
022773,001278: 17,3527           00006                           EXTEND                                         
022774,001279: 17,3530           73575                           MP       .707                                  
022775,001280: 17,3531           55407                           TS       EDOT                                  #  SAVE FOR REDUCEUV
022776,001281: 17,3532           00006                           EXTEND                                         
022777,001282: 17,3533           77753                           MP       BIT3                                  
022778,001283: 17,3534           00006                           EXTEND                                         
022779,001284: 
022780,001285: 17,3535           13543                           BZF      UVEDOT                                #  BRANCH IF RESCALING SUCCESSFUL.
022781,001286: 
022782,001287: 17,3536           10000                           CCS      A                                     #  LIMIT EDOT TO +/- 11.25 DEG/SEC.
022783,001288: 17,3537           37735                           CAF      POSMAX                                
022784,001289: 17,3540           13544                           TCF      UVEDOT1                               
022785,001290: 17,3541           47735                           CS       POSMAX                                
022786,001291: 17,3542           13544                           TCF      UVEDOT1                               
022787,001292: 
022788,001293: 17,3543           30001        UVEDOT             CAE      L                                     
022789,001294: 17,3544           55407        UVEDOT1            TS       EDOT                                  #  RATE ERROR SCALED AT PI/16.
022790,001295: 17,3545           00006                           EXTEND                                         
022791,001296: 17,3546           70000                           SQUARE                                         
022792,001297: 17,3547           55412                           TS       EDOT(2)                               #  SAVE RATE SQUARED SCALED AT PI(2)/2(8)
022793,001298: 
022794,001299: 17,3550           77533        -1.6CSP            DEC      -.01000                               #  160 MS SCALED AT 2(4) SECONDS
022795,001300: 17,3551           00014        +TJMINT6           DEC      +.00073                               
022796,001301: 17,3552           77767        -TJMIN16           DEC      -.00047                               
022797,001302: 17,3553  17,3552               -TJMINQR           EQUALS   -TJMIN16                              
022798,001303: 17,3553           00050        38.5MAT4           DEC      0.00242                               #  38.75 MS SCALED AT 4
022799,001304: 17,3554           77733        -MS35AT4           DEC      -.00219                               #  -35MS SCALED AT 4
022800,001305: 17,3555           34344        MAXRATE            DEC      0.88889                               #  10 DEGREES/SECOND SCALED AT PI/16
022801,001306: 17,3556           31221        MAXRATE2           DEC      0.79012                               #  100 DEG(2)/SEC(2) SCALED AT PI(2)/2(8)
022802,001307: 17,3557           01552        .6DEG/SC           DEC      0.05333                               #  6/10 DEGREES/SECOND SCALED AT PI/16
022803,001308: 
022804,001309: 17,3560           31000        25/32QR            DEC      0.78125                               
022805,001310: 

Page 516

022807,001312:                                                                                                  #  THESE TWO SUBROUTINES TRANSFORM EDOTQ,EDOTR INTO THE U/V-AXIS (RESPECTIVELY) FOR THE RATE COMMAND MODE (ONLY).
022808,001313:                                                                                                  #  VALUE IS STORED IN EDOTGEN SCALED AT PI/4 RADIANS/SECOND.
022809,001314: 
022810,001315: 17,3561                                           BANK     17                                    
022811,001316: 17,3561           31701        EDOTUGEN           CAE      1/2JETSU                              #  FOR U-AXIS TRANSFORMATION
022812,001317: 17,3562           54066                           TS       1/NJETAC                              
022813,001318: 17,3563           31424                           CAE      EDOTQ                                 
022814,001319: 17,3564           13570                           TCF      +4                                    
022815,001320: 17,3565           31705        EDOTVGEN           CAE      1/2JETSV                              #  FOR V-AXIS TRANSFORMATION
022816,001321: 17,3566           54066                           TS       1/NJETAC                              
022817,001322: 17,3567           41424                           CS       EDOTQ                                 
022818,001323: 17,3570           61425                           AD       EDOTR                                 
022819,001324: 17,3571           00006                           EXTEND                                         
022820,001325: 17,3572           73575                           MP       .707                                  
022821,001326: 17,3573           55440                           TS       RATEDIF                               
022822,001327: 17,3574           00002                           TC       Q                                     
022823,001328: 
022824,001329: 
022825,001330: 
022826,001331: 17,3575           26501        .707               DEC      0.70711                               
022827,001332: 
022828,001333: 17,3576           00006        SPSBAKUP           EXTEND                                         
022829,001334: 17,3577           33602                           DCA      SPSRCSAD                              
022830,001335: 17,3600           52006                           DXCH     Z                                     
022831,001336: 17,3601  E6,1541                                  EBANK=   DT                                    
022832,001337: 17,3601           03536 42006  SPSRCSAD           2CADR    SPSRCS                                
022833,001338: 

Page 517

022835,001340:                                                                                                  #  *********TJETLAW************************************************************************************************
022836,001341: 
022837,001342: 17,3603           41407        TJETLAW            CS       EDOT                                  #  TEST ON EDOT SIGN:
022838,001343: 17,3604           00006                           EXTEND                                         
022839,001344: 17,3605           63611                           BZMF     +4                                    
022840,001345: 17,3606           55407                           TS       EDOT                                  #  SIGNS OF E AND EDOT CHANGED IF EDOT NEG,
022841,001346: 17,3607           41411                           CS       E                                     #  TO CONSIDER FUNCTIONS IN THE UPPER HALF
022842,001347: 17,3610           55411                           TS       E                                     #  OF THE E-DOT PHASE PLANE.
022843,001348: 
022844,001349: 17,3611           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(+8) RAD(2)/SEC(2)
022845,001350: 17,3612           00006                           EXTEND                                         #  1/NETACC HAS BEEN SET FOR N-JETS WITH
022846,001351: 17,3613           70066                           MP       1/NETACC                              #  IMPLICIT FACTOR OF (1/2).
022847,001352: 17,3614           61411                           AD       E                                     #  ATTITUDE ERROR SCALED AT PI RADIANS.
022848,001353: 17,3615           00006                           EXTEND                                         #  DEADBAND VALUE SCALED AT PI RADIANS.
022849,001354: 17,3616           61415                           SU       DB                                    #  E+.5EDOT/NETACC-DB
022850,001355: 17,3617           55445                           TS       HDAP                                  #  SCALED AT PI RADIANS.
022851,001356: 
022852,001357: 17,3620           00006                           EXTEND                                         
022853,001358: 17,3621           63662                           BZMF     NEGHDAP                               
022854,001359: 
022855,001360: 17,3622           31407                           CAE      EDOT                                  #  RATE ERROR; LIMITED TO +/- 11.25 DEG/SEC
022856,001361: 17,3623           00006                           EXTEND                                         #  SCALED AT PI/LG RADIANS/SECOND.
022857,001362: 17,3624           70066                           MP       1/NETACC                              #  SCALED AT 2(+8)/PI SEC(2)/RAD: (ACC) (-1)
022858,001363: 17,3625           20001                           DDOUBL                                         #  SCALED AT 2(+4) SECONDS.
022859,001364: 17,3626           55512                           TS       TERMA                                 
022860,001365: 
022861,001366: 17,3627           63550                           AD       -1.6CSP                               #  EDOT/NETACC-1.6CSP SCALED AT 16 SECONDS.
022862,001367: 17,3630           00006                           EXTEND                                         
022863,001368: 17,3631           63634                           BZMF     +3                                    
022864,001369: 
022865,001370: 17,3632           37740        MAXTJET            CAF      BIT14                                 #  (1/2) IS LIKE POSMAX AT THIS SCALING.
022866,001371: 17,3633           12461                           TCF      NORMRETN                              #  (OVERFLOW IS PREVENTED IN THIS WAY.)
022867,001372: 
022868,001373: 17,3634           41445                           CS       HDAP                                  #  DBMINIMP-E-EDOT(2)/NETACC+DB
022869,001374: 17,3635           61626                           AD       MINIMPDB                              #  SCALED AT PI RADIANS.
022870,001375: 17,3636           00006                           EXTEND                                         #  (DURING APS BURNS DBMINIMP=-DB)
022871,001376: 17,3637           63711                           BZMF     MAINBRCH                              
022872,001377: 
022873,001378: 17,3640           31512                           CAE      TERMA                                 #  EDOT/NETACC-35MS SCALED AT 16 SECONDS.
022874,001379: 17,3641           63554                           AD       -MS35AT4                              
022875,001380: 17,3642           00006                           EXTEND                                         #  COMPARE TIME-TO-GET-ZERO-RATE WITH 35MS.
022876,001381: 17,3643           63646                           BZMF     INZONE4                               
022877,001382: 
022878,001383: 17,3644           63553                           AD       38.5MAT4                              #  TIME-TO-GET-ZERO-RATE + 1/2 MINIMP.
022879,001384: 17,3645           13752                           TCF      TJETSCAL                              
022880,001385: 
022881,001386: 17,3646           31606        INZONE4            CAE      NO.QJETS                              #  IF NO Q-AXIS JETS THEN MUST HAVE R-AXIS
022882,001387: 17,3647           00006                           EXTEND                                         
022883,001388: 17,3650           13656                           BZF      ROTRAXIS                              
022884,001389: 

Page 518

022886,001391: 17,3651           30775                           CAE      OMEGAQD                               #  WITH Q-AXIS JETS, ZERO THE RATE ERROR.
022887,001392: 17,3652           55417                           TS       OMEGAQ                                
022888,001393: 
022889,001394: 17,3653           31607                           CAE      NO.RJETS                              #  IF NO R-AXIS JETS, THEN Q-AXIS JETS WERE
022890,001395: 17,3654           00006                           EXTEND                                         #  ALREADY FOUND.
022891,001396: 17,3655           13660                           BZF      DOTJMIN                               
022892,001397: 
022893,001398: 17,3656           30776        ROTRAXIS           CAE      OMEGARD                               #  WITH R-AXIS JETS, ZERO THE RATE ERROR.
022894,001399: 17,3657           55421                           TS       OMEGAR                                
022895,001400: 
022896,001401: 17,3660           33551        DOTJMIN            CAF      +TJMINT6                              #  USE MINIMUM IMPULSE DT FOR TQR.
022897,001402: 17,3661           12461                           TCF      NORMRETN                              
022898,001403: 
022899,001404: 17,3662           31412        NEGHDAP            CAE      EDOT(2)                               #  RATE ERROR SQUARED SCALED AT PI(2)/2(8).
022900,001405: 
022901,001406: 17,3663           00006                           EXTEND                                         
022902,001407: 17,3664           71627                           MP       .5ACCMNE                              #  .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD.
022903,001408: 17,3665           61411                           AD       E                                     #  ATTITUDE ERROR SCALED AT PI RADIANS
022904,001409: 17,3666           61415                           AD       DB                                    #  DEADBANDS (2) SCALED AT PI RADIANS
022905,001410: 17,3667           61625                           AD       DBMINIMP                              #  (DURING APS BURNS DBMINIMP = 0.)
022906,001411: 17,3670           00006                           EXTEND                                         
022907,001412: 17,3671           63673                           BZMF     +2                                    
022908,001413: 17,3672           12416                           TCF      XTRANS                                #  NO ROTATION JETS NEEDED.
022909,001414: 
022910,001415: 17,3673           43555                 +2        CS       MAXRATE                               #  10 DEGREES/SECOND SCALED AT PI/16.
022911,001416: 17,3674           61407                           AD       EDOT                                  #  EDOT-MAXRATE SCALED AT PI/16 RAD/SEC.
022912,001417: 17,3675           00006                           EXTEND                                         
022913,001418: 17,3676           63700                           BZMF     +2                                    
022914,001419: 17,3677           12416                           TCF      XTRANS                                
022915,001420: 
022916,001421: 17,3700           41407                 +2        CS       EDOT                                  #  RATE ERROR SCALED AT PI/16 RAD/SEC.
022917,001422: 17,3701           00006                           EXTEND                                         #  (LIMITED TO +/< 11.25 DEG/SEC.)
022918,001423: 17,3702           70066                           MP       1/NETACC                              #  SCALED AT 2(+8)/PI SEC(2)/RAD; (ACC):-1)
022919,001424: 17,3703           20001                           DDOUBL                                         #  SCALED AT 2(34) SECONDS.
022920,001425: 17,3704           55512                           TS       TERMA                                 
022921,001426: 
022922,001427: 17,3705           41445                           CS       HDAP                                  #  -E+.51EDOT(2)/NETACC+DB
022923,001428: 17,3706           61411                           AD       E                                     
022924,001429: 
022925,001430: 17,3707           61411                           AD       E                                     #  TWICE ERROR NEGATES E OF HDAP(ABOVE)
022926,001431: 17,3710           61626                           AD       MINIMPDB                              
022927,001432: 17,3711           55445        MAINBRCH           TS       HDAP                                  #  -HDAP(ABOVE)+2E+DBMINIMP AT PI RADIANS.
022928,001433: 
022929,001434: 17,3712           30066                           CAE      1/NETACC                              #  .5(1/NETACC+1/ACCMIN) SCALED AT 2(8)/PI.
022930,001435: 17,3713           27627                           ADS      .5ACCMNE                              #  .5ACCMNE NOW HOLDS DENOM.
022931,001436: 
022932,001437: 17,3714           00006                           EXTEND                                         #  DENOM(MAXRATE(2)).HDAP AT PI RADIANS.
022933,001438: 17,3715           73556                           MP       MAXRATE2                              
022934,001439: 17,3716           61445                           AD       HDAP                                  
022935,001440: 17,3717           00006                           EXTEND                                         
022936,001441: 17,3720           63756                           BZMF     NOROOT                                

Page 519

022938,001443: 17,3721           31445                           CAE      HDAP                                  #  +(HDAP/DENOM)(1)NETACC)(2) AT 2(8) SELS.
022939,001444: 17,3722           00006                           EXTEND                                         
022940,001445: 17,3723           11627                           DV       .5ACCMNE                              
022941,001446: 17,3724           00006                           EXTEND                                         
022942,001447: 17,3725           70066                           MP       1/NETACC                              
022943,001448: 17,3726           00006                           EXTEND                                         
022944,001449: 17,3727           70066                           MP       1/NETACC                              
022945,001450: 17,3730           20001                           DDOUBL                                         
022946,001451: 17,3731           20001                           DDOUBL                                         
022947,001452: 17,3732           55513                           TS       TERMB                                 
022948,001453: 
022949,001454: 17,3733           33550                           CAF      -1.6CSP                               #  -1.6(CSP)-EDOT/NETACC SCALED AT  16 SECS
022950,001455: 17,3734           61512                           AD       TERMA                                 
022951,001456: 17,3735           00006                           EXTEND                                         
022952,001457: 17,3736           70000                           SQUARE                                         #  (-1.6(CSP)-EDOT/NETACC)(2)   AT 256 SECS
022953,001458: 17,3737           61513                           AD       TERMB                                 
022954,001459: 17,3740           00006                           EXTEND                                         #  (-1.6(CSP)-EDOT/NETACC)(2)+TERMB
022955,001460: 17,3741           63632                           BZMF     MAXTJET                               
022956,001461: 
022957,001462: 
022958,001463: 17,3742           33552                           CAF      -TJMIN16                              #  -EDOT/NETACC-TJMIN SCALED AT 16.
022959,001464: 17,3743           61512                           AD       TERMA                                 
022960,001465: 17,3744           00006                           EXTEND                                         
022961,001466: 17,3745           63764                           BZMF     MAYNOJET                              
022962,001467: 
022963,001468: 17,3746           05041        PREROOT            TC       T6JOBCHK                              
022964,001469: 
022965,001470: 17,3747           41513                           CS       TERMB                                 
022966,001471: 17,3750           05435                           TC       SPROOT                                #  SQRT(-TERMB) SCALED AT 2(4) SECONDS.
022967,001472: 17,3751           61512        TJSUM              AD       TERMA                                 #  TERMA+SQRT(-TERMB)
022968,001473: 
022969,001474: 17,3752           60000        TJETSCAL           DOUBLE                                         #  NOW SCALED AT 2(+3) SECONDS.
022970,001475: 17,3753           00006                           EXTEND                                         
022971,001476: 17,3754           73560                           MP       25/32QR                               #  SCALED TO 16/25 2(+4) SECONDS.
022972,001477: 17,3755           12461                           TCF      NORMRETN                              
022973,001478: 
022974,001479: 17,3756           33555        NOROOT             CAF      MAXRATE                               
022975,001480: 17,3757           63557                           AD       .6DEG/SC                              #  MAXRATE+DEL SCALED AT PI/16 RAD/SEC.
022976,001481: 17,3760           00006                           EXTEND                                         
022977,001482: 17,3761           70066                           MP       1/NETACC                              #  (MAXRATE+DEL)/NETACC
022978,001483: 17,3762           20001                           DDOUBL                                         #  SCALED AT 2(+4) SECONDS
022979,001484: 17,3763           13751                           TCF      TJSUM                                 
022980,001485: 
022981,001486: 
022982,001487: 17,3764           33552        MAYNOJET           CAF      -TJMIN16                              
022983,001488: 17,3765           61512                           AD       TERMA                                 #  TERMA-TJMIN SCALED AT 2(+4) SECONDS.
022984,001489: 17,3766           00006                           EXTEND                                         
022985,001490: 17,3767           70000                           SQUARE                                         #  SCALED AT 2(+8) SECONDS.
022986,001491: 17,3770           61513                           AD       TERMB                                 
022987,001492: 17,3771           00006                           EXTEND                                         
022988,001493: 17,3772           63746                           BZMF     PREROOT                               #  (TERMA-TJMIN)(2)+TERMB AT 2(8) SECONDS.
022989,001494: 17,3773           12416                           TCF      XTRANS                                #  NO ROTATION JETS.

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