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 Linden Sims. 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:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

062809,000002:                                                                                                  ## Copyright:   Public domain.
062810,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
062811,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
062812,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
062813,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
062814,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
062815,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
062816,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
062817,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
062818,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
062819,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
062820,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
062821,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
062822,000015:                                                                                                  ## Reference:   pp. 1430-1447
062823,000016:                                                                                                  ## Assembler:   yaYUL
062824,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062825,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
062826,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
062827,000020:                                                                                                  ##              2017-08-29 MAS  Updated for Zerlina 56.
062828,000021: 

Page 1430

062830,000023: 17,2124                                           BANK     17                                    
062831,000024: 17,2000                                           SETLOC   DAPS2                                 
062832,000025: 17,2000                                           BANK                                           
062833,000026: 
062834,000027: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
062835,000028: 
062836,000029: 17,2124                                           COUNT*   $$/DAPQR                              
062837,000030: 
062838,000031: 
062839,000032: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062840,000033: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062841,000034: 17,2126           02031                           RAND     CHAN31                                
062842,000035: 17,2127           10000                           CCS      A                                     
062843,000036: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062844,000037: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062845,000038: 17,2132           74740                           MASK     OURRCBIT                              
062846,000039: 17,2133           00006                           EXTEND                                         
062847,000040: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062848,000041: 17,2135           02655                           TC       QERRCALC                              
062849,000042: 
062850,000043: 
062851,000044: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062852,000045: 17,2137           12636                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
062853,000046: 17,2140           12623                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
062854,000047: 17,2141           34755        RCS                CAF      ZERO                                  #    RCS (TRYGTS MAY BRANCH TO HERE)
062855,000048: 17,2142           55630                           TS       COTROLER                              
062856,000049: 
062857,000050: 17,2143           53437                           DXCH     EDOTQ                                 
062858,000051: 17,2144           03200                           TC       ROT-TOUV                              
062859,000052: 17,2145           53427                           DXCH     OMEGAU                                
062860,000053: 
062861,000054:                                                                                                  #                                          X - TRANSLATION:
062862,000055: 
062863,000056:                                                                                                  #                                          INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062864,000057:                                                                                                  #                                                   ULLAGER
062865,000058:                                                                                                  #                                                   APSFLAG, DRIFTBIT
062866,000059:                                                                                                  #                                                   ACC40R2X, ACRBTRAN
062867,000060: 
062868,000061:                                                                                                  #                                          OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
062869,000062:                                                                                                  #                                                   SENSETYP           TELL ROTATION DIRECTION AND DESIRE
062870,000063: 
062871,000064:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062872,000065:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062873,000066: 
062874,000067: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062875,000068: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062876,000069: 17,2150           02031                           RAND     CHAN31                                
062877,000070: 17,2151           00006                           EXTEND                                         
062878,000071: 17,2152           12200                           BZF      +XORULGE                              
062879,000072: 

Page 1431

062881,000074: 17,2153           34744                           CA       BIT8                                  
062882,000075: 17,2154           00006                           EXTEND                                         
062883,000076: 17,2155           02031                           RAND     CHAN31                                
062884,000077: 17,2156           00006                           EXTEND                                         
062885,000078: 17,2157           12201                           BZF      -XTRANS                               
062886,000079: 
062887,000080: 17,2160           34746                           CA       ULLAGER                               
062888,000081: 17,2161           70111                           MASK     DAPBOOLS                              
062889,000082: 17,2162           10000                           CCS      A                                     
062890,000083: 17,2163           12200                           TCF      +XORULGE                              
062891,000084: 
062892,000085: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062893,000086: 17,2165           55474                           TS       NEXTV                                 
062894,000087: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062895,000088: 17,2167           74744                           MASK     DRIFTBIT                              
062896,000089: 17,2170           00006                           EXTEND                                         
062897,000090: 17,2171           12176                           BZF      TSENSE                                
062898,000091: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062899,000092: 17,2173           74737                           MASK     APSFLBIT                              
062900,000093: 17,2174           10000                           CCS      A                                     
062901,000094: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062902,000095: 17,2176           55500        TSENSE             TS       SENSETYP                              
062903,000096: 17,2177           12232                           TCF      QRCONTRL                              
062904,000097: 
062905,000098: 17,2200           34753        +XORULGE           CAF      ONE                                   
062906,000099: 17,2201           64751        -XTRANS            AD       FOUR                                  
062907,000100: 17,2202           55743                           TS       ROTINDEX                              
062908,000101: 17,2203           67757                           AD       NEG3                                  
062909,000102: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062910,000103: 17,2205           30111                           CA       DAPBOOLS                              
062911,000104: 17,2206           74741                           MASK     ACC4OR2X                              
062912,000105: 17,2207           10000                           CCS      A                                     
062913,000106: 17,2210           12352                           TCF      TRANS4                                
062914,000107: 
062915,000108: 17,2211           30111                           CA       DAPBOOLS                              
062916,000109: 17,2212           74742                           MASK     AORBTRAN                              
062917,000110: 17,2213           10000                           CCS      A                                     
062918,000111: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
062919,000112: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062920,000113: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
062921,000114: 
062922,000115: 17,2217           03225                           TC       SELCTSUB                              
062923,000116: 
062924,000117: 17,2220           11740                           CCS      POLYTEMP                              
062925,000118: 17,2221           12224                           TCF      +3                                    
062926,000119: 17,2222           05600                           TC       ALARM                                 
062927,000120: 17,2223           02002                           OCT      02002                                 
062928,000121: 17,2224           35775                           CA       00314OCT                              
062929,000122: 17,2225           71740                           MASK     POLYTEMP                              
062930,000123: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1432

062932,000125: 17,2227           45775                           CS       00314OCT                              
062933,000126: 17,2230           71740                           MASK     POLYTEMP                              
062934,000127: 17,2231           55474                           TS       NEXTV                                 
062935,000128: 
062936,000129:                                                                                                  #                                          Q,R-AXES RCS CONTROL MODE SELECTION
062937,000130: 
062938,000131:                                                                                                  #                                            SWITCHES                INDICATION WHEN SET
062939,000132: 
062940,000133:                                                                                                  #                                            BIT13/CHAN31            AUTO, GO TO ATTSTEER
062941,000134:                                                                                                  #                                            PULSES                  MINIMUM IMPULSE MODE
062942,000135:                                                                                                  #                                            (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
062943,000136: 
062944,000137: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062945,000138: 17,2233           00006                           EXTEND                                         
062946,000139: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
062947,000140: 17,2235           10000                           CCS      A                                     
062948,000141: 17,2236           12710                           TCF      ATTSTEER                              
062949,000142: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062950,000143: 17,2240           70111                           MASK     DAPBOOLS                              
062951,000144: 17,2241           00006                           EXTEND                                         
062952,000145: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062953,000146: 
062954,000147:                                                                                                  #  MINIMUM IMPULSE MODE
062955,000148: 
062956,000149: 17,2243           00004                           INHINT                                         
062957,000150: 17,2244           04674                           TC       IBNKCALL                              
062958,000151: 17,2245           40154                           CADR     ZATTEROR                              
062959,000152: 17,2246           34755                           CA       ZERO                                  
062960,000153: 17,2247           55450                           TS       QERROR                                
062961,000154: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
062962,000155: 17,2251           00003                           RELINT                                         
062963,000156: 
062964,000157: 17,2252           00006                           EXTEND                                         
062965,000158: 17,2253           00031                           READ     CHAN31                                
062966,000159: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062967,000160: 17,2255           11461                           CCS      OLDQRMIN                              
062968,000161: 17,2256           12300                           TCF      CHECKIN                               
062969,000162: 
062970,000163: 17,2257           31736        FIREQR             CA       TEMP31                                
062971,000164: 17,2260           74753                           MASK     BIT1                                  
062972,000165: 17,2261           00006                           EXTEND                                         
062973,000166: 17,2262           12304                           BZF      +QMIN                                 
062974,000167: 
062975,000168: 17,2263           31736                           CA       TEMP31                                
062976,000169: 17,2264           74752                           MASK     BIT2                                  
062977,000170: 17,2265           00006                           EXTEND                                         
062978,000171: 17,2266           12310                           BZF      -QMIN                                 
062979,000172: 
062980,000173: 17,2267           31736                           CA       TEMP31                                
062981,000174: 17,2270           74747                           MASK     BIT5                                  

Page 1433

062983,000176: 17,2271           00006                           EXTEND                                         
062984,000177: 17,2272           12314                           BZF      +RMIN                                 
062985,000178: 
062986,000179: 17,2273           31736                           CA       TEMP31                                
062987,000180: 17,2274           74746                           MASK     BIT6                                  
062988,000181: 17,2275           00006                           EXTEND                                         
062989,000182: 17,2276           12316                           BZF      -RMIN                                 
062990,000183: 
062991,000184: 17,2277           13112                           TCF      XTRANS                                
062992,000185: 
062993,000186: 17,2300           41736        CHECKIN            CS       TEMP31                                
062994,000187: 17,2301           72351                           MASK     OCT63                                 
062995,000188: 17,2302           55461                           TS       OLDQRMIN                              
062996,000189: 17,2303           13112                           TCF      XTRANS                                
062997,000190: 
062998,000191: 17,2304           33136        +QMIN              CA       14MS                                  
062999,000192: 17,2305           55525                           TS       TJU                                   
063000,000193: 17,2306           43136                           CS       14MS                                  
063001,000194: 17,2307           12320                           TCF      MINQR                                 
063002,000195: 17,2310           43136        -QMIN              CS       14MS                                  
063003,000196: 17,2311           55525                           TS       TJU                                   
063004,000197: 17,2312           33136                           CA       14MS                                  
063005,000198: 17,2313           12320                           TCF      MINQR                                 
063006,000199: 17,2314           33136        +RMIN              CA       14MS                                  
063007,000200: 17,2315           12317                           TCF      +2                                    
063008,000201: 17,2316           43136        -RMIN              CS       14MS                                  
063009,000202: 17,2317           55525                           TS       TJU                                   
063010,000203: 17,2320           55526        MINQR              TS       TJV                                   
063011,000204: 17,2321           32350                           CA       MINADR                                
063012,000205: 17,2322           55477                           TS       RETJADR                               
063013,000206: 17,2323           34753                           CA       ONE                                   
063014,000207: 17,2324           55461                           TS       OLDQRMIN                              
063015,000208: 17,2325           55505        MINRTN             TS       AXISCTR                               
063016,000209: 17,2326           30111                           CA       DAPBOOLS                              
063017,000210: 17,2327           74737                           MASK     CSMDOCKD                              
063018,000211: 17,2330           00006                           EXTEND                                         
063019,000212: 17,2331           12341                           BZF      MIMRET                                
063020,000213: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
063021,000214: 17,2333           11525                           CCS      TJU                                   
063022,000215: 17,2334           34776                           CA       60MS                                  
063023,000216: 17,2335           12337                           TCF      +2                                    
063024,000217: 17,2336           44776                           CS       60MS                                  
063025,000218: 17,2337           51505                           INDEX    AXISCTR                               
063026,000219: 17,2340           55525                           TS       TJU                                   
063027,000220: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
063028,000221: 17,2342           74742                           MASK     AORBTRAN                              
063029,000222: 17,2343           10000                           CCS      A                                     
063030,000223: 17,2344           34753                           CA       ONE                                   
063031,000224: 17,2345           64752                           AD       TWO                                   
063032,000225: 17,2346           55742                           TS       NUMBERT                               

Page 1434

063034,000227: 17,2347           12756                           TCF      AFTERTJ                               
063035,000228: 
063036,000229: 17,2350     4776               60MS               =        OCT140                                
063037,000230: 17,2350           02325        MINADR             GENADR   MINRTN                                
063038,000231: 17,2351           00063        OCT63              OCT      63                                    
063039,000232: 17,2352  17,3136               14MS               =        +TJMINT6                              
063040,000233: 
063041,000234: 17,2352           34751        TRANS4             CA       FOUR                                  
063042,000235: 17,2353           12216                           TCF      TSNUMBRT                              
063043,000236: 
063044,000237:                                                                                                  #                                          RATE COMMAND MODE:
063045,000238: 
063046,000239:                                                                                                  #                                          DESCRIPTION (SAME AS P-AXIS)
063047,000240: 
063048,000241: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
063049,000242: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
063050,000243: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
063051,000244: 17,2357           34735                           CA       BIT15                                 
063052,000245: 17,2360           71443                           MASK     CH31TEMP                              
063053,000246: 17,2361           00006                           EXTEND                                         
063054,000247: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
063055,000248: 17,2363           34740                           CA       OURRCBIT                              #  ***********
063056,000249: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
063057,000250: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
063058,000251: 17,2366           12710                           BZF      STILLRCS                              
063059,000252: 17,2367           44743                           CS       BIT9                                  
063060,000253: 17,2370           71262                           MASK     RCSFLAGS                              
063061,000254: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
063062,000255: 17,2372           12374                           TCF      DAMPING                               
063063,000256: 17,2373     4771               40CYCL             =        OCT50                                 
063064,000257: 17,2373     4753               1/10S              =        BIT1                                  
063065,000258: 17,2373           00056        LINRAT             DEC      46         B-14                       
063066,000259:                                                                                                  #  ================================
063067,000260: 17,2374           34755        DAMPING            CA       ZERO                                  
063068,000261: 17,2375           55462                           TS       SAVEHAND                              
063069,000262: 17,2376           55463                           TS       SAVEHAND   +1                         
063070,000263: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
063071,000264: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL  WC = A*(B+|D|)*D
063072,000265: 17,2401           12403                           TCF      +2                                    #  *******************
063073,000266: 17,2402           12403                           TCF      +1                                    
063074,000267: 17,2403           60000                           DOUBLE                                         #    WHERE
063075,000268: 17,2404           60000                           DOUBLE                                         
063076,000269: 17,2405           62373                           AD       LINRAT                                #         WC = COMMANDED ROTATIONAL RATE
063077,000270: 17,2406           00006                           EXTEND                                         #         A  = QUADRATIC SENSITIVITY FACTOR
063078,000271: 17,2407           71462                           MP       SAVEHAND                              #         B  = LINEAR/QUADRATIC SENSITIVITY
063079,000272: 17,2410           30001                           CA       L                                     #         |D|= ABS. VALUE OF DEFLECTION
063080,000273: 17,2411           00006                           EXTEND                                         #         D  = HAND CONTROLLER DEFLECTION
063081,000274: 17,2412           71444                           MP       STIKSENS                              
063082,000275: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
063083,000276: 17,2414           40000                           COM                                            

Page 1435

063085,000278: 17,2415           61455                           AD       QLAST                                 
063086,000279: 17,2416           55740                           TS       DAPTEMP3                              
063087,000280: 17,2417           11463                           CCS      SAVEHAND   +1                         
063088,000281: 17,2420           12423                           TCF      +3                                    
063089,000282: 17,2421           12423                           TCF      +2                                    
063090,000283: 17,2422           12423                           TCF      +1                                    
063091,000284: 17,2423           60000                           DOUBLE                                         
063092,000285: 17,2424           60000                           DOUBLE                                         
063093,000286: 17,2425           62373                           AD       LINRAT                                
063094,000287: 17,2426           00006                           EXTEND                                         
063095,000288: 17,2427           71463                           MP       SAVEHAND   +1                         
063096,000289: 17,2430           30001                           CA       L                                     
063097,000290: 17,2431           00006                           EXTEND                                         
063098,000291: 17,2432           71444                           MP       STIKSENS                              
063099,000292: 17,2433           57456                           XCH      RLAST                                 
063100,000293: 17,2434           40000                           COM                                            
063101,000294: 17,2435           61456                           AD       RLAST                                 
063102,000295: 17,2436           55741                           TS       DAPTEMP4                              
063103,000296: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
063104,000297: 17,2440           61422                           AD       OMEGAQ                                
063105,000298: 17,2441           55436                           TS       QRATEDIF                              
063106,000299: 17,2442           41456                           CS       RLAST                                 
063107,000300: 17,2443           61423                           AD       OMEGAR                                
063108,000301: 17,2444           55437                           TS       RRATEDIF                              
063109,000302: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
063110,000303: 17,2446           03200                           TC       ROT-TOUV                              
063111,000304: 17,2447           53427                           DXCH     URATEDIF                              
063112,000305: 17,2450           00004                           INHINT                                         #  SET AUTO DESIRED ATTITUDE TO ACTUAL
063113,000306: 17,2451           04674                           TC       IBNKCALL                              #    ATTITUDE AND ZERO AUTO DESIRED RATE
063114,000307: 17,2452           40154                           FCADR    ZATTEROR                              
063115,000308: 17,2453           00003                           RELINT                                         
063116,000309: 17,2454           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
063117,000310: 17,2455           02460                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
063118,000311: 17,2456           02460                           TC       +2                                    
063119,000312: 17,2457           02460                           TC       +1                                    
063120,000313: 17,2460           61476                           AD       -RATEDB                               
063121,000314: 17,2461           00006                           EXTEND                                         
063122,000315: 17,2462           62464                           BZMF     +2                                    
063123,000316: 17,2463           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063124,000317: 17,2464           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
063125,000318: 17,2465           02470                           TC       +3                                    
063126,000319: 17,2466           02470                           TC       +2                                    
063127,000320: 17,2467           02470                           TC       +1                                    
063128,000321: 17,2470           61476                           AD       -RATEDB                               
063129,000322: 17,2471           00006                           EXTEND                                         
063130,000323: 17,2472           62474                           BZMF     +2                                    
063131,000324: 17,2473           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063132,000325: 17,2474           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
063133,000326: 17,2475           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
063134,000327: 17,2476           00006                           EXTEND                                         

Page 1436

063136,000329: 17,2477           12501                           BZF      +2                                    
063137,000330: 17,2500           12504                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
063138,000331: 17,2501           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
063139,000332: 17,2502           34771                           CA       40CYCL                                
063140,000333: 17,2503           55457                           TS       TCQR                                  
063141,000334: 17,2504           34755        ENTERUV            CA       ZERO                                  #  *** DIRECT RATE CONTROL ***
063142,000335: 17,2505           55450                           TS       DYERROR                               
063143,000336: 17,2506           55451                           TS       DYERROR    +1                         
063144,000337: 17,2507           55452                           TS       DZERROR                               
063145,000338: 17,2510           55453                           TS       DZERROR    +1                         
063146,000339: 17,2511           11426                           CCS      URATEDIF                              
063147,000340: 17,2512           12515                           TCF      +3                                    
063148,000341: 17,2513           12515                           TCF      +2                                    
063149,000342: 17,2514           12515                           TCF      +1                                    
063150,000343: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063151,000344: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
063152,000345: 17,2517           62533                           BZMF     VDB                                   
063153,000346: 17,2520           11427                           CCS      VRATEDIF                              
063154,000347: 17,2521           12524                           TCF      +3                                    
063155,000348: 17,2522           12524                           TCF      +2                                    
063156,000349: 17,2523           12524                           TCF      +1                                    
063157,000350: 17,2524           61476                           AD       TARGETDB                              
063158,000351: 17,2525           00006                           EXTEND                                         
063159,000352: 17,2526           62530                           BZMF     +2                                    
063160,000353: 17,2527           12544                           TCF      QRTIME                                
063161,000354: 17,2530           34755                           CA       ZERO                                  
063162,000355: 17,2531           55427                           TS       VRATEDIF                              
063163,000356: 17,2532           12544                           TCF      QRTIME                                
063164,000357: 17,2533           11427        VDB                CCS      VRATEDIF                              
063165,000358: 17,2534           02537                           TC       +3                                    
063166,000359: 17,2535           02537                           TC       +2                                    
063167,000360: 17,2536           02537                           TC       +1                                    
063168,000361: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063169,000362: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
063170,000363: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
063171,000364: 17,2542           34755                           CA       ZERO                                  #  PASS.
063172,000365: 17,2543           55426                           TS       URATEDIF                              
063173,000366: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
063174,000367: 17,2545           00006                           EXTEND                                         
063175,000368: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
063176,000369: 17,2547           41262                           CS       RCSFLAGS                              
063177,000370: 17,2550           74741                           MASK     QRBIT                                 
063178,000371: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
063179,000372: 17,2552           02556                           TC       +4                                    
063180,000373: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
063181,000374: 17,2554           71262                           MASK     RCSFLAGS                              
063182,000375: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
063183,000376: 17,2556           32622                           CA       HANDADR                               
063184,000377: 17,2557           55477                           TS       RETJADR                               
063185,000378: 17,2560           34753                           CA       ONE                                   

Page 1437

063187,000380: 17,2561           55505        BACKHAND           TS       AXISCTR                               
063188,000381: 
063189,000382: 17,2562           34751                           CA       FOUR                                  
063190,000383: 17,2563           55742                           TS       NUMBERT                               
063191,000384: 
063192,000385: 17,2564           51505                           INDEX    AXISCTR                               
063193,000386: 17,2565           51534                           INDEX    SKIPU                                 
063194,000387: 17,2566           12567                           TCF      +1                                    
063195,000388: 17,2567           34751                           CA       FOUR                                  
063196,000389: 17,2570           51505                           INDEX    AXISCTR                               
063197,000390: 17,2571           55534                           TS       SKIPU                                 
063198,000391: 17,2572           13034                           TCF      LOOPER                                
063199,000392: 
063200,000393: 17,2573           51505                           INDEX    AXISCTR                               
063201,000394: 17,2574           11426                           CCS      URATEDIF                              #  INDEX  AXIS    QUANITY
063202,000395: 17,2575           34755                           CA       ZERO                                  #    0     -U     1/JETACC-AOSU
063203,000396: 17,2576           12600                           TCF      +2                                    #    1     +U     1/JETACC+AOSU
063204,000397: 17,2577           34753                           CA       ONE                                   #   16     -V     1/JETACC-AOSV
063205,000398: 17,2600           51505                           INDEX    AXISCTR                               #   17     +V     1/JETACC+AOSV
063206,000399: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
063207,000400: 
063208,000401: 17,2602           50000                           INDEX    A                                     
063209,000402: 17,2603           41570                           CS       1/ANET2    +1                         
063210,000403: 17,2604           00006                           EXTEND                                         
063211,000404: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
063212,000405: 17,2606           71426                           MP       URATEDIF                              #   JET TIME IN A      SCALED 32 SEC
063213,000406: 17,2607           54002                           TS       Q                                     
063214,000407: 17,2610           20001                           DAS      A                                     
063215,000408: 17,2611           60002                           AD       Q                                     
063216,000409: 17,2612           54000                           TS       A                                     #   OVERFLOW SKIP
063217,000410: 17,2613           12615                           TCF      +2                                    
063218,000411: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
063219,000412: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
063220,000413: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
063221,000414: 17,2617           12756                           TCF      AFTERTJ                               
063222,000415: 
063223,000416: 17,2620           34755        ZEROTJ             CA       ZERO                                  
063224,000417: 17,2621           12615                           TCF      SETTIME                               
063225,000418: 
063226,000419: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
063227,000420: 
063228,000421:                                                                                                  #                                          GTS WILL BE TRIED IF
063229,000422:                                                                                                  #                                             1. USEQRJTS= 0,
063230,000423:                                                                                                  #                                             2. ALLOWGTS POS,
063231,000424:                                                                                                  #                                             3. JETS ARE OFF(Q,R-AXES)
063232,000425: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.        (AS LONG AS
063233,000426: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
063234,000427: 17,2625           10000                           CCS      A                                     
063235,000428: 17,2626           12141                           TCF      RCS                                   
063236,000429: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1438

063238,000431: 17,2630           12632                           TCF      +2                                    
063239,000432: 17,2631           12141                           TCF      RCS                                   
063240,000433: 17,2632           00006                           EXTEND                                         
063241,000434: 17,2633           00005                           READ     CHAN5                                 
063242,000435: 17,2634           10000                           CCS      A                                     
063243,000436: 17,2635           12641                           TCF      CHKINGTS                              
063244,000437: 17,2636           00006        GOTOGTS            EXTEND                                         
063245,000438: 17,2637           32654                           DCA      GTSCADR                               
063246,000439: 17,2640           52006                           DTCB                                           
063247,000440: 
063248,000441: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
063249,000442: 17,2642           12644                           TCF      +2                                    #    YES.  SET UP A DAMPED NULLING DRIVE.
063250,000443: 17,2643           12141                           TCF      RCS                                   #    NO.  NULLING WAS SET UP BEFORE. DO RCS
063251,000444: 17,2644           00004                           INHINT                                         
063252,000445: 17,2645           04674                           TC       IBNKCALL                              
063253,000446: 17,2646           43232                           CADR     TIMEGMBL                              
063254,000447: 17,2647           00003                           RELINT                                         
063255,000448: 17,2650           34755                           CAF      ZERO                                  
063256,000449: 17,2651           55632                           TS       INGTS                                 
063257,000450: 17,2652           12141                           TCF      RCS                                   
063258,000451: 
063259,000452: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
063260,000453: 17,2653           03001 42106  GTSCADR            2CADR    GTS                                   
063261,000454: 
063262,000455: 

Page 1439

063264,000457:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
063265,000458: 
063266,000459: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
063267,000460: 17,2656           00006                           EXTEND                                         
063268,000461: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
063269,000462: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
063270,000463: 17,2661           00006                           EXTEND                                         
063271,000464: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
063272,000465: 17,2663           55751                           TS       E                                     
063273,000466: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
063274,000467: 17,2665           00006                           EXTEND                                         
063275,000468: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063276,000469: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
063277,000470: 17,2670           00006                           EXTEND                                         
063278,000471: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
063279,000472: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
063280,000473: 17,2673           61751                           AD       E                                     
063281,000474: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
063282,000475: 
063283,000476: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
063284,000477: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
063285,000478: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
063286,000479: 17,2700           55751                           TS       E                                     
063287,000480: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
063288,000481: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063289,000482: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
063290,000483: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
063291,000484: 17,2705           61751                           AD       E                                     
063292,000485: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
063293,000486: 17,2707           00002                           TC       Q                                     
063294,000487: 

Page 1440

063296,000489:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
063297,000490: 
063298,000491: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
063299,000492: 
063300,000493: 17,2710           31452        STILLRCS           CA       RERROR                                
063301,000494: 17,2711           22000                           LXCH     A                                     
063302,000495: 17,2712           31450                           CA       QERROR                                
063303,000496: 17,2713           03200                           TC       ROT-TOUV                              
063304,000497: 17,2714           53751                           DXCH     UERROR                                
063305,000498: 
063306,000499:                                                                                                  #                                          PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
063307,000500:                                                                                                  #                                          PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
063308,000501: 17,2715           33142        TJLAW              CA       TJLAWADR                              
063309,000502: 17,2716           55477                           TS       RETJADR                               
063310,000503: 17,2717           34753                           CA       ONE                                   
063311,000504: 17,2720           55505                           TS       AXISCTR                               
063312,000505: 17,2721           51505                           INDEX    AXISCTR                               
063313,000506: 17,2722           51534                           INDEX    SKIPU                                 
063314,000507: 17,2723           12724                           TCF      +1                                    
063315,000508: 17,2724           34751                           CA       FOUR                                  
063316,000509: 17,2725           51505                           INDEX    AXISCTR                               
063317,000510: 17,2726           55534                           TS       SKIPU                                 
063318,000511: 17,2727           13034                           TCF      LOOPER                                
063319,000512: 17,2730           51505                           INDEX    AXISCTR                               
063320,000513: 17,2731           31750                           CA       UERROR                                
063321,000514: 17,2732           55751                           TS       E                                     
063322,000515: 17,2733           51505                           INDEX    AXISCTR                               
063323,000516: 17,2734           31426                           CA       OMEGAU                                
063324,000517: 17,2735           55427                           TS       EDOT                                  
063325,000518: 17,2736           30111                           CA       DAPBOOLS                              
063326,000519: 17,2737           74737                           MASK     CSMDOCKD                              
063327,000520: 17,2740           10000                           CCS      A                                     
063328,000521: 17,2741           12744                           TCF      +3                                    
063329,000522: 17,2742           03304                           TC       TJETLAW                               
063330,000523: 17,2743           12756                           TCF      AFTERTJ                               
063331,000524: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
063332,000525: 17,2745           74736                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
063333,000526: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
063334,000527: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
063335,000528: 17,2750           00004                           INHINT                                         
063336,000529: 17,2751           04674                           TC       IBNKCALL                              
063337,000530: 17,2752           43641                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
063338,000531: 17,2753           00003                           RELINT                                         
063339,000532: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063340,000533: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
063341,000534: 
063342,000535:                                                                                                  #                                          Q,R-JET-SELECTION-LOGIC
063343,000536: 
063344,000537:                                                                                                  #                                          INPUT: AXISCTR        0,1 FOR  U,V
063345,000538:                                                                                                  #                                                 SNUFFBIT       ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1441

063347,000540:                                                                                                  #                                                 TJU,TJV        JET TIME SCALED 10.24 SEC.
063348,000541:                                                                                                  #                                                 NUMBERT        INDICATES NUMBER OF JETS AND TYPE OF POLICY
063349,000542:                                                                                                  #                                                 RETJADR        WHERE TO RETURN TO
063350,000543: 
063351,000544:                                                                                                  #                                          OUTPUT:  NO.U(V)JETS  RATE DERIVATION FEEDBACK
063352,000545:                                                                                                  #                                                   CHANNEL 5
063353,000546:                                                                                                  #                                                   SKIPU,SKIRV FOR LESS THAN 150MS FIRING
063354,000547: 
063355,000548:                                                                                                  #                                          NOTES:  IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
063356,000549:                                                                                                  #                                                  JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
063357,000550:                                                                                                  #                                                  TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
063358,000551:                                                                                                  #                                                  IF NONE CAN BE FOUND.
063359,000552: 
063360,000553:                                                                                                  #                                                  TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063361,000554:                                                                                                  #                                                  MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063362,000555: 
063363,000556: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
063364,000557: 17,2757           74737                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
063365,000558: 17,2760           00006                           EXTEND                                         
063366,000559: 17,2761           12772                           BZF      DOROTAT                               
063367,000560: 17,2762           40106                           CS       FLGWRD10                              
063368,000561: 17,2763           74737                           MASK     APSFLBIT                              
063369,000562: 17,2764           00006                           EXTEND                                         
063370,000563: 17,2765           12772                           BZF      DOROTAT                               
063371,000564: 17,2766           30111                           CA       DAPBOOLS                              
063372,000565: 17,2767           74744                           MASK     DRIFTBIT                              
063373,000566: 17,2770           00006                           EXTEND                                         
063374,000567: 17,2771           13112                           BZF      XTRANS                                
063375,000568: 
063376,000569: 17,2772           34752        DOROTAT            CAF      TWO                                   
063377,000570: 17,2773           54001                           TS       L                                     
063378,000571: 17,2774           51505                           INDEX    AXISCTR                               
063379,000572: 17,2775           11525                           CCS      TJU                                   
063380,000573: 17,2776           13003                           TCF      +5                                    
063381,000574: 17,2777           13026                           TCF      NOROTAT                               
063382,000575: 17,3000           13002                           TCF      +2                                    
063383,000576: 17,3001           13026                           TCF      NOROTAT                               
063384,000577: 17,3002           22007                           ZL                                             
063385,000578: 17,3003           64753                           AD       ONE                                   
063386,000579: 17,3004           55736                           TS       ABSTJ                                 
063387,000580: 
063388,000581: 17,3005           31505                           CA       AXISCTR                               
063389,000582: 17,3006           60001                           AD       L                                     
063390,000583: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
063391,000584: 
063392,000585: 17,3010           31736                           CA       ABSTJ                                 
063393,000586: 17,3011           63137                           AD       -150MS                                
063394,000587: 17,3012           00006                           EXTEND                                         
063395,000588: 17,3013           63037                           BZMF     DOSKIP                                

Page 1442

063397,000590: 17,3014           03225                           TC       SELCTSUB                              
063398,000591: 
063399,000592: 17,3015           51505                           INDEX    AXISCTR                               
063400,000593: 17,3016           33134                           CA       INDEXES                               
063401,000594: 17,3017           54001                           TS       L                                     
063402,000595: 
063403,000596: 17,3020           31740                           CA       POLYTEMP                              
063404,000597: 17,3021           00004                           INHINT                                         
063405,000598: 17,3022           50001                           INDEX    L                                     
063406,000599: 17,3023           05755                           TC       WRITEP                                
063407,000600: 
063408,000601: 17,3024           00003                           RELINT                                         
063409,000602: 17,3025           13100                           TCF      FEEDBACK                              
063410,000603: 
063411,000604: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
063412,000605: 17,3027           33134                           CA       INDEXES                               
063413,000606: 17,3030           00004                           INHINT                                         
063414,000607: 17,3031           50000                           INDEX    A                                     
063415,000608: 17,3032           05754                           TC       WRITEP     -1                         
063416,000609: 
063417,000610: 17,3033           00003                           RELINT                                         
063418,000611: 17,3034           11505        LOOPER             CCS      AXISCTR                               
063419,000612: 17,3035           01477                           TC       RETJADR                               
063420,000613: 17,3036           13270                           TCF      CLOSEOUT                              
063421,000614: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
063422,000615: 17,3040           63136                           AD       +TJMINT6                              #  14MS
063423,000616: 17,3041           00006                           EXTEND                                         
063424,000617: 17,3042           63061                           BZMF     NOTMIN                                
063425,000618: 
063426,000619: 17,3043           27736                           ADS      ABSTJ                                 
063427,000620: 17,3044           51505                           INDEX    AXISCTR                               
063428,000621: 17,3045           11525                           CCS      TJU                                   
063429,000622: 17,3046           33136                           CA       +TJMINT6                              
063430,000623: 17,3047           13051                           TCF      +2                                    
063431,000624: 17,3050           43136                           CS       +TJMINT6                              
063432,000625: 17,3051           51505                           INDEX    AXISCTR                               
063433,000626: 17,3052           55525                           TS       TJU                                   
063434,000627: 
063435,000628: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
063436,000629: 17,3054           13060                           TCF      NOTMIN     -1                         
063437,000630: 17,3055           00006                           EXTEND                                         
063438,000631: 17,3056           00004                           READ     LOSCALAR                              
063439,000632: 17,3057           74753                           MASK     ONE                                   
063440,000633: 17,3060           55742                           TS       NUMBERT                               
063441,000634: 
063442,000635: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
063443,000636: 
063444,000637: 17,3062           51505                           INDEX    AXISCTR                               
063445,000638: 17,3063           33134                           CA       INDEXES                               
063446,000639: 17,3064           00004                           INHINT                                         
063447,000640: 

Page 1443

063449,000642: 17,3065           55471                           TS       T6FURTHA   +1                         
063450,000643: 17,3066           31740                           CA       POLYTEMP                              
063451,000644: 17,3067           51471                           INDEX    T6FURTHA   +1                         
063452,000645: 17,3070           05755                           TC       WRITEP                                
063453,000646: 
063454,000647: 17,3071           31736                           CA       ABSTJ                                 
063455,000648: 17,3072           55470                           TS       T6FURTHA                              
063456,000649: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
063457,000650: 
063458,000651: 17,3074           00003                           RELINT                                         
063459,000652: 
063460,000653: 17,3075           34755                           CA       ZERO                                  
063461,000654: 17,3076           51505                           INDEX    AXISCTR                               
063462,000655: 17,3077           55534                           TS       SKIPU                                 
063463,000656: 
063464,000657: 17,3100           46257        FEEDBACK           CS       THREE                                 
063465,000658: 17,3101           61742                           AD       NUMBERT                               
063466,000659: 17,3102           00006                           EXTEND                                         
063467,000660: 17,3103           63106                           BZMF     +3                                    
063468,000661: 
063469,000662: 17,3104           34752                           CA       TWO                                   
063470,000663: 17,3105           13107                           TCF      +2                                    
063471,000664: 17,3106           34753                           CA       ONE                                   
063472,000665: 17,3107           51505                           INDEX    AXISCTR                               
063473,000666: 17,3110           55522                           TS       NO.UJETS                              
063474,000667: 17,3111           13034                           TCF      LOOPER                                
063475,000668: 
063476,000669: 17,3112           34755        XTRANS             CA       ZERO                                  
063477,000670: 17,3113           55525                           TS       TJU                                   
063478,000671: 17,3114           55526                           TS       TJV                                   
063479,000672: 17,3115           34751                           CA       FOUR                                  
063480,000673: 17,3116           00004                           INHINT                                         
063481,000674: 17,3117           57534                           XCH      SKIPU                                 
063482,000675: 17,3120           00006                           EXTEND                                         
063483,000676: 17,3121           13123                           BZF      +2                                    
063484,000677: 17,3122           05760                           TC       WRITEU     -1                         
063485,000678: 17,3123           34751                           CA       FOUR                                  
063486,000679: 17,3124           57535                           XCH      SKIPV                                 
063487,000680: 17,3125           00003                           RELINT                                         
063488,000681: 
063489,000682: 17,3126           00006                           EXTEND                                         
063490,000683: 17,3127           13270                           BZF      CLOSEOUT                              
063491,000684: 17,3130           00004                           INHINT                                         
063492,000685: 17,3131           05771                           TC       WRITEV     -1                         
063493,000686: 17,3132           00003                           RELINT                                         
063494,000687: 
063495,000688: 17,3133           13270                           TCF      CLOSEOUT                              
063496,000689: 17,3134           00004        INDEXES            DEC      4          B-14                       
063497,000690: 17,3135           00015                           DEC      13         B-14                       
063498,000691: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1444

063500,000693: 17,3137           77417        -150MS             DEC      -240       B-14                       
063501,000694: 17,3140           00600        BIT8,9             OCT      00600                                 
063502,000695: 17,3141           00266        SCLNORM            OCT      266                                   
063503,000696: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063504,000697: 
063505,000698:                                                                                                  #                                          THE JET LIST:
063506,000699:                                                                                                  #                                          THIS IS A WAITLIST FOR T6RUPTS.
063507,000700: 
063508,000701:                                                                                                  #                                          CALLED BY:
063509,000702:                                                                                                  #                                                   CA  TJ            TIME WHEN NEXT JETS WILL BE WRITTEN
063510,000703:                                                                                                  #                                                   TS  T6FURTHA
063511,000704:                                                                                                  #                                                   CA  INDEX         AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063512,000705:                                                                                                  #                                                   TS  T6FURTHA +1
063513,000706:                                                                                                  #                                                   TC  JTLST
063514,000707: 
063515,000708:                                                                                                  #                                          EXAMPLE-  U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063516,000709:                                                                                                  #                                          JETS INTO CHANNEL 5.   IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063517,000710:                                                                                                  #                                          150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063518,000711:                                                                                                  #                                          CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063519,000712:                                                                                                  #                                          OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063520,000713: 
063521,000714:                                                                                                  #                                          THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063522,000715:                                                                                                  #                                           THE INPUT IS THE LAST MEMBER OF THE LIST
063523,000716: 
063524,000717:                                                                                                  #                                          RETURNS BY:
063525,000718:                                                                                                  #                                                +  TC  Q
063526,000719: 
063527,000720:                                                                                                  #                                          DEFINITIONS:(OUTPUT)
063528,000721:                                                                                                  #                                          TIME6             TIME OF NEXT RUPT
063529,000722:                                                                                                  #                                          T6NEXT            DELTA TIME TO NEXT RUPT
063530,000723:                                                                                                  #                                          T6FURTHA          DELTA TIME FROM 2ND TO LAST RUPT
063531,000724:                                                                                                  #                                          NXT6ADR           AXIS INDEX       Q - P-AXIS
063532,000725:                                                                                                  #                                          T6NEXT +1         AXIS INDEX       4 - U-AXIS
063533,000726:                                                                                                  #                                          T6FURTHA +1       AXIS INDEX      13 - V-AXIS
063534,000727: 17,3143           41470        JTLST              CS       T6FURTHA                              
063535,000728: 17,3144           60031                           AD       TIME6                                 
063536,000729: 17,3145           00006                           EXTEND                                         
063537,000730: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
063538,000731: 
063539,000732: 17,3147           23465                           LXCH     NXT6ADR                               
063540,000733: 17,3150           53467                           DXCH     T6NEXT                                
063541,000734: 17,3151           53471                           DXCH     T6FURTHA                              
063542,000735: 17,3152           54031                           TS       TIME6                                 
063543,000736: 17,3153           23465                           LXCH     NXT6ADR                               
063544,000737: 
063545,000738: 17,3154           00006        TURNON             EXTEND                                         
063546,000739: 17,3155           23265                           QXCH     C13QSAV                               
063547,000740: 17,3156           06022                           TC       C13STALL                              
063548,000741: 
063549,000742: 17,3157           34735                           CA       BIT15                                 

Page 1445

063551,000744: 17,3160           00006                           EXTEND                                         
063552,000745: 17,3161           05013                           WOR      CHAN13                                
063553,000746: 17,3162           01265                           TC       C13QSAV                               
063554,000747: 
063555,000748: 17,3163           61466        MIDORLST           AD       T6NEXT                                
063556,000749: 17,3164           00006                           EXTEND                                         
063557,000750: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
063558,000751: 
063559,000752: 17,3166           23467                           LXCH     T6NEXT     +1                         
063560,000753: 17,3167           53471                           DXCH     T6FURTHA                              
063561,000754: 17,3170           00006                           EXTEND                                         
063562,000755: 17,3171           60031                           SU       TIME6                                 
063563,000756: 17,3172           53467                           DXCH     T6NEXT                                
063564,000757: 
063565,000758: 17,3173           00002                           TC       Q                                     
063566,000759: 
063567,000760: 17,3174           40000        LASTCHG            CS       A                                     
063568,000761: 17,3175           64754                           AD       NEG0                                  
063569,000762: 17,3176           55470                           TS       T6FURTHA                              
063570,000763: 
063571,000764: 17,3177           00002                           TC       Q                                     
063572,000765: 
063573,000766: 
063574,000767:                                                                                                  #    ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063575,000768:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063576,000769:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063577,000770:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
063578,000771: 
063579,000772: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
063580,000773: 17,3201           00006                           EXTEND                                         
063581,000774: 17,3202           71626                           MP       COEFFQ                                
063582,000775: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063583,000776: 17,3204           00006                           EXTEND                                         
063584,000777: 17,3205           71627                           MP       COEFFR                                
063585,000778: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
063586,000779: 17,3207           61737                           AD       ROTEMP2                               
063587,000780: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063588,000781: 17,3211           13215                           TCF      +4                                    
063589,000782: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063590,000783: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063591,000784: 17,3214           55736                           TS       ROTEMP1                               
063592,000785: 17,3215           41737                           CS       ROTEMP2                               
063593,000786: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063594,000787: 17,3217           54007                           TS       7                                     
063595,000788: 17,3220           13223                           TCF      +3                                    
063596,000789: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063597,000790: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063598,000791: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063599,000792: 17,3224           00002                           TC       Q                                     
063600,000793: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              

Page 1446

063602,000795: 17,3226           33257                           CA       ALLJETS                               
063603,000796: 17,3227           51742                           INDEX    NUMBERT                               
063604,000797: 17,3230           73263                           MASK     TYPEPOLY                              
063605,000798: 17,3231           55740                           TS       POLYTEMP                              
063606,000799: 
063607,000800: 17,3232           71257                           MASK     CH5MASK                               
063608,000801: 17,3233           10000                           CCS      A                                     
063609,000802: 17,3234           13236                           TCF      +2                                    
063610,000803: 
063611,000804: 17,3235           00002                           TC       Q                                     
063612,000805: 
063613,000806: 17,3236           36257                           CA       THREE                                 
063614,000807: 17,3237           55742        FAILOOP            TS       NUMBERT                               
063615,000808: 17,3240           51743                           INDEX    ROTINDEX                              
063616,000809: 17,3241           33257                           CA       ALLJETS                               
063617,000810: 17,3242           51742                           INDEX    NUMBERT                               
063618,000811: 17,3243           73263                           MASK     TYPEPOLY                              
063619,000812: 17,3244           55740                           TS       POLYTEMP                              
063620,000813: 17,3245           71257                           MASK     CH5MASK                               
063621,000814: 17,3246           00006                           EXTEND                                         
063622,000815: 17,3247           13235                           BZF      FAILOOP    -2                         
063623,000816: 17,3250           11742                           CCS      NUMBERT                               
063624,000817: 17,3251           13237                           TCF      FAILOOP                               
063625,000818: 17,3252           51505                           INDEX    AXISCTR                               
063626,000819: 17,3253           55525                           TS       TJU                                   
063627,000820: 17,3254           05600                           TC       ALARM                                 
063628,000821: 17,3255           02004                           OCT      02004                                 
063629,000822: 17,3256           13026                           TCF      NOROTAT                               
063630,000823: 17,3257           00110        ALLJETS            OCT      00110                                 #  -U       6 13
063631,000824: 17,3260           00022                           OCT      00022                                 #  -V       2  9
063632,000825: 17,3261           00204                           OCT      00204                                 #  +U       5 14
063633,000826: 
063634,000827: 17,3262           00041                           OCT      00041                                 #  +V       1 10
063635,000828: 17,3263           00125        TYPEPOLY           OCT      00125                                 #  -X  1 5 9  13
063636,000829: 17,3264           00252                           OCT      00252                                 #  +X 2 6 10 14
063637,000830: 17,3265           00146                           OCT      00146                                 #  A   2 5 10 13
063638,000831: 17,3266           00231                           OCT      00231                                 #  B   1 6 9 14
063639,000832: 17,3267           00377                           OCT      00377                                 #  ALL 1 2 5 6 9 10 13 14
063640,000833: 
063641,000834:                                                                                                  #   THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063642,000835: 
063643,000836: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
063644,000837: 17,3271           07766                           TC       MAKERUPT                              
063645,000838: 
063646,000839: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
063647,000840: 
063648,000841: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
063649,000842: 17,3274           52011                           DXCH     ARUPT                                 
063650,000843: 17,3275           53755                           DXCH     DAPBQRPT                              
063651,000844: 17,3276           56017                           XCH      BRUPT                                 

Page 1447

063653,000846: 17,3277           22002                           LXCH     Q                                     
063654,000847: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063655,000848: 17,3301           53757                           DXCH     DAPZRUPT                              
063656,000849: 17,3302           52016                           DXCH     ZRUPT                                 
063657,000850: 17,3303           15303                           TCF      NOQRSM                                
063658,000851:    7766                                           BLOCK    3                                     
063659,000852:    6000                                           SETLOC   FFTAG6                                
063660,000853:    6000                                           BANK                                           
063661,000854: 
063662,000855:    7766                                           COUNT*   $$/DAP                                
063663,000856: 
063664,000857:    7766           00006        MAKERUPT           EXTEND                                         
063665,000858:    7767           07766                           EDRUPT   MAKERUPT                              

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