Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72/3 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

044466,000002:                                                                                                  ## Copyright:   Public domain.
044467,000003:                                                                                                  ## Filename:    JET_SELECTION_LOGIC.agc
044468,000004:                                                                                                  ## Purpose:     A section of Manche72 revision 3.
044469,000005:                                                                                                  ##              It is part of the reconstructed source code for the final, flown
044470,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
044471,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
044472,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
044473,000009:                                                                                                  ##              from a reconstructed copy of Comanche 072. It has been adapted
044474,000010:                                                                                                  ##              such that the resulting bugger words exactly match those
044475,000011:                                                                                                  ##              specified for Manche72 revision 3 in NASA drawing 2021153G,
044476,000012:                                                                                                  ##              which gives relatively high confidence that the reconstruction
044477,000013:                                                                                                  ##              is correct.
044478,000014:                                                                                                  ## Assembler:   yaYUL
044479,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
044480,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
044481,000017:                                                                                                  ## Mod history: 2024-05-19 MAS  Created from Comanche 072.
044482,000018: 
044483,000019: 21,3777                                           BANK     21                                    
044484,000020: 17,2000                                           SETLOC   DAPS4                                 
044485,000021: 17,2000                                           BANK                                           
044486,000022: 
044487,000023: 17,2610                                           COUNT    17/DAPJS                              
044488,000024: 
044489,000025: 17,2610  E6,1510                                  EBANK=   KMPAC                                 
044490,000026: 
044491,000027:                                                                                                  #  EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
044492,000028: 
044493,000029: 17,2610           22016        JETSLECT           LXCH     BANKRUPT                              
044494,000030: 17,2611           32672                           CAF      DELTATT3                              #  = 60 MS  RESET TO EXECUTE PHASE1
044495,000031: 17,2612           61634                           AD       T5TIME                                
044496,000032: 17,2613           54030                           TS       TIME5                                 
044497,000033: 17,2614           12617                           TCF      +3                                    
044498,000034: 17,2615           32673                           CAF      DELATT20                              #  = 20 MS  TO ASSURE A T5RUPT
044499,000035: 17,2616           54030                           TS       TIME5                                 
044500,000036: 17,2617           33351                           CAF      =14MS                                 #  RESET T6 TO INITIALIZE THE JET CHANNELS
044501,000037: 17,2620           54031                           TS       TIME6                                 #  IN 14 MS
044502,000038: 17,2621           35015                           CAF      NEGMAX                                
044503,000039: 17,2622           00006                           EXTEND                                         
044504,000040: 17,2623           05013                           WOR      CHAN13                                
044505,000041: 17,2624           00006                           EXTEND                                         
044506,000042: 17,2625           22012                           QXCH     QRUPT                                 
044507,000043: 17,2626           32671                           CAF      XLNMASK                               #  = 7700 OCT
044508,000044: 17,2627           00006                           EXTEND                                         #  EXAMINE THE TRANSLATION
044509,000045: 17,2630           06031                           RXOR     CHAN31                                #  HAND CONTROLLER
044510,000046: 17,2631           72671                           MASK     XLNMASK                               
044511,000047: 17,2632           00006                           EXTEND                                         
044512,000048: 17,2633           12674                           BZF      NOXLNCMD                              
044513,000049: 17,2634           55502                           TS       T5TEMP                                
044514,000050: 17,2635           00006                           EXTEND                                         
044515,000051: 17,2636           75023                           MP       BIT9                                  
044516,000052: 17,2637           76214                           MASK     THREE                                 
044517,000053: 17,2640           55513                           TS       XNDX1                                 #  AC QUAD  X-TRANSLATION INDEX
044518,000054: 17,2641           55514                           TS       XNDX2                                 #  BD QUAD  X-TRANSLATION INDEX
044519,000055: 17,2642           31502                           CA       T5TEMP                                
044520,000056: 17,2643           00006                           EXTEND                                         #  1 = + XLN
044521,000057: 17,2644           75025                           MP       BIT7                                  #  2 = - XLN
044522,000058: 17,2645           76214                           MASK     THREE                                 #  3 = NO XLN
044523,000059: 17,2646           55515                           TS       YNDX                                  #  Y-TRANSLATION INDEX
044524,000060: 
044525,000061: 17,2647           31502                           CA       T5TEMP                                
044526,000062: 17,2650           00006                           EXTEND                                         
044527,000063: 17,2651           75027                           MP       BIT5                                  
044528,000064: 17,2652           76214                           MASK     THREE                                 
044529,000065: 17,2653           55516                           TS       ZNDX                                  #  Z-TRANSLATION INDEX
044530,000066: 
044531,000067: 17,2654           31466                           CA       DAPDATR1                              #  SET ATTKALMN TO PICK UP FILTER GAINS FOR
044532,000068: 17,2655           75016                           MASK     BIT14                                 #  TRANSLATIONS.
044533,000069: 17,2656           00006                           EXTEND                                         #  CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
044534,000070: 17,2657           12662                           BZF      NOLEM                                 
044535,000071: 17,2660           46214                           CS       THREE                                 #  IF LEM IS ON, SET ATTKALMN = -3
044536,000072: 17,2661           12663                           TCF      +2                                    
044537,000073: 17,2662           45032        NOLEM              CS       TWO                                   #  IF LEM IS OFF, SET ATTKALMN = -2.
044538,000074: 17,2663           55617                           TS       ATTKALMN                              
044539,000075: 17,2664           11631                           CCS      XTRANS                                #  (+, -1, 0)
044540,000076: 17,2665           55513                           TS       XNDX1                                 #  USING BD-X  ZERO XNDX1
044541,000077: 17,2666           12700                           TCF      PWORD                                 
044542,000078: 17,2667           55514                           TS       XNDX2                                 #  USING AC-X  ZERO XNDX2
044543,000079: 17,2670           12700                           TCF      PWORD                                 
044544,000080: 17,2671           07700        XLNMASK            OCT      7700                                  
044545,000081: 
044546,000082: 17,2672           37772        DELTATT3           DEC      16378      B-14                       #  = 60 MS
044547,000083: 17,2673           37776        DELATT20           DEC      16382      B-14                       #  = 20 MS
044548,000084: 
044549,000085: 17,2674           55513        NOXLNCMD           TS       XNDX1                                 #  ZERO ALL REQUESTS FOR TRANSLATION
044550,000086: 17,2675           55514                           TS       XNDX2                                 
044551,000087: 17,2676           55515                           TS       YNDX                                  
044552,000088: 17,2677           55516                           TS       ZNDX                                  
044553,000089: 
044554,000090:                                                                                                  #  PITCH COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
044555,000091: 
044556,000092: 17,2700           11562        PWORD              CCS      TAU1                                  #  CHECK FOR PITCH COMMANDS
044557,000093: 17,2701           35033                           CAF      ONE                                   
044558,000094: 17,2702           12704                           TCF      +2                                    #   0 = NO PITCH
044559,000095: 17,2703           35032                           CAF      TWO                                   #  +1 =  + PITCH
044560,000096: 17,2704           55520                           TS       PINDEX                                #  +2 =  - PITCH
044561,000097: 
044562,000098: 17,2705           11626                           CCS      RACFAIL                               #  FLAG FOR REAL AC QUAD FAILURES
044563,000099: 17,2706           12712                           TCF      AFAILP                                
044564,000100: 17,2707           12722                           TCF      TABPCOM                               #  0 = NO REAL AC FAILURES
044565,000101: 17,2710           12714                           TCF      CFAILP                                #  + = A QUAD FAILED
044566,000102: 17,2711           12722                           TCF      TABPCOM                               #  - = C QUAD FAILED
044567,000103:                                                                                                  #  IF FAILURES ARE PRESENT IGNORE
044568,000104:                                                                                                  #  X-TRANSLATIONS ON THIS AXIS
044569,000105: 
044570,000106: 17,2712           34334        AFAILP             CAF      NINE                                  #  IF FAILURE IS PRESENT 1JET OPERATION
044571,000107: 17,2713           12724                           TCF      TABPCOM    +2                         #  IS ASSUMED.  IGNORE X-TRANSLATION
044572,000108: 17,2714           35775        CFAILP             CAF      TWELVE                                
044573,000109: 17,2715           12724                           TCF      TABPCOM    +2                         
044574,000110: 
044575,000111: 17,2716           00000        XLNNDX             DEC      0          B-14                       #  INDECES FOR TRANSLATION COMMANDS
044576,000112: 17,2717           00003                           DEC      3          B-14                       #  FOR USE IN TABLE LOOK UP
044577,000113: 17,2720           00006                           DEC      6          B-14                       
044578,000114: 17,2721           00000                           DEC      0          B-14                       
044579,000115: 
044580,000116: 17,2722     5775               TWELVE             =        OCT14                                 
044581,000117: 
044582,000118:                                                                                                  #  TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
044583,000119:                                                                                                  #  BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
044584,000120: 
044585,000121: 17,2722           51513        TABPCOM            INDEX    XNDX1                                 
044586,000122: 17,2723           32716                           CA       XLNNDX                                
044587,000123: 17,2724           61520                           AD       PINDEX                                
044588,000124: 17,2725           50000                           INDEX    A                                     
044589,000125: 17,2726           32752                           CA       PYTABLE                               
044590,000126: 17,2727           72771                           MASK     PJETS                                 #  =1417 OCT
044591,000127: 17,2730           55453                           TS       PWORD1                                
044592,000128: 17,2731           00006                           EXTEND                                         
044593,000129: 17,2732           75025                           MP       BIT7                                  
044594,000130: 17,2733           55523                           TS       NPJETS                                #  = NO. OF PITCH JETS
044595,000131: 
044596,000132:                                                                                                  #  YAW JET COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILURES)  32MCT
044597,000133: 
044598,000134: 17,2734           11563        YWORD              CCS      TAU2                                  #  CHECK FOR YAW COMMANDS
044599,000135: 17,2735           35033                           CAF      ONE                                   
044600,000136: 17,2736           12740                           TCF      +2                                    
044601,000137: 17,2737           35032                           CAF      TWO                                   
044602,000138: 17,2740           55521                           TS       YINDEX                                #  YAW ROTATION INDEX
044603,000139: 
044604,000140: 17,2741           11627                           CCS      RBDFAIL                               #  FLAG FOR B OR D QUAD FAILURES
044605,000141: 17,2742           12746                           TCF      BFAILY                                #  0 = NO BD FAILURE
044606,000142: 17,2743           12773                           TCF      TABYCOM                               #  + = B QUAD FAILED
044607,000143: 17,2744           12750                           TCF      DFAILY                                #  - = D QUAD FAILED
044608,000144: 17,2745           12773                           TCF      TABYCOM                               
044609,000145: 
044610,000146: 17,2746           34334        BFAILY             CAF      NINE                                  
044611,000147: 17,2747           12775                           TCF      TABYCOM    +2                         
044612,000148: 17,2750           35775        DFAILY             CAF      TWELVE                                
044613,000149: 17,2751           12775                           TCF      TABYCOM    +2                         
044614,000150: 
044615,000151:                                                                                                  #  TABLE FOR PITCH(YAW) COMMANDS
044616,000152:                                                                                                  #  BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
044617,000153:                                                                                                  #  BITS    10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
044618,000154:                                                                                                  #  BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
044619,000155:                                                                                                  #  BITS 12,11:  NO. YAW JETS USED TO PERFORM ROTATION
044620,000156: 
044621,000157:                                                                                                  #  ROT   TRANS   QUAD    BIAS
044622,000158: 17,2752           00000        PYTABLE            OCT      0                                     #  0     0               0
044623,000159: 17,2753           05125                           OCT      5125                                  #  +     0               0
044624,000160: 17,2754           05252                           OCT      5252                                  #  -     0               0
044625,000161: 17,2755           00231                           OCT      0231                                  #  0     +               3
044626,000162: 17,2756           02421                           OCT      2421                                  #  +     +               3
044627,000163: 17,2757           02610                           OCT      2610                                  #  -     +               3
044628,000164: 17,2760           00146                           OCT      0146                                  #  0     -               6
044629,000165: 17,2761           02504                           OCT      2504                                  #  +     -               6
044630,000166: 17,2762           02442                           OCT      2442                                  #  -     -               6
044631,000167: 17,2763           00000                           OCT      0                                     #  0             A(B)    9
044632,000168: 17,2764           02421                           OCT      2421                                  #  +             A(B)    9
044633,000169: 17,2765           02442                           OCT      2442                                  #  -             A(B)    9
044634,000170: 17,2766           00000                           OCT      0                                     #  0             C(D)    12
044635,000171: 17,2767           02504                           OCT      2504                                  #  +             C(D)    12
044636,000172: 17,2770           02610                           OCT      2610                                  #  -             C(D)    12
044637,000173: 
044638,000174:                                                                                                  #  MASKS FOR PITCH AND YAW COMMANDS
044639,000175: 
044640,000176: 17,2771           01417        PJETS              OCT      1417                                  
044641,000177: 17,2772           06360        YJETS              OCT      6360                                  
044642,000178: 
044643,000179:                                                                                                  #  TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
044644,000180:                                                                                                  #  BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
044645,000181: 
044646,000182: 17,2773           51514        TABYCOM            INDEX    XNDX2                                 
044647,000183: 17,2774           32716                           CA       XLNNDX                                
044648,000184: 17,2775           61521                           AD       YINDEX                                
044649,000185: 17,2776           50000                           INDEX    A                                     
044650,000186: 17,2777           32752                           CA       PYTABLE                               
044651,000187: 17,3000           72772                           MASK     YJETS                                 #  = 6360 OCT
044652,000188: 17,3001           55455                           TS       YWORD1                                
044653,000189: 17,3002           00006                           EXTEND                                         
044654,000190: 17,3003           75027                           MP       BIT5                                  
044655,000191: 17,3004           55524                           TS       NYJETS                                #  NO. OF YAW JETS USED TO PERFORM ROTATION
044656,000192: 
044657,000193:                                                                                                  #  ROLL COMMANDS  TIMING(NO Y,Z TRANS, NO QUAD FAILS)  45MCT
044658,000194: 
044659,000195: 17,3005           11561        RWORD              CCS      TAU                                   #  CHECK FOR ROLL COMMANDS
044660,000196: 17,3006           35033                           CAF      ONE                                   
044661,000197: 17,3007           13011                           TCF      +2                                    
044662,000198: 17,3010           35032                           CAF      TWO                                   
044663,000199: 17,3011           55517                           TS       RINDEX                                
044664,000200: 
044665,000201: 17,3012           11630                           CCS      ACORBD                                #  FLAG FOR AC OR BD QUAD SELECTION FOR
044666,000202: 17,3013           13104                           TCF      BDROLL                                #  ROLL COMMANDS
044667,000203: 17,3014           13104                           TCF      BDROLL                                #  +, +0 = BD ROLL
044668,000204: 17,3015           13016                           TCF      +1                                    #  -, -0 = AC ROLL
044669,000205: 
044670,000206: 17,3016           11626        ACROLL             CCS      RACFAIL                               #  CHECK FOR REAL FAILURES
044671,000207: 17,3017           13023                           TCF      RAFAIL                                #  ON AC QUADS
044672,000208: 17,3020           13033                           TCF      RXLNS                                 
044673,000209: 17,3021           13025                           TCF      RCFAIL                                
044674,000210: 17,3022           13033                           TCF      RXLNS                                 
044675,000211: 
044676,000212: 17,3023           34334        RAFAIL             CAF      NINE                                  #  QUAD FAILURE WILL GET
044677,000213: 17,3024           13035                           TCF      TABRCOM                               #  1-JET OPERATION
044678,000214: 17,3025           35775        RCFAIL             CAF      TWELVE                                
044679,000215: 17,3026           13035                           TCF      TABRCOM                               
044680,000216: 
044681,000217: 17,3027           00000        XLN1NDX            DEC      0          B-14                       
044682,000218: 17,3030           00001                           DEC      1          B-14                       #  INDECES FOR TRANSLATION
044683,000219: 17,3031           00002                           DEC      2          B-14                       
044684,000220: 17,3032           00000                           DEC      0          B-14                       
044685,000221: 
044686,000222:                                                                                                  #  TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
044687,000223:                                                                                                  #  BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
044688,000224: 
044689,000225: 17,3033           51515        RXLNS              INDEX    YNDX                                  #  NO AC QUAD FAILURES
044690,000226: 17,3034           32716                           CA       XLNNDX                                #  INCLUDE +,-,0, Y-TRANSLATION
044691,000227: 17,3035           61517        TABRCOM            AD       RINDEX                                
044692,000228: 17,3036           50000                           INDEX    A                                     
044693,000229: 17,3037           33166                           CA       RTABLE                                
044694,000230: 17,3040           73205                           MASK     ACRJETS                               #  = 3760 OCT
044695,000231: 17,3041           55451                           TS       RWORD1                                
044696,000232: 
044697,000233:                                                                                                  #  CHECK FOR Z-TRANSLATIONS ON BD
044698,000234: 
044699,000235: 17,3042           31516        BDZCHECK           CA       ZNDX                                  
044700,000236: 17,3043           00006                           EXTEND                                         
044701,000237: 17,3044           63076                           BZMF     NOBDZ                                 #  NO Z-TRANSLATION
044702,000238: 
044703,000239:                                                                                                  #  TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES.  Z-TRANSLATION WILL BE POSS-
044704,000240:                                                                                                  #  IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS.  CRITERION.. IF THE RESULTANT NET ROLL
044705,000241:                                                                                                  #  COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS.  IF THE RESULTANT
044706,000242:                                                                                                  #  ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
044707,000243: 
044708,000244: 17,3045           11627                           CCS      RBDFAIL                               
044709,000245: 17,3046           36214                           CAF      THREE                                 
044710,000246: 17,3047           13051                           TCF      +2                                    
044711,000247: 17,3050           36211                           CAF      SIX                                   
044712,000248: 17,3051           51516                           INDEX    ZNDX                                  
044713,000249: 17,3052           63027                           AD       XLN1NDX                               
044714,000250: 17,3053           50000                           INDEX    A                                     
044715,000251: 17,3054           33207                           CA       YZTABLE                               
044716,000252: 17,3055           73220                           MASK     BDZJETS                               #  = 3417 OCT
044717,000253: 17,3056           61451                           AD       RWORD1                                #  ADD TO ROLL COMMANDS
044718,000254: 17,3057           55502                           TS       T5TEMP                                #  IF POSSIBLE.  MUST CHECK TAU FIRST
044719,000255: 
044720,000256: 17,3060           00006                           EXTEND                                         
044721,000257: 17,3061           75025                           MP       BIT7                                  #  DETERMINE THE NET ROLL COMMAND WITH
044722,000258: 17,3062           66061                           AD       =-4                                   #  Z-TRANSLATION ADDED ON
044723,000259: 17,3063           55522                           TS       NRJETS                                #  NET NO. OF +,- ROLL JETS ON
044724,000260: 17,3064           00006                           EXTEND                                         
044725,000261: 17,3065           13071                           BZF      TAUCHECK                              
044726,000262: 
044727,000263: 17,3066           31502        ACRBDZ             CA       T5TEMP                                #  Z-TRANSLATION ACCEPTED EVEN THO WE MAY
044728,000264: 17,3067           55451                           TS       RWORD1                                #  HAVE INTRODUCED AN UNDESIREABLE ROLL
044729,000265: 17,3070           13332                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
044730,000266: 
044731,000267: 17,3071           11561        TAUCHECK           CCS      TAU                                   
044732,000268: 17,3072           13076                           TCF      NOBDZ                                 
044733,000269: 17,3073           13066                           TCF      ACRBDZ                                
044734,000270: 17,3074           13076                           TCF      NOBDZ                                 
044735,000271: 17,3075           13066                           TCF      ACRBDZ                                
044736,000272: 
044737,000273: 17,3076           31451        NOBDZ              CA       RWORD1                                #  Z-TRANSLATION NOT ACCEPTED
044738,000274: 17,3077           00006                           EXTEND                                         
044739,000275: 17,3100           75025                           MP       BIT7                                  
044740,000276: 17,3101           67715                           AD       =-2                                   
044741,000277: 17,3102           55522                           TS       NRJETS                                
044742,000278: 17,3103           13332                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATION
044743,000279: 
044744,000280:                                                                                                  #  BD QUAD SELECTION FOR ROLL COMMANDS
044745,000281: 
044746,000282: 17,3104           11627        BDROLL             CCS      RBDFAIL                               
044747,000283: 17,3105           13111                           TCF      RBFAIL                                
044748,000284: 17,3106           13115                           TCF      RZXLNS                                
044749,000285: 17,3107           13113                           TCF      RDFAIL                                
044750,000286: 17,3110           13115                           TCF      RZXLNS                                
044751,000287: 17,3111           34334        RBFAIL             CAF      NINE                                  
044752,000288: 17,3112           13117                           TCF      TABRZCMD                              
044753,000289: 17,3113           35775        RDFAIL             CAF      TWELVE                                
044754,000290: 17,3114           13117                           TCF      TABRZCMD                              
044755,000291: 
044756,000292: 17,3115           51516        RZXLNS             INDEX    ZNDX                                  #  NO BD FAILURES
044757,000293: 17,3116           32716                           CA       XLNNDX                                #  +,-,0 Z-TRANSLATION PRESENT
044758,000294: 17,3117           61517        TABRZCMD           AD       RINDEX                                
044759,000295: 17,3120           50000                           INDEX    A                                     
044760,000296: 17,3121           33166                           CA       RTABLE                                
044761,000297: 17,3122           73206                           MASK     BDRJETS                               #  = 34017 OCT
044762,000298: 17,3123           55451                           TS       RWORD1                                
044763,000299: 
044764,000300: 17,3124           31515        ACYCHECK           CA       YNDX                                  #  ANY Y-TRANSLATION
044765,000301: 17,3125           00006                           EXTEND                                         
044766,000302: 17,3126           13160                           BZF      NOACY                                 #  NO Y-TRANSLATION
044767,000303: 17,3127           11626                           CCS      RACFAIL                               
044768,000304: 17,3130           36214                           CAF      THREE                                 
044769,000305: 17,3131           13133                           TCF      +2                                    
044770,000306: 17,3132           36211                           CAF      SIX                                   
044771,000307: 17,3133           51515                           INDEX    YNDX                                  
044772,000308: 17,3134           63027                           AD       XLN1NDX                               
044773,000309: 17,3135           50000                           INDEX    A                                     
044774,000310: 17,3136           33207                           CA       YZTABLE                               
044775,000311: 17,3137           73221                           MASK     ACYJETS                               #  = 34360 OCT
044776,000312: 17,3140           61451                           AD       RWORD1                                
044777,000313: 17,3141           55502                           TS       T5TEMP                                
044778,000314: 17,3142           00006                           EXTEND                                         #  FOR EXPLANATION SEE CODING ON RTABLE
044779,000315: 17,3143           75030                           MP       BIT4                                  
044780,000316: 17,3144           66061                           AD       =-4                                   
044781,000317: 17,3145           55522                           TS       NRJETS                                #  NO. OF NET ROLL JETS
044782,000318: 17,3146           00006                           EXTEND                                         
044783,000319: 17,3147           13153                           BZF      TAUCHCK                               #  IF NRJETS = 0
044784,000320: 
044785,000321: 17,3150           31502        BDRACZ             CA       T5TEMP                                #  Y-TRANSLATION ACCEPTED
044786,000322: 17,3151           55451                           TS       RWORD1                                
044787,000323: 17,3152           13332                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
044788,000324: 
044789,000325: 17,3153           11561        TAUCHCK            CCS      TAU                                   
044790,000326: 17,3154           13160                           TCF      NOACY                                 
044791,000327: 17,3155           13150                           TCF      BDRACZ                                
044792,000328: 17,3156           13160                           TCF      NOACY                                 
044793,000329: 17,3157           13150                           TCF      BDRACZ                                
044794,000330: 
044795,000331: 17,3160           31451        NOACY              CA       RWORD1                                #  Y-TRANSLATION NOT ACCEPTED
044796,000332: 17,3161           00006                           EXTEND                                         
044797,000333: 17,3162           75030                           MP       BIT4                                  
044798,000334: 17,3163           67715                           AD       =-2                                   
044799,000335: 17,3164           55522                           TS       NRJETS                                
044800,000336: 17,3165           13332                           TCF      ROLLTIME                              
044801,000337: 
044802,000338:                                                                                                  #                                TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
044803,000339: 
044804,000340:                                                                                                  #  EITHER AC OR BD ROLL MAY BE SELECTED.  IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
044805,000341:                                                                                                  #  PROVIDED THAT THERE ARE NO AC QUAD FAILURES.  IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
044806,000342:                                                                                                  #  IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
044807,000343: 
044808,000344:                                                                                                  #  IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
044809,000345:                                                                                                  #  FAILURES.  IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
044810,000346:                                                                                                  #  SWITCH TO AC ROLL.
044811,000347: 
044812,000348:                                                                                                  #  NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
044813,000349:                                                                                                  #  INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
044814,000350: 
044815,000351:                                                                                                  #                                           WORD MAKE UP....RTABLE
044816,000352: 
044817,000353:                                                                                                  #  TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE.  THE WORD CORRESPOND-
044818,000354:                                                                                                  #  ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
044819,000355: 
044820,000356:                                                                                                  #        BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED.  THE CODING IS..
044821,000357: 
044822,000358:                                                                                                  #                BIT NO. 11  10   9              NO. OF ROLL JETS
044823,000359: 
044824,000360:                                                                                                  #                         0   0   0                      -2
044825,000361:                                                                                                  #                         0   0   1                      -1
044826,000362:                                                                                                  #                         0   1   0                       0
044827,000363:                                                                                                  #                         0   1   1                      +1
044828,000364:                                                                                                  #                         1   0   0                      +2
044829,000365: 
044830,000366:                                                                                                  #  THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
044831,000367:                                                                                                  #  CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
044832,000368: 
044833,000369:                                                                                                  #  THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
044834,000370:                                                                                                  #  (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
044835,000371: 
044836,000372:                                                                                                  #  ROLL          TRANS           QUADFAIL        BIAS
044837,000373: 
044838,000374: 17,3166           11000        RTABLE             OCT      11000                                 #    0                                             0
044839,000375: 17,3167           22125                           OCT      22125                                 #    +                                             0
044840,000376: 17,3170           00252                           OCT      00252                                 #    -                                             0
044841,000377: 17,3171           11231                           OCT      11231                                 #    0           +Y(+Z)                            3
044842,000378: 17,3172           15421                           OCT      15421                                 #    +           +Y(+Z)                            3
044843,000379: 17,3173           04610                           OCT      04610                                 #    -           +Y(+Z)                            3
044844,000380: 17,3174           11146                           OCT      11146                                 #    0           -Y(-Z)                            6
044845,000381: 17,3175           15504                           OCT      15504                                 #    +           -Y(-Z)                            6
044846,000382: 17,3176           04442                           OCT      04442                                 #    -           -Y(-Z)                            6
044847,000383: 17,3177           11000                           OCT      11000                                 #    0                             A(B)            9
044848,000384: 17,3200           15504                           OCT      15504                                 #    +                             A(B)            9
044849,000385: 17,3201           04610                           OCT      04610                                 #    -                             A(B)            9
044850,000386: 17,3202           11000                           OCT      11000                                 #    0                             C(D)           12
044851,000387: 17,3203           15421                           OCT      15421                                 #    +                             C(D)           12
044852,000388: 17,3204           04442                           OCT      04442                                 #    -                             C(D)           12
044853,000389: 
044854,000390:                                                                                                  #  RTABLE MASKS-
044855,000391: 
044856,000392: 17,3205           03760        ACRJETS            OCT      03760                                 
044857,000393: 17,3206           34017        BDRJETS            OCT      34017                                 
044858,000394: 
044859,000395:                                                                                                  #                                         Y, Z TRANSLATION TABLE
044860,000396: 
044861,000397:                                                                                                  #     ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
044862,000398:                                                                                                  #  USED TO SATISFY THE REMAINING TRANSLATION COMMANDS.  HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
044863,000399:                                                                                                  #  WHEN THEY OCCUR.  THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
044864,000400:                                                                                                  #  COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO.  THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
044865,000401:                                                                                                  #  COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
044866,000402:                                                                                                  #     TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
044867,000403:                                                                                                  #  ABOVE.
044868,000404:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS.  THE WORD SELECTED CAN THEN BE
044869,000405:                                                                                                  #  ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD.  SIMILIARLY BITS
044870,000406:                                                                                                  #  12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
044871,000407: 
044872,000408:                                                                                                  #  TRANSLATION   QUADFAIL        BIAS
044873,000409: 
044874,000410: 17,3207           11000        YZTABLE            OCT      11000                                 #        0                       0
044875,000411: 17,3210           11231                           OCT      11231                                 #     +Z(+Y)                     0
044876,000412: 17,3211           11146                           OCT      11146                                 #     -Z(-Y)                     0
044877,000413: 17,3212           11000                           OCT      11000                                 #        0         B(A)          3
044878,000414: 17,3213           04610                           OCT      04610                                 #     +Z(+Y)       B(A)          3
044879,000415: 17,3214           15504                           OCT      15504                                 #     -Z(-Y)       B(A)          3
044880,000416: 17,3215           11000                           OCT      11000                                 #        0         D(C)          6
044881,000417: 17,3216           15421                           OCT      15421                                 #     +Z(+Y)       D(C)          6
044882,000418: 17,3217           04442                           OCT      04442                                 #     -Z(-Y)       D(C)          6
044883,000419: 
044884,000420:                                                                                                  #  YZ-TABLE MASKS-
044885,000421: 
044886,000422: 17,3220           03417        BDZJETS            OCT      03417                                 
044887,000423: 17,3221           34360        ACYJETS            OCT      34360                                 
044888,000424: 
044889,000425:                                                                                                  #  ADDITIONAL CONSTANTS
044890,000426: 
044891,000427: 17,3222     7715               =-2                =        NEG2                                  
044892,000428: 17,3222     6061               =-4                =        NEG4                                  
044893,000429: 
044894,000430:                                                                                                  #                                        CALCULATION OF JET ON-TIMES
044895,000431: 
044896,000432:                                                                                                  #     THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
044897,000433:                                                                                                  #  OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS.  TAU MUST
044898,000434:                                                                                                  #  ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
044899,000435:                                                                                                  #  ERVAL.
044900,000436:                                                                                                  #     IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
044901,000437:                                                                                                  #  (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
044902,000438:                                                                                                  #     NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR.  NEVERTHELESS, WE MUST
044903,000439:                                                                                                  #  UPDATE DFT.
044904,000440:                                                                                                  #     WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
044905,000441:                                                                                                  #  THE TRANSLATIONS.  THIS WILL BE DONE IN THE NEXT SECTION.  HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
044906,000442:                                                                                                  #  THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
044907,000443:                                                                                                  #  AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS.  MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
044908,000444:                                                                                                  #  COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
044909,000445:                                                                                                  #  ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
044910,000446: 
044911,000447:                                                                                                  #           PITCH JET ON-TIME CALCULATION
044912,000448: 
044913,000449: 17,3222           11562        PITCHTIM           CCS      TAU1                                  
044914,000450: 17,3223           13232                           TCF      PTAUPOS                               
044915,000451: 17,3224           13226                           TCF      +2                                    
044916,000452: 17,3225           13230                           TCF      PTAUNEG                               
044917,000453: 17,3226           55550                           TS       DFT1                                  #  NO PITCH ROTATION
044918,000454: 17,3227           13430                           TCF      PBYPASS                               #  COMMANDS
044919,000455: 
044920,000456: 17,3230           41523        PTAUNEG            CS       NPJETS                                
044921,000457: 17,3231           55523                           TS       NPJETS                                
044922,000458: 17,3232           31562        PTAUPOS            CA       TAU1                                  
044923,000459: 17,3233           00006                           EXTEND                                         
044924,000460: 17,3234           51523                           INDEX    NPJETS                                
044925,000461: 17,3235           73411                           MP       NJET                                  
044926,000462: 17,3236           55461                           TS       BLAST1                                
044927,000463: 17,3237           63344                           AD       =-.1SEC                               
044928,000464: 17,3240           00006                           EXTEND                                         
044929,000465: 17,3241           63252                           BZMF     AD14MSP                               
044930,000466: 17,3242           51523                           INDEX    NPJETS                                
044931,000467: 17,3243           33345                           CA       DFTMAX                                #  THE PITCH ON-TIME IS GREATER THAN .1 SEC
044932,000468: 17,3244           55550                           TS       DFT1                                  
044933,000469: 17,3245           40000                           COM                                            
044934,000470: 17,3246           27562                           ADS      TAU1                                  #  UPDATE TAU1
044935,000471: 17,3247           33346                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF PITCH ROTATION
044936,000472: 17,3250           55461                           TS       BLAST1                                #  COMMANDS TO 0.1 SEC SO THAT ONLY
044937,000473: 17,3251           13415                           TCF      ASMBLWP                               #  X-TRANSLATIONS WILL CONTINUE ON SWITCH
044938,000474:                                                                                                  #  OVER TO TVC
044939,000475: 17,3252           41461        AD14MSP            CS       BLAST1                                #  SEE IF JET ON TIME LESS THAN
044940,000476: 17,3253           63351                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
044941,000477: 17,3254           00006                           EXTEND                                         
044942,000478: 17,3255           63260                           BZMF     PBLASTOK                              #  IF SO LIMIT MINIMUM ON TIME TO 14 MS
044943,000479: 17,3256           33351                           CAF      =14MS                                 
044944,000480: 17,3257           55461                           TS       BLAST1                                
044945,000481: 17,3260           31461        PBLASTOK           CA       BLAST1                                
044946,000482: 17,3261           00006                           EXTEND                                         #  THE PITCH COMMANDS WILL BE COMPLETED
044947,000483: 17,3262           71523                           MP       NPJETS                                #  WITHIN THE TS-CYCLE TIME
044948,000484: 17,3263           23550                           LXCH     DFT1                                  #  FOR USE IN UPDATING RATE FILTER
044949,000485: 17,3264           55562                           TS       TAU1                                  #  ZERO TAU1 (ACC CONTAINS ZERO)
044950,000486: 17,3265           13415                           TCF      ASMBLWP                               
044951,000487: 
044952,000488:                                                                                                  #  YAW JET ON-TIME CALCULATION
044953,000489: 
044954,000490: 17,3266           11563        YAWTIME            CCS      TAU2                                  
044955,000491: 17,3267           13276                           TCF      YTAUPOS                               
044956,000492: 17,3270           13272                           TCF      +2                                    
044957,000493: 17,3271           13274                           TCF      YTAUNEG                               
044958,000494: 17,3272           55551                           TS       DFT2                                  #  NO YAW ROTATION COMMANDS
044959,000495: 17,3273           13574                           TCF      YBYPASS                               
044960,000496: 
044961,000497: 17,3274           41524        YTAUNEG            CS       NYJETS                                
044962,000498: 17,3275           55524                           TS       NYJETS                                
044963,000499: 17,3276           31563        YTAUPOS            CA       TAU2                                  
044964,000500: 17,3277           00006                           EXTEND                                         
044965,000501: 17,3300           51524                           INDEX    NYJETS                                
044966,000502: 17,3301           73411                           MP       NJET                                  
044967,000503: 17,3302           55463                           TS       BLAST2                                
044968,000504: 17,3303           63344                           AD       =-.1SEC                               
044969,000505: 17,3304           00006                           EXTEND                                         
044970,000506: 17,3305           63316                           BZMF     AD14MSY                               
044971,000507: 17,3306           51524                           INDEX    NYJETS                                
044972,000508: 17,3307           33345                           CA       DFTMAX                                #  YAW COMMANDS WILL LAST LONGER THAN .1SEC
044973,000509: 17,3310           55551                           TS       DFT2                                  
044974,000510: 17,3311           40000                           COM                                            
044975,000511: 17,3312           27563                           ADS      TAU2                                  #  DECREMENT TAU2
044976,000512: 17,3313           33346                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF YAW ROTATION COMMAND
044977,000513: 17,3314           55463                           TS       BLAST2                                #  TO 0.1 SEC SO THAT ONLY X-TRANSLATION
044978,000514: 17,3315           13561                           TCF      ASMBLWY                               #  WILL CONTINUE ON SWITCH OVER TO TVC
044979,000515: 
044980,000516: 17,3316           41463        AD14MSY            CS       BLAST2                                #  SEE IF JET ON-TIME LESS THAN
044981,000517: 17,3317           63351                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
044982,000518: 17,3320           00006                           EXTEND                                         
044983,000519: 17,3321           63324                           BZMF     YBLASTOK                              #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
044984,000520: 17,3322           33351                           CAF      =14MS                                 
044985,000521: 17,3323           55463                           TS       BLAST2                                
044986,000522: 17,3324           31463        YBLASTOK           CA       BLAST2                                #  YAW COMMANDS WILL BE COMPLETED WITHIN
044987,000523: 17,3325           00006                           EXTEND                                         #  THE T5CYCLE TIME
044988,000524: 17,3326           71524                           MP       NYJETS                                
044989,000525: 17,3327           23551                           LXCH     DFT2                                  
044990,000526: 17,3330           55563                           TS       TAU2                                  #  ZERO TAU2
044991,000527: 17,3331           13561                           TCF      ASMBLWY                               
044992,000528: 
044993,000529:                                                                                                  #  ROLL ON-TIME CALCULATION-
044994,000530: 
044995,000531: 17,3332           11561        ROLLTIME           CCS      TAU                                   
044996,000532: 17,3333           13352                           TCF      RBLAST                                
044997,000533: 17,3334           13336                           TCF      +2                                    
044998,000534: 17,3335           13352                           TCF      RBLAST                                
044999,000535: 17,3336           51522                           INDEX    NRJETS                                
045000,000536: 17,3337           33345                           CA       DFTMAX                                #  UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045001,000537: 17,3340           55547                           TS       DFT                                   #  PRESENT
045002,000538: 17,3341           13554                           TCF      RBYPASS                               
045003,000539: 
045004,000540: 17,3342           77037                           DEC      -480       B-14                       #  =-.3SEC
045005,000541: 17,3343           77277                           DEC      -320       B-14                       #  =-.2SEC
045006,000542: 17,3344           77537        =-.1SEC            DEC      -160       B-14                       #  =-.1SEC
045007,000543: 17,3345           00000        DFTMAX             DEC      0          B-14                       #  0
045008,000544: 17,3346           00240        =+.1SEC            DEC      160        B-14                       #  =+.1SEC
045009,000545: 17,3347           00500                           DEC      320        B-14                       #  =+.2SEC
045010,000546: 17,3350           00740                           DEC      480        B-14                       #  =+.3SEC
045011,000547: 17,3351           00027        =14MS              DEC      23         B-14                       #  =14MS
045012,000548: 
045013,000549: 17,3352           31561        RBLAST             CA       TAU                                   
045014,000550: 17,3353           00006                           EXTEND                                         
045015,000551: 17,3354           51522                           INDEX    NRJETS                                
045016,000552: 17,3355           73411                           MP       NJET                                  
045017,000553: 17,3356           55457                           TS       BLAST                                 #  BLAST IS AN INTERMEDIATE VARIABLE
045018,000554:                                                                                                  #  USED IN DETERMINING THE JET ON-TIMES
045019,000555: 17,3357           63344                           AD       =-.1SEC                               
045020,000556: 17,3360           00006                           EXTEND                                         
045021,000557: 17,3361           63372                           BZMF     AD14MSR                               
045022,000558: 17,3362           51522                           INDEX    NRJETS                                #  THE ROLL ROTATION WILL LAST LONGER
045023,000559: 17,3363           33345                           CA       DFTMAX                                #  THAN THE T5 CYCLE TIME
045024,000560: 17,3364           55547                           TS       DFT                                   
045025,000561: 17,3365           40000                           COM                                            
045026,000562: 17,3366           27561                           ADS      TAU                                   
045027,000563: 17,3367           33346                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF ROLL ROTATION
045028,000564: 17,3370           55457                           TS       BLAST                                 #  COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045029,000565: 17,3371           13435                           TCF      ASMBLWR                               #  TRANSLATION COMMANDS CONTINUE
045030,000566: 
045031,000567: 17,3372           41457        AD14MSR            CS       BLAST                                 #  SEE IF THE JET ON-TIME LESS THAN
045032,000568: 17,3373           63351                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
045033,000569: 17,3374           00006                           EXTEND                                         
045034,000570: 17,3375           63400                           BZMF     RBLASTOK                              
045035,000571: 17,3376           33351                           CAF      =14MS                                 #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045036,000572: 17,3377           55457                           TS       BLAST                                 
045037,000573: 17,3400           31457        RBLASTOK           CA       BLAST                                 
045038,000574: 17,3401           00006                           EXTEND                                         
045039,000575: 17,3402           71522                           MP       NRJETS                                
045040,000576: 17,3403           23547                           LXCH     DFT                                   
045041,000577: 17,3404           55561                           TS       TAU                                   #  ZERO TAU
045042,000578: 17,3405           13435                           TCF      ASMBLWR                               
045043,000579: 
045044,000580: 17,3406           65252                           DEC      -.333333                              #  = -1/3
045045,000581: 17,3407           57777                           DEC      -.500000                              #  = -1/2
045046,000582: 17,3410           40000                           DEC      -.999999                              #  = -1 (NEGMAX)
045047,000583: 17,3411           00000        NJET               DEC      0          B-14                       
045048,000584: 17,3412           37777                           DEC      .999999                               #  = +1 (POSMAX)
045049,000585: 17,3413           20000                           DEC      .500000                               #  = +1/2
045050,000586: 17,3414           12525                           DEC      .333333                               #  = +1/3
045051,000587: 
045052,000588:                                                                                                  #  WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045053,000589:                                                                                                  #  CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045054,000590: 
045055,000591:                                                                                                  #  IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045056,000592:                                                                                                  #  CORRESPONDING ROTATIONS ARE COMPLETED.
045057,000593: 
045058,000594:                                                                                                  #  GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045059,000595: 
045060,000596: 17,3415           11626        ASMBLWP            CCS      RACFAIL                               
045061,000597: 17,3416           13424                           TCF      FPX2                                  #  IF FAILURE ON AC IGNORE X-TRANSLATION
045062,000598: 17,3417           13421                           TCF      +2                                    
045063,000599: 17,3420           13424                           TCF      FPX2                                  
045064,000600: 17,3421           51513                           INDEX    XNDX1                                 
045065,000601: 17,3422           32716                           CA       XLNNDX                                
045066,000602: 17,3423           50000                           INDEX    A                                     
045067,000603: 17,3424           32752        FPX2               CA       PYTABLE                               
045068,000604: 17,3425           72771                           MASK     PJETS                                 
045069,000605: 17,3426           55454                           TS       PWORD2                                
045070,000606: 17,3427           13266                           TCF      YAWTIME                               
045071,000607: 
045072,000608: 17,3430           31453        PBYPASS            CA       PWORD1                                #  THE T6 PROGRAM WILL LOAD PWORD2
045073,000609: 17,3431           55454                           TS       PWORD2                                #  UPON ENTRY
045074,000610: 17,3432           35035                           CAF      ZERO                                  
045075,000611: 17,3433           55461                           TS       BLAST1                                #  THERE IS NO PWORD2
045076,000612: 17,3434           13266                           TCF      YAWTIME                               
045077,000613: 
045078,000614:                                                                                                  #  GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045079,000615: 
045080,000616: 17,3435           11515        ASMBLWR            CCS      YNDX                                  #  CHECK FOR Y-TRANS
045081,000617: 17,3436           13446                           TCF      ACBD2Y                                
045082,000618: 17,3437           35035        NO2Y               CAF      ZERO                                  
045083,000619: 17,3440           55452                           TS       RWORD2                                
045084,000620: 17,3441           11516                           CCS      ZNDX                                  #  CHECK FOR Z-TRANS
045085,000621: 17,3442           13511                           TCF      ACBD2Z                                
045086,000622: 17,3443           35035        NO2Z               CAF      ZERO                                  
045087,000623: 17,3444           27452                           ADS      RWORD2                                
045088,000624: 17,3445           13222                           TCF      PITCHTIM                              #  RWORD2 ASSEMBLED
045089,000625: 
045090,000626: 17,3446           11630        ACBD2Y             CCS      ACORBD                                
045091,000627: 17,3447           13464                           TCF      AC2Y                                  #  CAN DO Y-TRANS
045092,000628: 17,3450           13464                           TCF      AC2Y                                  
045093,000629: 17,3451           13452                           TCF      +1                                    #  USING AC FOR ROLL
045094,000630: 17,3452           11626                           CCS      RACFAIL                               
045095,000631: 17,3453           13437                           TCF      NO2Y                                  #  USING AC AND AC HAS FAILED
045096,000632: 17,3454           13456                           TCF      +2                                    
045097,000633: 17,3455           13437                           TCF      NO2Y                                  #  DITTO
045098,000634: 
045099,000635: 17,3456           51515                           INDEX    YNDX                                  #  NO FAILURES, CAN DO Y
045100,000636: 17,3457           32716                           CA       XLNNDX                                
045101,000637: 17,3460           50000                           INDEX    A                                     
045102,000638: 17,3461           33166                           CA       RTABLE                                
045103,000639: 17,3462           73205                           MASK     ACRJETS                               
045104,000640: 17,3463           13440                           TCF      NO2Y       +1                         
045105,000641: 
045106,000642: 17,3464           11626        AC2Y               CCS      RACFAIL                               
045107,000643: 17,3465           36214                           CAF      THREE                                 
045108,000644: 17,3466           13470                           TCF      +2                                    
045109,000645: 17,3467           36211                           CAF      SIX                                   
045110,000646: 17,3470           51515                           INDEX    YNDX                                  
045111,000647: 17,3471           63027                           AD       XLN1NDX                               
045112,000648: 17,3472           50000                           INDEX    A                                     
045113,000649: 17,3473           33207                           CA       YZTABLE                               
045114,000650: 17,3474           73221                           MASK     ACYJETS                               
045115,000651: 17,3475           55452                           TS       RWORD2                                
045116,000652: 17,3476           00006                           EXTEND                                         
045117,000653: 17,3477           75030                           MP       BIT4                                  
045118,000654: 17,3500           67715                           AD       =-2                                   
045119,000655: 17,3501           55522                           TS       NRJETS                                
045120,000656: 17,3502           41457                           CS       BLAST                                 
045121,000657: 17,3503           63346                           AD       =+.1SEC                               
045122,000658: 17,3504           00006                           EXTEND                                         
045123,000659: 17,3505           71522                           MP       NRJETS                                
045124,000660: 17,3506           30001                           CA       L                                     
045125,000661: 17,3507           27547                           ADS      DFT                                   
045126,000662: 17,3510           13441                           TCF      NO2Y       +2                         
045127,000663: 17,3511           11630        ACBD2Z             CCS      ACORBD                                
045128,000664: 17,3512           13542                           TCF      BDF2Z                                 #  USING BD-ROLL
045129,000665: 17,3513           13542                           TCF      BDF2Z                                 #  MUST CHECK FOR BD FAILURES
045130,000666: 17,3514           13515                           TCF      +1                                    
045131,000667: 17,3515           11627                           CCS      RBDFAIL                               #  USING AC FOR ROLL, CAN DO Z-TRANS
045132,000668: 17,3516           36214                           CAF      THREE                                 
045133,000669: 17,3517           13521                           TCF      +2                                    
045134,000670: 17,3520           36211                           CAF      SIX                                   
045135,000671: 17,3521           51516                           INDEX    ZNDX                                  
045136,000672: 17,3522           63027                           AD       XLN1NDX                               
045137,000673: 17,3523           50000                           INDEX    A                                     
045138,000674: 17,3524           33207                           CA       YZTABLE                               
045139,000675: 17,3525           73220                           MASK     BDZJETS                               
045140,000676: 17,3526           27452                           ADS      RWORD2                                
045141,000677: 17,3527           00006                           EXTEND                                         
045142,000678: 17,3530           75025                           MP       BIT7                                  
045143,000679: 17,3531           67715                           AD       =-2                                   
045144,000680: 17,3532           55522                           TS       NRJETS                                
045145,000681: 17,3533           41457                           CS       BLAST                                 
045146,000682: 17,3534           63346                           AD       =+.1SEC                               
045147,000683: 17,3535           00006                           EXTEND                                         
045148,000684: 17,3536           71522                           MP       NRJETS                                
045149,000685: 17,3537           30001                           CA       L                                     
045150,000686: 17,3540           27547                           ADS      DFT                                   
045151,000687: 17,3541           13222                           TCF      PITCHTIM                              
045152,000688: 
045153,000689: 17,3542           11627        BDF2Z              CCS      RBDFAIL                               
045154,000690: 17,3543           13443                           TCF      NO2Z                                  #  USING BD-ROLL AND BD HAS FAILED
045155,000691: 17,3544           13546                           TCF      +2                                    
045156,000692: 17,3545           13443                           TCF      NO2Z                                  #  DITTO
045157,000693: 17,3546           51516                           INDEX    ZNDX                                  
045158,000694: 17,3547           32716                           CA       XLNNDX                                
045159,000695: 17,3550           50000                           INDEX    A                                     
045160,000696: 17,3551           33166                           CA       RTABLE                                
045161,000697: 17,3552           73206                           MASK     BDRJETS                               
045162,000698: 17,3553           13444                           TCF      NO2Z       +1                         
045163,000699: 
045164,000700: 17,3554           31451        RBYPASS            CA       RWORD1                                
045165,000701: 17,3555           55452                           TS       RWORD2                                
045166,000702: 17,3556           35035                           CAF      ZERO                                  
045167,000703: 17,3557           55457                           TS       BLAST                                 
045168,000704: 17,3560           13222                           TCF      PITCHTIM                              
045169,000705: 
045170,000706:                                                                                                  #  GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045171,000707: 
045172,000708: 17,3561           11627        ASMBLWY            CCS      RBDFAIL                               
045173,000709: 17,3562           13570                           TCF      FYX2                                  #  IF FAILURE ON BD IGNORE X-TRANSLATION
045174,000710: 17,3563           13565                           TCF      +2                                    
045175,000711: 17,3564           13570                           TCF      FYX2                                  
045176,000712: 17,3565           51514                           INDEX    XNDX2                                 
045177,000713: 17,3566           32716                           CA       XLNNDX                                
045178,000714: 17,3567           50000                           INDEX    A                                     
045179,000715: 17,3570           32752        FYX2               CA       PYTABLE                               
045180,000716: 17,3571           72772                           MASK     YJETS                                 
045181,000717: 17,3572           55456                           TS       YWORD2                                
045182,000718: 17,3573           13600                           TCF      T6SETUP                               
045183,000719: 
045184,000720: 17,3574           31455        YBYPASS            CA       YWORD1                                
045185,000721: 17,3575           55456                           TS       YWORD2                                
045186,000722: 17,3576           35035                           CAF      ZERO                                  
045187,000723: 17,3577           55463                           TS       BLAST2                                
045188,000724: 
045189,000725:                                                                                                  #                                        SORT THE JET ON-TIMES
045190,000726: 
045191,000727:                                                                                                  #  AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED.  IN SUMMARY THESE ARE-
045192,000728: 
045193,000729:                                                                                                  #        RWORD1
045194,000730:                                                                                                  #        RWORD2          BLAST
045195,000731: 
045196,000732:                                                                                                  #        PWORD1
045197,000733:                                                                                                  #        PWORD2          BLAST1
045198,000734: 
045199,000735:                                                                                                  #        YWORD1
045200,000736:                                                                                                  #        YWORD2          BLAST2
045201,000737: 
045202,000738:                                                                                                  #  IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED.  TO FACILITATE
045203,000739:                                                                                                  #  THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
045204,000740:                                                                                                  #  WORDS.  THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
045205,000741:                                                                                                  #  ORDER WORD.
045206,000742: 
045207,000743: 17,3600           35035        T6SETUP            CAF      ZERO                                  #  BRANCH INDEX FOR ROLL
045208,000744: 17,3601           55460                           TS       BLAST      +1                         
045209,000745: 17,3602           35031                           CAF      FOUR                                  #  BRANCH INDEX FOR PITCH
045210,000746: 17,3603           55462                           TS       BLAST1     +1                         
045211,000747: 17,3604           35040                           CAF      ELEVEN                                #  BRANCH INDEX FOR YAW
045212,000748: 17,3605           55464                           TS       BLAST2     +1                         
045213,000749: 
045214,000750: 17,3606           41457                           CS       BLAST                                 
045215,000751: 17,3607           61461                           AD       BLAST1                                
045216,000752: 17,3610           00006                           EXTEND                                         
045217,000753: 17,3611           63635                           BZMF     DXCHT12                               #  T1 GR T2
045218,000754: 17,3612           41461        CHECKT23           CS       BLAST1                                
045219,000755: 17,3613           61463                           AD       BLAST2                                
045220,000756: 17,3614           00006                           EXTEND                                         
045221,000757: 17,3615           63641                           BZMF     DXCHT23                               
045222,000758: 17,3616           41461        CALCDT6            CS       BLAST1                                
045223,000759: 17,3617           27463                           ADS      BLAST2                                
045224,000760: 17,3620           41457                           CS       BLAST                                 
045225,000761: 17,3621           27461                           ADS      BLAST1                                #  END OF SORTING PROCEDURE
045226,000762: 17,3622           00006                           EXTEND                                         #  RESET T5LOC TO BEGIN PHASE1
045227,000763: 17,3623           33634                           DCA      RCS2CADR                              
045228,000764: 17,3624           53313                           DXCH     T5LOC                                 
045229,000765: 17,3625           45033        ENDJETS            CS       BIT1                                  #  RESET BIT1 FOR INITIALIZATION OF
045230,000766: 17,3626           71501                           MASK     RCSFLAGS                              #  T6 PROGRAM
045231,000767: 17,3627           55501                           TS       RCSFLAGS                              
045232,000768: 17,3630           45035                           CS       ZERO                                  #  RESET T5PHASE FOR PHASE1
045233,000769: 17,3631           55465                           TS       T5PHASE                               
045234,000770: 17,3632           15347                           TCF      RESUME                                #  RESUME INTERRUPTED PROGRAM
045235,000771: 
045236,000772: 17,3633  E6,1510                                  EBANK=   KMPAC                                 
045237,000773: 17,3633           02134 42066  RCS2CADR           2CADR    RCSATT                                
045238,000774: 
045239,000775: 17,3635           53460        DXCHT12            DXCH     BLAST                                 
045240,000776: 17,3636           53462                           DXCH     BLAST1                                
045241,000777: 17,3637           53460                           DXCH     BLAST                                 
045242,000778: 17,3640           13612                           TCF      CHECKT23                              
045243,000779: 
045244,000780: 17,3641           53462        DXCHT23            DXCH     BLAST1                                
045245,000781: 17,3642           53464                           DXCH     BLAST2                                
045246,000782: 17,3643           53462                           DXCH     BLAST1                                
045247,000783: 17,3644           41457                           CS       BLAST                                 
045248,000784: 17,3645           61461                           AD       BLAST1                                
045249,000785: 17,3646           00006                           EXTEND                                         
045250,000786: 17,3647           63651                           BZMF     +2                                    
045251,000787: 17,3650           13616                           TCF      CALCDT6                               
045252,000788: 17,3651           53460                           DXCH     BLAST                                 
045253,000789: 17,3652           53462                           DXCH     BLAST1                                
045254,000790: 17,3653           53460                           DXCH     BLAST                                 
045255,000791: 17,3654           13616                           TCF      CALCDT6                               
045256,000792: 
045257,000793:                                                                                                  #  T6 PROGRAM AND CHANNEL SETUP
045258,000794: 
045259,000795: 21,3777                                           BANK     21                                    
045260,000796: 17,2000                                           SETLOC   DAPS5                                 
045261,000797: 17,2000                                           BANK                                           
045262,000798: 
045263,000799: 17,3655           22016        T6START            LXCH     BANKRUPT                              
045264,000800: 17,3656           00006                           EXTEND                                         
045265,000801: 17,3657           22012                           QXCH     QRUPT                                 
045266,000802: 17,3660           10031                           CCS      TIME6                                 #  CHECK TO SEE IF TIME6 WAS RESET
045267,000803: 17,3661           15347                           TCF      RESUME                                #  AFTER T6RUPT OCCURED (IN T5RUPT)
045268,000804: 17,3662           13664                           TCF      +2                                    #  IF SO WAIT FOR NEXT T6RUPT BEFORE
045269,000805: 17,3663           15347                           TCF      RESUME                                #  TAKING ACTION
045270,000806: 
045271,000807: 17,3664           41501                           CS       RCSFLAGS                              
045272,000808: 17,3665           75033                           MASK     BIT1                                  #  IF BIT1 IS 0 RESET TO 1
045273,000809: 17,3666           00006                           EXTEND                                         #  AND INITIALIZE CHANNEL
045274,000810: 17,3667           13700                           BZF      T6RUPTOR                              
045275,000811: 17,3670           27501                           ADS      RCSFLAGS                              
045276,000812: 17,3671           31451                           CA       RWORD1                                
045277,000813: 17,3672           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD1
045278,000814: 17,3673           01006                           WRITE    CHAN6                                 
045279,000815: 17,3674           31453                           CA       PWORD1                                
045280,000816: 17,3675           61455                           AD       YWORD1                                
045281,000817: 17,3676           00006                           EXTEND                                         
045282,000818: 17,3677           01005                           WRITE    CHAN5                                 
045283,000819: 
045284,000820: 17,3700           11457        T6RUPTOR           CCS      BLAST                                 
045285,000821: 17,3701           13760                           TCF      ZBLAST                                #  ZERO BLAST1
045286,000822: 17,3702           13717                           TCF      REPLACE                               #  REPLACE WORD1
045287,000823: 17,3703           13705                           TCF      +2                                    
045288,000824: 17,3704           13717                           TCF      REPLACE                               
045289,000825: 17,3705           11461        T6L1               CCS      BLAST1                                
045290,000826: 17,3706           13763                           TCF      ZBLAST1                               
045291,000827: 17,3707           13724                           TCF      REPLACE1                              
045292,000828: 17,3710           13712                           TCF      +2                                    
045293,000829: 17,3711           13724                           TCF      REPLACE1                              
045294,000830: 17,3712           11463        T6L2               CCS      BLAST2                                
045295,000831: 17,3713           13766                           TCF      ZBLAST2                               
045296,000832: 17,3714           13731                           TCF      REPLACE2                              
045297,000833: 17,3715           15347                           TCF      RESUME                                
045298,000834: 17,3716           13731                           TCF      REPLACE2                              
045299,000835: 
045300,000836: 17,3717           51460        REPLACE            INDEX    BLAST      +1                         
045301,000837: 17,3720           03736                           TC       REPLACER                              
045302,000838: 17,3721           45033                           CS       ONE                                   
045303,000839: 17,3722           55457                           TS       BLAST                                 
045304,000840: 17,3723           13705                           TCF      T6L1                                  
045305,000841: 
045306,000842: 17,3724           51462        REPLACE1           INDEX    BLAST1     +1                         
045307,000843: 17,3725           03736                           TC       REPLACER                              
045308,000844: 17,3726           45033                           CS       ONE                                   
045309,000845: 17,3727           55461                           TS       BLAST1                                
045310,000846: 17,3730           13712                           TCF      T6L2                                  
045311,000847: 
045312,000848: 17,3731           51464        REPLACE2           INDEX    BLAST2     +1                         
045313,000849: 17,3732           03736                           TC       REPLACER                              
045314,000850: 17,3733           45033                           CS       ONE                                   
045315,000851: 17,3734           55463                           TS       BLAST2                                
045316,000852: 17,3735           15347                           TCF      RESUME                                
045317,000853: 
045318,000854: 17,3736           31452        REPLACER           CA       RWORD2                                #  INITIALIZE CHANNELS 5,6 WITH WORD2
045319,000855: 17,3737           00006                           EXTEND                                         
045320,000856: 17,3740           01006                           WRITE    CHAN6                                 
045321,000857: 17,3741           00002                           TC       Q                                     
045322,000858: 
045323,000859: 17,3742           32772        REPLACEP           CA       YJETS                                 
045324,000860: 17,3743           00006                           EXTEND                                         
045325,000861: 17,3744           02005                           RAND     CHAN5                                 
045326,000862: 17,3745           61454                           AD       PWORD2                                
045327,000863: 17,3746           00006                           EXTEND                                         
045328,000864: 17,3747           01005                           WRITE    CHAN5                                 
045329,000865: 17,3750           00002                           TC       Q                                     
045330,000866: 
045331,000867: 17,3751           32771        REPLACEY           CA       PJETS                                 
045332,000868: 17,3752           00006                           EXTEND                                         
045333,000869: 17,3753           02005                           RAND     CHAN5                                 
045334,000870: 17,3754           61456                           AD       YWORD2                                
045335,000871: 17,3755           00006                           EXTEND                                         
045336,000872: 17,3756           01005                           WRITE    CHAN5                                 
045337,000873: 17,3757           00002                           TC       Q                                     
045338,000874: 
045339,000875: 17,3760           35035        ZBLAST             CAF      ZERO                                  
045340,000876: 17,3761           57457                           XCH      BLAST                                 
045341,000877: 17,3762           13770                           TCF      ENABT6                                
045342,000878: 17,3763           35035        ZBLAST1            CAF      ZERO                                  
045343,000879: 17,3764           57461                           XCH      BLAST1                                
045344,000880: 17,3765           13770                           TCF      ENABT6                                
045345,000881: 17,3766           35035        ZBLAST2            CAF      ZERO                                  
045346,000882: 17,3767           57463                           XCH      BLAST2                                
045347,000883: 17,3770           54031        ENABT6             TS       TIME6                                 
045348,000884: 17,3771           35015                           CAF      NEGMAX                                
045349,000885: 17,3772           00006                           EXTEND                                         
045350,000886: 17,3773           05013                           WOR      CHAN13                                #  ENABLE T6RUPT
045351,000887: 17,3774           15347                           TCF      RESUME                                
045352,000888: 
045353,000889:                                                                                                  #  END OF T6 INTERRUPT
045354,000890: 
045355,000891: 17,3775                        ENDSLECT           EQUALS                                         
045356,000892: 

End of include-file JET_SELECTION_LOGIC.agc.  Parent file is MAIN.agc