Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

059666,000002:                                                                                                  ## Copyright:   Public domain.
059667,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
059668,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
059669,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
059670,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
059671,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
059672,000008:                                                                                                  ##              that the code format has been changed to conform to the
059673,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
059674,000010:                                                                                                  ##              original YUL assembler.
059675,000011:                                                                                                  ## Reference:   pp. 1413-1433
059676,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
059677,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
059678,000014:                                                                                                  ## Mod history: 06/07/03 RSB.   Began transcribing.
059679,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
059680,000016:                                                                                                  ##              2010-10-25 JL   Added missing # in comment. Indentation fixes.
059681,000017:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
059682,000018:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
059683,000019:                                                                                                  ##                              numbers in 1701.pdf.
059684,000020:                                                                                                  ##              2017-02-28 RSB  Proofed comment text using octopus/ProoferComments.
059685,000021:                                                                                                  ##              2017-03-01 RSB  Fixed lingering comment-text typos.
059686,000022:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
059687,000023:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
059688,000024:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
059689,000025: 

Page 1413

059691,000027: 16,2213                                           BANK     16                                    
059692,000028: 16,2000                                           SETLOC   DAPS1                                 
059693,000029: 16,2000                                           BANK                                           
059694,000030: 
059695,000031: 16,2213  E6,1464                                  EBANK=   PERROR                                
059696,000032: 16,2213                                           COUNT*   $$/DAPP                               
059697,000033: 
059698,000034:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059699,000035:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059700,000036: 
059701,000037: 16,2213           37732        PAXIS              CA       MS100                                 
059702,000038: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
059703,000039:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
059704,000040: 
059705,000041: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
059706,000042: 16,2216           00006                           EXTEND                                         
059707,000043: 16,2217           22012                           QXCH     QRUPT                                 
059708,000044: 
059709,000045:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
059710,000046: 
059711,000047: 16,2220           11756                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
059712,000048: 16,2221           05624                           TC       BAILOUT                               #  STILL IN PROGRESS AND A RESTART IS
059713,000049: 16,2222           32000                           OCT      32000                                 #  CALLED FOR.  IT IS NEVER ZERO
059714,000050: 
059715,000051: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059716,000052: 
059717,000053: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
059718,000054: 16,2225           55747                           TS       DAPTREG4                              
059719,000055: 16,2226           30033                           CA       CDUY                                  
059720,000056: 16,2227           55750                           TS       DAPTREG5                              
059721,000057: 16,2230           30034                           CA       CDUZ                                  
059722,000058: 16,2231           55751                           TS       DAPTREG6                              
059723,000059: 
059724,000060:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059725,000061: 
059726,000062:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059727,000063:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059728,000064: 
059729,000065: 16,2232           31634                           CA       CDUXD                                 
059730,000066: 16,2233           00006                           EXTEND                                         
059731,000067: 16,2234           21637                           MSU      DELCDUX                               
059732,000068: 16,2235           02256                           TC       1STOTWOS                              
059733,000069: 16,2236           55634                           TS       CDUXD                                 
059734,000070: 16,2237           31635                           CA       CDUYD                                 
059735,000071: 16,2240           00006                           EXTEND                                         
059736,000072: 16,2241           21640                           MSU      DELCDUY                               
059737,000073: 16,2242           02256                           TC       1STOTWOS                              
059738,000074: 16,2243           55635                           TS       CDUYD                                 
059739,000075: 16,2244           31636                           CA       CDUZD                                 
059740,000076: 16,2245           00006                           EXTEND                                         
059741,000077: 16,2246           21641                           MSU      DELCDUZ                               

Page 1414

059743,000079: 16,2247           02256                           TC       1STOTWOS                              
059744,000080: 16,2250           55636                           TS       CDUZD                                 
059745,000081: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
059746,000082: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
059747,000083: 16,2253           00006                           EXTEND                                         
059748,000084: 16,2254           27457                           DIM      TCQR                                  
059749,000085: 
059750,000086:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059751,000087:                                                                                                  #  RETURNS TO BACKP.
059752,000088: 
059753,000089:                                                                                                  #  JETRATE = 1JACC*NO.PJETS*TJP                  (NOTE TJ IS THE TIME FIRED DURING CSP)
059754,000090:                                                                                                  #  JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059755,000091:                                                                                                  #  JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059756,000092: 
059757,000093: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
059758,000094: 16,2256           10000        1STOTWOS           CCS      A                                     
059759,000095: 16,2257           64753                           AD       ONE                                   
059760,000096: 16,2260           00002                           TC       Q                                     
059761,000097: 16,2261           40000                           CS       A                                     
059762,000098: 16,2262           00002                           TC       Q                                     
059763,000099: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
059764,000100: 16,2264           71740                           MP       DAPTEMP3                              #  POSMAX OR NEGMAX IF THE DIVIDE WOULD
059765,000101: 16,2265           21427                           DAS      OMEGAU                                #  OVERFLOW
059766,000102: 
059767,000103: 16,2266           00006                 +3        EXTEND                                         
059768,000104: 16,2267           31427                           DCA      OMEGAU                                
059769,000105: 16,2270           53743                           DXCH     DAPTEMP5                              
059770,000106: 16,2271           11426                           CCS      OMEGAU                                
059771,000107: 16,2272           12274                           TCF      +2                                    
059772,000108: 16,2273           12304                           TCF      DIVIDER                               
059773,000109: 16,2274           62315                           AD       -OCT630                               
059774,000110: 16,2275           00006                           EXTEND                                         
059775,000111: 16,2276           62304                           BZMF     DIVIDER                               
059776,000112: 
059777,000113: 16,2277           11426                           CCS      OMEGAU                                
059778,000114: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
059779,000115: 16,2301           00002                           TC       Q                                     
059780,000116: 16,2302           44733                           CS       POSMAX                                
059781,000117: 16,2303           00002                           TC       Q                                     
059782,000118: 
059783,000119: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
059784,000120: 16,2305           00006                           EXTEND                                         
059785,000121: 16,2306           11747                           DV       DAPTREG4                              
059786,000122: 16,2307           00002                           TC       Q                                     
059787,000123: 
059788,000124: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
059789,000125: 16,2311           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
059790,000126: 16,2312           50000                           INDEX    A                                     
059791,000127: 16,2313           44734                           CS       BIT15      -1                         

Page 1415

059793,000129: 16,2314           00002                           TC       Q                                     
059794,000130: 
059795,000131: 16,2315           77147        -OCT630            OCT      77147                                 
059796,000132: 
059797,000133: 16,2316           31736        BACKP              CA       DAPTEMP1                              
059798,000134: 16,2317           00006                           EXTEND                                         
059799,000135: 16,2320           71530                           MP       1JACC                                 
059800,000136: 16,2321           55744                           TS       JETRATE                               
059801,000137: 
059802,000138:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
059803,000139:                                                                                                  #        OMEGAP,Q,R      BODY RATES SCALED AT PI/4
059804,000140:                                                                                                  #        TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059805,000141:                                                                                                  #        NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059806,000142:                                                                                                  #        AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
059807,000143:                                                                                                  #        JETRATE,Q,R     CHANGE IN RATE DUE TO JET ACCELLERATION.  (PI/4)
059808,000144:                                                                                                  #        TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059809,000145:                                                                                                  #        OMEGAU          DP-TEMPORARY STORAGE
059810,000146:                                                                                                  #  OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059811,000147: 
059812,000148: 16,2322           31747                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
059813,000149: 16,2323           54001                           TS       L                                     
059814,000150: 16,2324           00006                           EXTEND                                         
059815,000151: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
059816,000152: 16,2326           23440                           LXCH     OLDXFORP                              
059817,000153: 16,2327           55736                           TS       DAPTEMP1                              
059818,000154: 16,2330           33624                           CA       1/40                                  
059819,000155: 16,2331           55747                           TS       DAPTREG4                              
059820,000156: 16,2332           41744                           CS       JETRATE                               
059821,000157: 16,2333           00006                           EXTEND                                         
059822,000158: 16,2334           74736                           MP       BIT14                                 
059823,000159: 16,2335           27430                           ADS      TRAPEDP                               
059824,000160: 16,2336           31745                           CA       JETRATEQ                              
059825,000161: 16,2337           61544                           AD       AOSQTERM                              
059826,000162: 16,2340           00006                           EXTEND                                         
059827,000163: 16,2341           77741                           MP       -BIT14                                
059828,000164: 16,2342           27431                           ADS      TRAPEDQ                               
059829,000165: 16,2343           31746                           CA       JETRATER                              
059830,000166: 16,2344           61545                           AD       AOSRTERM                              
059831,000167: 16,2345           00006                           EXTEND                                         
059832,000168: 16,2346           77741                           MP       -BIT14                                
059833,000169: 16,2347           27432                           ADS      TRAPEDR                               
059834,000170: 
059835,000171: 16,2350           31750                           CA       DAPTREG5                              #  CDUY IS STORED HERE
059836,000172: 16,2351           54001                           TS       L                                     
059837,000173: 16,2352           00006                           EXTEND                                         
059838,000174: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
059839,000175: 16,2354           23441                           LXCH     OLDYFORP                              
059840,000176: 16,2355           55737                           TS       DAPTEMP2                              
059841,000177: 16,2356           00006                           EXTEND                                         
059842,000178: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1416

059844,000180: 16,2360           61736                           AD       DAPTEMP1                              
059845,000181: 16,2361           53427                           DXCH     OMEGAU                                
059846,000182: 
059847,000183: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
059848,000184: 
059849,000185: 16,2363           00006                           EXTEND                                         
059850,000186: 16,2364           61421                           SU       OMEGAP                                
059851,000187: 16,2365           27430                           ADS      TRAPEDP                               
059852,000188: 16,2366           02310                           TC       OVERSUB                               
059853,000189: 16,2367           55430                           TS       TRAPEDP                               
059854,000190: 16,2370           00006                           EXTEND                                         
059855,000191: 16,2371           31743                           DCA      DAPTEMP5                              
059856,000192: 16,2372           21447                           DAS      DXERROR                               
059857,000193: 16,2373           41454                           CS       PLAST                                 
059858,000194: 16,2374           00006                           EXTEND                                         
059859,000195: 16,2375           73624                           MP       1/40                                  
059860,000196: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
059861,000197: 16,2377           31751                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
059862,000198: 16,2400           54001                           TS       L                                     
059863,000199: 16,2401           00006                           EXTEND                                         
059864,000200: 16,2402           21442                           MSU      OLDZFORQ                              
059865,000201: 16,2403           55740                           TS       DAPTEMP3                              
059866,000202: 16,2404           23442                           LXCH     OLDZFORQ                              
059867,000203: 16,2405           31415                           CA       M21                                   
059868,000204: 16,2406           00006                           EXTEND                                         
059869,000205: 16,2407           71737                           MP       DAPTEMP2                              
059870,000206: 16,2410           53427                           DXCH     OMEGAU                                
059871,000207: 16,2411           31417                           CA       M22                                   
059872,000208: 16,2412           02263                           TC       SUBDIVDE                              
059873,000209: 
059874,000210: 16,2413           00006                           EXTEND                                         
059875,000211: 16,2414           61422                           SU       OMEGAQ                                
059876,000212: 16,2415           27431                           ADS      TRAPEDQ                               
059877,000213: 16,2416           02310                           TC       OVERSUB                               
059878,000214: 16,2417           55431                           TS       TRAPEDQ                               
059879,000215: 16,2420           00006                           EXTEND                                         
059880,000216: 16,2421           31743                           DCA      DAPTEMP5                              
059881,000217: 16,2422           21451                           DAS      DYERROR                               
059882,000218: 16,2423           41455                           CS       QLAST                                 
059883,000219: 16,2424           00006                           EXTEND                                         
059884,000220: 16,2425           73624                           MP       1/40                                  
059885,000221: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
059886,000222: 16,2427           31416                           CA       M31                                   
059887,000223: 16,2430           00006                           EXTEND                                         
059888,000224: 16,2431           71737                           MP       DAPTEMP2                              
059889,000225: 16,2432           53427                           DXCH     OMEGAU                                
059890,000226: 16,2433           31420                           CA       M32                                   
059891,000227: 
059892,000228: 16,2434           02263                           TC       SUBDIVDE                              

Page 1417

059894,000230: 16,2435           00006                           EXTEND                                         
059895,000231: 16,2436           61423                           SU       OMEGAR                                
059896,000232: 16,2437           27432                           ADS      TRAPEDR                               
059897,000233: 16,2440           02310                           TC       OVERSUB                               
059898,000234: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
059899,000235: 
059900,000236: 16,2442           00006                           EXTEND                                         
059901,000237: 16,2443           31743                           DCA      DAPTEMP5                              
059902,000238: 16,2444           21453                           DAS      DZERROR                               
059903,000239: 16,2445           41456                           CS       RLAST                                 
059904,000240: 16,2446           00006                           EXTEND                                         
059905,000241: 16,2447           73624                           MP       1/40                                  
059906,000242: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
059907,000243: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
059908,000244: 16,2452           74737                           MASK     CSMDOCKD                              
059909,000245: 16,2453           00006                           EXTEND                                         
059910,000246: 16,2454           12462                           BZF      LMONLY                                
059911,000247: 16,2455           00006                           EXTEND                                         #  DOCKED
059912,000248: 16,2456           31405                           DCA      DKOMEGAN                              
059913,000249: 16,2457           53750                           DXCH     DAPTREG4                              
059914,000250: 16,2460           31403                           CA       DKTRAP                                
059915,000251: 16,2461           12466                           TCF      +5                                    
059916,000252: 16,2462           00006        LMONLY             EXTEND                                         #  UNDOCKED
059917,000253: 16,2463           31410                           DCA      LMOMEGAN                              
059918,000254: 16,2464           53750                           DXCH     DAPTREG4                              
059919,000255: 16,2465           31406                           CA       LMTRAP                                
059920,000256: 16,2466           55751                 +5        TS       DAPTREG6                              
059921,000257: 16,2467           11430                           CCS      TRAPEDP                               
059922,000258: 16,2470           12472                           TCF      +2                                    
059923,000259: 16,2471           12507                           TCF      SMALPDIF                              
059924,000260: 16,2472           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059925,000261: 16,2473           00006                           EXTEND                                         
059926,000262: 16,2474           62507                           BZMF     SMALPDIF                              
059927,000263: 16,2475           22007                           ZL                                             
059928,000264: 16,2476           23430                           LXCH     TRAPEDP                               
059929,000265: 16,2477           34755                           CA       ZERO                                  
059930,000266: 16,2500           00006                           EXTEND                                         
059931,000267: 16,2501           11433                           DV       NPTRAPS                               
059932,000268: 16,2502           27421                           ADS      OMEGAP                                
059933,000269: 16,2503           02310                           TC       OVERSUB                               
059934,000270: 16,2504           55421                           TS       OMEGAP                                
059935,000271: 16,2505           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059936,000272: 16,2506           55433                           TS       NPTRAPS                               
059937,000273: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
059938,000274: 16,2510           31744        P-RATE             CA       JETRATE                               
059939,000275: 16,2511           27421                           ADS      OMEGAP                                
059940,000276: 16,2512           02310                           TC       OVERSUB                               
059941,000277: 16,2513           55421                           TS       OMEGAP                                
059942,000278: 
059943,000279: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1418

059945,000281: 16,2515           12517                           TCF      +2                                    
059946,000282: 16,2516           12544                           TCF      Q-RATE                                
059947,000283: 16,2517           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059948,000284: 16,2520           00006                           EXTEND                                         
059949,000285: 16,2521           62544                           BZMF     Q-RATE                                
059950,000286: 16,2522           22007                           ZL                                             
059951,000287: 16,2523           23431                           LXCH     TRAPEDQ                               
059952,000288: 16,2524           34755                           CA       ZERO                                  
059953,000289: 16,2525           00006                           EXTEND                                         
059954,000290: 16,2526           11434                           DV       NQTRAPS                               
059955,000291: 16,2527           55736                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
059956,000292: 16,2530           27422                           ADS      OMEGAQ                                
059957,000293: 16,2531           02310                           TC       OVERSUB                               
059958,000294: 16,2532           55422                           TS       OMEGAQ                                
059959,000295: 16,2533           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059960,000296: 16,2534           57434                           XCH      NQTRAPS                               
059961,000297: 16,2535           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
059962,000298: 16,2536           57736                           XCH      DAPTEMP1                              
059963,000299: 16,2537           00006                           EXTEND                                         
059964,000300: 16,2540           74756                           MP       FIVE                                  
059965,000301: 16,2541           00006                           EXTEND                                         
059966,000302: 16,2542           11736                           DV       DAPTEMP1                              
059967,000303: 16,2543           27536                           ADS      AOSQ                                  
059968,000304: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
059969,000305: 16,2545           31745                           CA       JETRATEQ                              
059970,000306: 16,2546           61544                           AD       AOSQTERM                              
059971,000307: 16,2547           27422                           ADS      OMEGAQ                                
059972,000308: 16,2550           02310                           TC       OVERSUB                               
059973,000309: 16,2551           55422                           TS       OMEGAQ                                
059974,000310: 
059975,000311: 16,2552           11432                           CCS      TRAPEDR                               
059976,000312: 16,2553           12555                           TCF      +2                                    
059977,000313: 16,2554           12602                           TCF      R-RATE                                
059978,000314: 16,2555           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059979,000315: 16,2556           00006                           EXTEND                                         
059980,000316: 16,2557           62602                           BZMF     R-RATE                                
059981,000317: 16,2560           22007                           ZL                                             
059982,000318: 16,2561           23432                           LXCH     TRAPEDR                               
059983,000319: 16,2562           34755                           CA       ZERO                                  
059984,000320: 16,2563           00006                           EXTEND                                         
059985,000321: 16,2564           11435                           DV       NRTRAPS                               
059986,000322: 16,2565           55737                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
059987,000323: 16,2566           27423                           ADS      OMEGAR                                
059988,000324: 16,2567           02310                           TC       OVERSUB                               
059989,000325: 16,2570           55423                           TS       OMEGAR                                
059990,000326: 16,2571           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059991,000327: 16,2572           57435                           XCH      NRTRAPS                               
059992,000328: 16,2573           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
059993,000329: 16,2574           57737                           XCH      DAPTEMP2                              
059994,000330: 16,2575           00006                           EXTEND                                         

Page 1419

059996,000332: 16,2576           74756                           MP       FIVE                                  
059997,000333: 16,2577           00006                           EXTEND                                         
059998,000334: 16,2600           11737                           DV       DAPTEMP2                              
059999,000335: 16,2601           27540                           ADS      AOSR                                  
060000,000336: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060001,000337: 16,2603           31746                           CA       JETRATER                              
060002,000338: 16,2604           61545                           AD       AOSRTERM                              
060003,000339: 16,2605           27423                           ADS      OMEGAR                                
060004,000340: 16,2606           02310                           TC       OVERSUB                               
060005,000341: 16,2607           55423                           TS       OMEGAR                                
060006,000342: 
060007,000343:                                                                                                  #  END OF RATE DERIVATION
060008,000344:                                                                                                  #        BEGIN OFFSET ESTIMATER
060009,000345:                                                                                                  #                IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060010,000346:                                                                                                  #                        AOS = AOS + K*SUMRATE
060011,000347: 
060012,000348: 16,2610           40111                           CS       DAPBOOLS                              
060013,000349: 16,2611           74744                           MASK     DRIFTBIT                              
060014,000350: 16,2612           10000                           CCS      A                                     
060015,000351: 16,2613           12624                           TCF      WORKTIME                              
060016,000352: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060017,000353: 16,2615           55425                           TS       ALPHAR                                
060018,000354: 16,2616           55544                           TS       AOSQTERM                              
060019,000355: 16,2617           55545                           TS       AOSRTERM                              
060020,000356: 16,2620           55536                           TS       AOSQ                                  
060021,000357: 16,2621           55540                           TS       AOSR                                  
060022,000358: 16,2622           12667                           TCF      PRETIMCK                              
060023,000359: 16,2623           00074        KAOS               DEC      60         B-14                       
060024,000360: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060025,000361: 16,2625           00006                           EXTEND                                         
060026,000362: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060027,000363: 16,2627           21537                           DAS      AOSQ                                  
060028,000364: 16,2630           31536                           CA       AOSQ                                  
060029,000365: 16,2631           55424                           TS       ALPHAQ                                
060030,000366: 16,2632           00006                           EXTEND                                         
060031,000367: 16,2633           73622                           MP       200MS                                 #  .2 AT 1
060032,000368: 16,2634           55544                           TS       AOSQTERM                              
060033,000369: 16,2635           31512                           CA       RACCDOT                               
060034,000370: 16,2636           00006                           EXTEND                                         
060035,000371: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060036,000372: 16,2640           21541                           DAS      AOSR                                  
060037,000373: 16,2641           31540                           CA       AOSR                                  
060038,000374: 16,2642           55425                           TS       ALPHAR                                
060039,000375: 16,2643           00006                           EXTEND                                         
060040,000376: 16,2644           73622                           MP       200MS                                 #  .2 AT 1
060041,000377: 16,2645           55545                           TS       AOSRTERM                              
060042,000378: 16,2646           12667                           TCF      PRETIMCK                              
060043,000379: 

Page 1420

060045,000381: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060046,000382: 16,2650           71262                           MASK     RCSFLAGS                              
060047,000383: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060048,000384: 16,2652           03742                           TC       ACDT+C12                              #  VALID.
060049,000385: 
060050,000386: 16,2653           52011                           DXCH     ARUPT                                 
060051,000387: 16,2654           53753                           DXCH     DAPARUPT                              
060052,000388: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060053,000389: 16,2656           56017                           XCH      BRUPT                                 
060054,000390: 16,2657           22012                           LXCH     QRUPT                                 
060055,000391: 16,2660           53755                           DXCH     DAPBQRPT                              
060056,000392: 16,2661           32665                           CA       SUPERADR                              
060057,000393: 16,2662           52016                           DXCH     ZRUPT                                 
060058,000394: 16,2663           53757                           DXCH     DAPZRUPT                              
060059,000395: 16,2664           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060060,000396:                                                                                                  #        FORM OF A JASK, AT SUPERJOB.
060061,000397: 
060062,000398: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060063,000399: 
060064,000400:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060065,000401: 
060066,000402: 16,2666           13645        SUPERJOB           TCF      RATELOOP                              
060067,000403: 16,2667           11631        PRETIMCK           CCS      QGIMTIMR                              
060068,000404: 16,2670           12710                           TCF      DECQTIMR                              #  POSITIVE - COUNTING DOWN
060069,000405: 16,2671           12714                           TCF      TURNOFFQ                              #  NEGATIVE - DRIVE SHOULD BE ENDED
060070,000406: 16,2672           11633        CHKRTIMR           CCS      RGIMTIMR                              #  NEGATIVE - INACTIVE
060071,000407: 16,2673           12712                           TCF      DECRTIMR                              #  (NEG ZERO - IMPOSSIBLE)
060072,000408: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060073,000409: 
060074,000410: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060075,000411: 16,2676           27766                           DIM      PJETCTR                               
060076,000412: 16,2677           00006                           EXTEND                                         
060077,000413: 16,2700           27767                           DIM      UJETCTR                               
060078,000414: 16,2701           00006                           EXTEND                                         
060079,000415: 16,2702           27770                           DIM      VJETCTR                               
060080,000416: 16,2703           34740                           CA       BIT12                                 
060081,000417: 16,2704           71262                           MASK     RCSFLAGS                              
060082,000418: 16,2705           00006                           EXTEND                                         
060083,000419: 16,2706           12734                           BZF      SKIPPAXS                              
060084,000420: 16,2707           02740                           TC       CHKVISFZ                              
060085,000421: 16,2710           55631        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060086,000422: 16,2711           12672                           TCF      CHKRTIMR                              
060087,000423: 16,2712           55633        DECRTIMR           TS       RGIMTIMR                              
060088,000424: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060089,000425: 
060090,000426: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060091,000427: 16,2715           55510                           TS       QACCDOT                               
060092,000428: 16,2716           45007                           CS       QGIMBITS                              
060093,000429: 16,2717           00006                           EXTEND                                         

Page 1421

060095,000431: 16,2720           03012                           WAND     CHAN12                                
060096,000432: 16,2721           34735                           CAF      NEGMAX                                
060097,000433: 16,2722           55631                           TS       QGIMTIMR                              
060098,000434: 16,2723           12672                           TCF      CHKRTIMR                              
060099,000435: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060100,000436: 16,2725           55512                           TS       RACCDOT                               
060101,000437: 16,2726           45020                           CS       RGIMBITS                              
060102,000438: 16,2727           00006                           EXTEND                                         
060103,000439: 16,2730           03012                           WAND     CHAN12                                
060104,000440: 16,2731           34735                           CAF      NEGMAX                                
060105,000441: 16,2732           55633                           TS       RGIMTIMR                              
060106,000442: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060107,000443: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060108,000444: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060109,000445: 
060110,000446: 16,2734           41262        SKIPPAXS           CS       RCSFLAGS                              
060111,000447: 16,2735           74740                           MASK     BIT12                                 
060112,000448: 16,2736           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060113,000449: 16,2737           13630                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060114,000450: 
060115,000451:                                                                                                  #  Y-Z TRANSLATION
060116,000452: 
060117,000453:                                                                                                  #  INPUT:        BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060118,000454: 
060119,000455:                                                                                                  #  OUTPUT:       NEXTP
060120,000456:                                                                                                  #                NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060121,000457:                                                                                                  #                IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060122,000458:                                                                                                  #                (1) FOR DIAGONAL TRANS:         UNFAILED PAIR
060123,000459:                                                                                                  #                                                ALARM (IF NO PAIR)
060124,000460:                                                                                                  #                (2) FOR PRINCIPAL TRANS:        TRY TO TACK WITH DIAGONAL PAIRS
060125,000461:                                                                                                  #                                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
060126,000462: 
060127,000463: 16,2740           00006        CHKVISFZ           EXTEND                                         
060128,000464: 16,2741           00031                           READ     CHAN31                                
060129,000465: 16,2742           40000                           CS       A                                     
060130,000466: 16,2743           73617                           MASK     07400OCT                              
060131,000467: 16,2744           00006                           EXTEND                                         
060132,000468: 16,2745           13014                           BZF      TSNEXTP                               
060133,000469: 16,2746           00006                           EXTEND                                         
060134,000470: 16,2747           74745                           MP       BIT7                                  
060135,000471: 16,2750           50000                           INDEX    A                                     
060136,000472: 16,2751           33576                           CA       INDXYZ                                
060137,000473: 16,2752           55743                           TS       ROTINDEX                              
060138,000474: 16,2753           36245        TRYUORV            CA       SIX                                   
060139,000475: 16,2754           03555                           TC       SELECTYZ                              
060140,000476: 16,2755           46245                           CS       SIX                                   
060141,000477: 16,2756           61742                           AD       NUMBERT                               
060142,000478: 16,2757           00006                           EXTEND                                         

Page 1422

060144,000480: 16,2760           13013                           BZF      TSNEXTP    -1                         
060145,000481: 16,2761           44756                           CS       FIVE                                  
060146,000482: 16,2762           61743                           AD       ROTINDEX                              
060147,000483: 16,2763           00006                           EXTEND                                         
060148,000484: 16,2764           63002                           BZMF     ALTERYZ                               
060149,000485: 16,2765           41742                           CS       NUMBERT                               
060150,000486: 16,2766           64751                           AD       FOUR                                  
060151,000487: 16,2767           00006                           EXTEND                                         
060152,000488: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060153,000489: 16,2771           05567        ABORTYZ            TC       ALARM                                 
060154,000490: 16,2772           02001                           OCT      02001                                 
060155,000491: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060156,000492: 16,2774           23262                           LXCH     RCSFLAGS                              
060157,000493: 16,2775           00006                           EXTEND                                         
060158,000494: 16,2776           06001                           RXOR     1                                     
060159,000495: 16,2777           55262                           TS       RCSFLAGS                              
060160,000496: 16,3000           34755                           CA       ZERO                                  
060161,000497: 16,3001           13014                           TCF      TSNEXTP                               
060162,000498: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060163,000499: 16,3003           23262                           LXCH     RCSFLAGS                              
060164,000500: 16,3004           00006                           EXTEND                                         
060165,000501: 16,3005           06001                           RXOR     1                                     
060166,000502: 16,3006           55262                           TS       RCSFLAGS                              
060167,000503: 16,3007           74753                           MASK     BIT1                                  
060168,000504: 16,3010           64751                           AD       FOUR                                  
060169,000505: 16,3011           27743                           ADS      ROTINDEX                              
060170,000506: 16,3012           12753                           TCF      TRYUORV                               
060171,000507: 16,3013           31740                           CA       POLYTEMP                              
060172,000508: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060173,000509: 
060174,000510:                                                                                                  #  STATE LOGIC
060175,000511:                                                                                                  #        CHECK IN ORDER:         IF ON
060176,000512:                                                                                                  #        LPDPHASE                GO TO PURGENCY
060177,000513:                                                                                                  #        PULSES                  MINIMUM PULSE LOGIC
060178,000514:                                                                                                  #        DETENT(BIT15 CH31)      RATE COMMAND
060179,000515:                                                                                                  #        GO TO PURGENCY
060180,000516: 
060181,000517: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060182,000518: 16,3016           00006                           EXTEND                                         
060183,000519: 16,3017           02031                           RAND     CHAN31                                
060184,000520: 16,3020           00006                           EXTEND                                         
060185,000521: 16,3021           13027                           BZF      MANMODE                               
060186,000522: 
060187,000523: 16,3022           30111                           CA       DAPBOOLS                              
060188,000524: 16,3023           74743                           MASK     XOVINHIB                              
060189,000525: 16,3024           10000                           CCS      A                                     
060190,000526: 16,3025           13467                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060191,000527: 
060192,000528: 16,3026           13071                           TCF      DETENTCK                              
060193,000529: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060194,000530: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1423

060196,000532: 16,3031           00006                           EXTEND                                         
060197,000533: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060198,000534: 
060199,000535: 16,3033           34755                           CA       ZERO                                  
060200,000536: 16,3034           55464                           TS       PERROR                                
060201,000537: 
060202,000538:                                                                                                  #  MINIMUM IMPULSE MODE
060203,000539: 
060204,000540: 16,3035           30032                           CA       CDUX                                  
060205,000541: 16,3036           55634                           TS       CDUXD                                 
060206,000542: 
060207,000543: 16,3037           11460                           CCS      OLDPMIN                               
060208,000544: 16,3040           13054                           TCF      CHECKP                                
060209,000545: 
060210,000546: 16,3041           34751        FIREP              CA       BIT3                                  
060211,000547: 16,3042           00006                           EXTEND                                         
060212,000548: 16,3043           02031                           RAND     CHAN31                                
060213,000549: 16,3044           00006                           EXTEND                                         
060214,000550: 16,3045           13064                           BZF      +XMIN                                 
060215,000551: 
060216,000552: 16,3046           34750                           CA       BIT4                                  
060217,000553: 16,3047           00006                           EXTEND                                         
060218,000554: 16,3050           02031                           RAND     CHAN31                                
060219,000555: 16,3051           00006                           EXTEND                                         
060220,000556: 16,3052           13062                           BZF      -XMIN                                 
060221,000557: 
060222,000558: 16,3053           13446                           TCF      JETSOFF                               
060223,000559: 
060224,000560: 16,3054           00006        CHECKP             EXTEND                                         
060225,000561: 16,3055           00031                           READ     CHAN31                                
060226,000562: 16,3056           40000                           CS       A                                     
060227,000563: 16,3057           75741                           MASK     OCT14                                 
060228,000564: 16,3060           55460                           TS       OLDPMIN                               
060229,000565: 16,3061           13446                           TCF      JETSOFF                               
060230,000566: 
060231,000567: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS. CORRECTED
060232,000568: 16,3063           13065                           TCF      +2                                    #        IN JET SELECTION ROUTINE
060233,000569: 16,3064           34363        +XMIN              CA       TEN                                   
060234,000570: 16,3065           55524                           TS       TJP                                   
060235,000571: 16,3066           34753                           CA       ONE                                   
060236,000572: 16,3067           55460                           TS       OLDPMIN                               
060237,000573: 16,3070           13354                           TCF      PJETSLEC   -6                         
060238,000574: 
060239,000575:                                                                                                  #                                        MANUAL RATE COMMAND MODE
060240,000576:                                                                                                  #                                        ========================
060241,000577:                                                                                                  #                                          BY ROBERT F. STENGEL
060242,000578: 
060243,000579:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:  1) DIRECT RATE AND 2) PSEUDO-AUTO.
060244,000580:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT.  THE PSEUDO-AUTO MODE PROVIDES PRECISE
060245,000581:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060246,000582: 

Page 1424

060248,000584:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060249,000585:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED.  THIS LAW NULLS THE RATE ERROR TO WITHIN
060250,000586:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060251,000587: 
060252,000588:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060253,000589:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060254,000590:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060255,000591: 
060256,000592:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060257,000593:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060258,000594:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060259,000595: 
060260,000596:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW.  FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060261,000597:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060262,000598:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE.  NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060263,000599:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES.  SCALING IS DETERMINED IN ROUTINE 3.
060264,000600: 
060265,000601:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060266,000602:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060267,000603: 
060268,000604: 16,3071           00006        DETENTCK           EXTEND                                         
060269,000605: 16,3072           00031                           READ     CHAN31                                
060270,000606: 16,3073           55443                           TS       CH31TEMP                              
060271,000607: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
060272,000608: 16,3075           00006                           EXTEND                                         
060273,000609: 16,3076           13223                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
060274,000610: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT.  CHECK THE RATE COMMAND BIT.
060275,000611: 16,3100           70111                           MASK     DAPBOOLS                              
060276,000612: 16,3101           00006                           EXTEND                                         
060277,000613: 16,3102           13467                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
060278,000614: 
060279,000615:                                                                                                  #  ........................................................................
060280,000616: 
060281,000617: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
060282,000618: 16,3104           71262                           MASK     RCSFLAGS                              
060283,000619: 16,3105           00006                           EXTEND                                         
060284,000620: 16,3106           13120                           BZF      RUTH                                  
060285,000621: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
060286,000622: 16,3110           00006                           EXTEND                                         
060287,000623: 16,3111           02031                           RAND     CHAN31                                
060288,000624: 16,3112           00006                           EXTEND                                         
060289,000625: 16,3113           13220                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
060290,000626: 
060291,000627: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
060292,000628: 16,3115           71262                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
060293,000629: 16,3116           55262                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060294,000630: 16,3117           13220                           TCF      RATEDAMP                              
060295,000631: 
060296,000632: 16,3120           31262        RUTH               CA       RCSFLAGS                              
060297,000633: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
060298,000634: 16,3122           00006                           EXTEND                                         
060299,000635: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
060300,000636: 16,3124           13220                           TCF      RATEDAMP                              
060301,000637: 

Page 1425

060303,000639: 16,3125           31262                           CA       RCSFLAGS                              
060304,000640: 16,3126           74741                           MASK     QRBIT                                 
060305,000641: 16,3127           00006                           EXTEND                                         
060306,000642: 16,3130           13134                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
060307,000643: 16,3131           13220                           TCF      RATEDAMP                              
060308,000644: 
060309,000645:                                                                                                  #  ============================================
060310,000646: 
060311,000647: 16,3132     4753               1/10SEC            =        BIT1                                  
060312,000648: 16,3132     4771               40CYC              =        OCT50                                 
060313,000649: 16,3132           74777        PQRBIT             OCT      74777                                 
060314,000650: 16,3133     5014               BITS9,11           EQUALS   EBANK5                                
060315,000651: 16,3133           00056        LINRATP            DEC      46         B-14                       
060316,000652: 
060317,000653:                                                                                                  #  ============================================
060318,000654: 
060319,000655: 16,3134           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
060320,000656: 16,3135           00004                           INHINT                                         #  ALL AXES.
060321,000657: 16,3136           70111                           MASK     DAPBOOLS                              
060322,000658: 16,3137           54111                           TS       DAPBOOLS                              
060323,000659: 
060324,000660:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
060325,000661: 
060326,000662: 16,3140           34737                           CAF      BIT13                                 
060327,000663: 16,3141           00006                           EXTEND                                         
060328,000664: 16,3142           02031                           RAND     CHAN31                                
060329,000665: 16,3143           00006                           EXTEND                                         
060330,000666: 16,3144           13150                           BZF      +4                                    
060331,000667: 16,3145           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
060332,000668: 16,3146           55634                           TS       CDUXD                                 
060333,000669: 16,3147           03152                           TC       +3                                    
060334,000670: 16,3150           04674                           TC       IBNKCALL                              
060335,000671: 16,3151           40154                           FCADR    ZATTEROR                              
060336,000672: 16,3152           00003                           RELINT                                         
060337,000673: 16,3153           13467                           TCF      PURGENCY                              
060338,000674: 
060339,000675: 16,3154           55464                           TS       PERROR                                
060340,000676: 16,3155           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
060341,000677: 16,3156           26111                           ADS      DAPBOOLS                              
060342,000678: 16,3157           34755                           CA       ZERO                                  
060343,000679: 16,3160           55446                           TS       DXERROR                               
060344,000680: 16,3161           55447                           TS       DXERROR    +1                         
060345,000681: 16,3162           55450                           TS       DYERROR                               
060346,000682: 16,3163           55451                           TS       DYERROR    +1                         
060347,000683: 16,3164           55452                           TS       DZERROR                               
060348,000684: 16,3165           55453                           TS       DZERROR    +1                         
060349,000685: 16,3166           55454                           TS       PLAST                                 
060350,000686: 16,3167           55455                           TS       QLAST                                 
060351,000687: 16,3170           55456                           TS       RLAST                                 
060352,000688: 16,3171           54042                           TS       Q-RHCCTR                              
060353,000689: 16,3172           54044                           TS       R-RHCCTR                              
060354,000690: 16,3173           33132                           CA       PQRBIT                                
060355,000691: 16,3174           71262                           MASK     RCSFLAGS                              
060356,000692: 16,3175           55262                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.

Page 1426

060358,000694: 16,3176           03201                           TC       ZEROENBL                              
060359,000695: 16,3177           00003                           RELINT                                         
060360,000696: 16,3200           13446                           TCF      JETSOFF                               
060361,000697: 16,3201           22044        ZEROENBL           LXCH     R-RHCCTR                              
060362,000698: 16,3202           30042                           CA       Q-RHCCTR                              
060363,000699: 16,3203           53463                           DXCH     SAVEHAND                              
060364,000700: 16,3204           34755                           CA       ZERO                                  
060365,000701: 16,3205           54043                           TS       P-RHCCTR                              
060366,000702: 16,3206           54042                           TS       Q-RHCCTR                              
060367,000703: 16,3207           54044                           TS       R-RHCCTR                              
060368,000704: 16,3210           00004                           INHINT                                         
060369,000705: 16,3211           00006                           EXTEND                                         
060370,000706: 16,3212           23265                           QXCH     C13QSAV                               
060371,000707: 16,3213           06022                           TC       C13STALL                              
060372,000708: 
060373,000709: 16,3214           33623                           CA       BITS8,9                               
060374,000710: 16,3215           00006                           EXTEND                                         
060375,000711: 16,3216           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
060376,000712: 16,3217           01265                           TC       C13QSAV                               
060377,000713: 
060378,000714: 16,3220           34755        RATEDAMP           CA       ZERO                                  
060379,000715: 16,3221           54043                           TS       P-RHCCTR                              
060380,000716: 16,3222           13232                           TCF      RATERROR                              
060381,000717: 
060382,000718: 16,3223           41262        RHCMOVED           CS       RCSFLAGS                              #  SET JUSTIN BIT TO 1
060383,000719: 16,3224           74743                           MASK     BIT9                                  
060384,000720: 16,3225           27262                           ADS      RCSFLAGS                              
060385,000721: 16,3226           34740                           CA       OURRCBIT                              #  P CONTROL
060386,000722: 16,3227           70111                           MASK     DAPBOOLS                              
060387,000723: 16,3230           00006                           EXTEND                                         
060388,000724: 16,3231           13154                           BZF      JUSTOUT    -1                         
060389,000725: 16,3232           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060390,000726: 16,3233           55634                           TS       CDUXD                                 #  X-AXIS OVERRIDE
060391,000727: 16,3234           10043                           CCS      P-RHCCTR                              
060392,000728: 16,3235           13240                           TCF      +3                                    
060393,000729: 16,3236           13240                           TCF      +2                                    
060394,000730: 16,3237           13240                           TCF      +1                                    
060395,000731: 16,3240           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
060396,000732: 16,3241           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
060397,000733: 16,3242           63133                           AD       LINRATP                               #  AUTOPILOT)
060398,000734: 16,3243           00006                           EXTEND                                         
060399,000735: 16,3244           70043                           MP       P-RHCCTR                              
060400,000736: 16,3245           30001                           CA       L                                     
060401,000737: 16,3246           00006                           EXTEND                                         
060402,000738: 16,3247           71444                           MP       STIKSENS                              
060403,000739: 16,3250           57454                           XCH      PLAST                                 
060404,000740: 16,3251           40000                           COM                                            
060405,000741: 16,3252           61454                           AD       PLAST                                 
060406,000742: 16,3253           55736                           TS       DAPTEMP1                              
060407,000743: 16,3254           03201                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.

Page 1427

060409,000745: 16,3255           00003                           RELINT                                         
060410,000746: 16,3256           41454                           CS       PLAST                                 
060411,000747: 16,3257           61421                           AD       OMEGAP                                
060412,000748: 16,3260           55427                           TS       EDOTP                                 
060413,000749: 16,3261           11736                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
060414,000750: 16,3262           13265                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL.  IF NOT
060415,000751: 16,3263           13273                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
060416,000752: 16,3264           13265                           TCF      +1                                    
060417,000753: 16,3265           61476                           AD       -RATEDB                               
060418,000754: 16,3266           00006                           EXTEND                                         
060419,000755: 16,3267           63273                           BZMF     +4                                    
060420,000756: 16,3270           34771                           CA       40CYC                                 
060421,000757: 16,3271           55445                           TS       TCP                                   
060422,000758: 16,3272           03304                           TC       PEGI                                  
060423,000759: 16,3273           31262                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
060424,000760: 16,3274           74742                           MASK     PBIT                                  
060425,000761: 16,3275           00006                           EXTEND                                         
060426,000762: 16,3276           13300                           BZF      +2                                    
060427,000763: 16,3277           03304                           TC       PEGI                                  #  TO PURE RATE COMMAND
060428,000764: 16,3300           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
060429,000765: 16,3301           55751                           TS       E                                     #  X-ATTITUDE ERROR (SP)
060430,000766: 16,3302           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060431,000767: 16,3303           03473                           TC       PURGENCY   +4                         
060432,000768: 16,3304           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
060433,000769: 16,3305           55634                           TS       CDUXD                                 
060434,000770: 16,3306           34755                           CA       ZERO                                  
060435,000771: 16,3307           55446                           TS       DXERROR                               
060436,000772: 16,3310           55447                           TS       DXERROR    +1                         
060437,000773: 16,3311           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060438,000774: 16,3312           11427                           CCS      EDOTP                                 
060439,000775: 16,3313           03316                           TC       +3                                    
060440,000776: 16,3314           03316                           TC       +2                                    
060441,000777: 16,3315           03316                           TC       +1                                    
060442,000778: 16,3316           55736                           TS       ABSEDOTP                              
060443,000779: 16,3317           61476                           AD       TARGETDB                              
060444,000780: 16,3320           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
060445,000781: 16,3321           63331                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
060446,000782: 16,3322           31445                           CA       TCP                                   
060447,000783: 16,3323           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060448,000784: 16,3324           63331                           BZMF     LAST                                  
060449,000785: 16,3325           41262                           CS       RCSFLAGS                              
060450,000786: 16,3326           74742                           MASK     PBIT                                  
060451,000787: 16,3327           27262                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
060452,000788: 16,3330           13334                           TCF      +4                                    
060453,000789: 16,3331           44742        LAST               CS       PBIT                                  
060454,000790: 16,3332           71262                           MASK     RCSFLAGS                              
060455,000791: 16,3333           55262                           TS       RCSFLAGS                              #  BIT 10 IS 0.
060456,000792: 16,3334           41427                           CS       EDOTP                                 
060457,000793: 16,3335           00006                           EXTEND                                         
060458,000794: 16,3336           71550                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI

Page 1428

060460,000796: 16,3337           20001                           DAS      A                                     
060461,000797: 16,3340           02310                           TC       OVERSUB                               
060462,000798: 16,3341           00006                           EXTEND                                         
060463,000799: 16,3342           77721                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060464,000800: 16,3343           55524                           TS       TJP                                   #  4.JET TIME
060465,000801: 16,3344           31736                           CA       ABSEDOTP                              
060466,000802: 16,3345           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
060467,000803: 16,3346           00006                           EXTEND                                         
060468,000804: 16,3347           63352                           BZMF     +3                                    
060469,000805: 
060470,000806: 16,3350           36245                           CA       SIX                                   
060471,000807: 16,3351           13361                           TCF      +8D                                   
060472,000808: 16,3352           31524                           CA       TJP                                   
060473,000809: 16,3353           27524                           ADS      TJP                                   
060474,000810: 
060475,000811:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
060476,000812:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
060477,000813: 
060478,000814:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
060479,000815:                                                                                                  #                TJP             + FOR +P ROTATION
060480,000816: 
060481,000817:                                                                                                  #  OUTPUT:       CHANNEL 6
060482,000818:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP
060483,000819:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
060484,000820: 
060485,000821:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060486,000822:                                                                                                  #        +P      -P
060487,000823:                                                                                                  #        7,15    8,16
060488,000824:                                                                                                  #        4,12    3,11
060489,000825:                                                                                                  #        4,7     8,11
060490,000826:                                                                                                  #        7,12    11,16
060491,000827:                                                                                                  #        12,15   3,16
060492,000828:                                                                                                  #        4,15    3,8
060493,000829:                                                                                                  #        ALARM   ALARM
060494,000830: 
060495,000831: 16,3354           34747                           CA       AORBSYST                              
060496,000832: 16,3355           70101                           MASK     FLAGWRD5                              
060497,000833: 16,3356           10000                           CCS      A                                     
060498,000834: 16,3357           34753                           CA       ONE                                   
060499,000835: 16,3360           64751                           AD       FOUR                                  
060500,000836: 16,3361           55742                           TS       NUMBERT                               
060501,000837: 16,3362           34753        PJETSLEC           CA       ONE                                   
060502,000838: 16,3363           54001                           TS       L                                     
060503,000839: 16,3364           11524                           CCS      TJP                                   
060504,000840: 16,3365           13372                           TCF      +5                                    
060505,000841: 16,3366           13446                           TCF      JETSOFF                               
060506,000842: 16,3367           13371                           TCF      +2                                    
060507,000843: 16,3370           13446                           TCF      JETSOFF                               
060508,000844: 16,3371           22007                           ZL                                             
060509,000845: 16,3372           64753                           AD       ONE                                   
060510,000846: 16,3373           55736                           TS       ABSTJ                                 

Page 1429

060512,000848: 16,3374           23743                           LXCH     ROTINDEX                              
060513,000849: 16,3375           03535                           TC       SELECTP                               
060514,000850: 16,3376           46245                           CS       SIX                                   
060515,000851: 16,3377           61742                           AD       NUMBERT                               
060516,000852: 16,3400           00006                           EXTEND                                         
060517,000853: 16,3401           13403                           BZF      +2                                    
060518,000854: 
060519,000855: 16,3402           44752                           CS       TWO                                   
060520,000856: 16,3403           64751                           AD       FOUR                                  
060521,000857: 16,3404           55521                           TS       NO.PJETS                              
060522,000858: 16,3405           31740                           CA       POLYTEMP                              
060523,000859: 16,3406           05744                           TC       WRITEP                                
060524,000860: 16,3407           41736                           CS       ABSTJ                                 
060525,000861: 16,3410           63616                           AD       +150MST6                              
060526,000862: 16,3411           00006                           EXTEND                                         
060527,000863: 16,3412           63630                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060528,000864: 
060529,000865: 16,3413           63576                           AD       -136MST6                              
060530,000866: 16,3414           00006                           EXTEND                                         
060531,000867: 16,3415           63422                           BZMF     +5                                    
060532,000868: 
060533,000869: 16,3416           27736                           ADS      ABSTJ                                 
060534,000870: 16,3417           51743                           INDEX    ROTINDEX                              
060535,000871: 16,3420           33625                           CA       MINTIMES                              
060536,000872: 16,3421           55524                           TS       TJP                                   
060537,000873: 
060538,000874: 16,3422           31736                           CA       ABSTJ                                 
060539,000875: 16,3423           22007                           ZL                                             
060540,000876: 16,3424           00004                           INHINT                                         
060541,000877: 16,3425           53471                           DXCH     T6FURTHA                              
060542,000878: 16,3426           04674                           TC       IBNKCALL                              
060543,000879: 16,3427           37143                           CADR     JTLST                                 
060544,000880: 16,3430           44740                           CS       BIT12                                 
060545,000881: 16,3431           71262                           MASK     RCSFLAGS                              
060546,000882: 16,3432           55262                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
060547,000883: 16,3433           03435                           TC       ALTSYST                               
060548,000884: 16,3434           13630                           TCF      QRAXIS                                
060549,000885: 
060550,000886: 16,3435           30101        ALTSYST            CA       FLAGWRD5                              #  ALTERNATE P-AXIS JETS
060551,000887: 16,3436           54001                           TS       L                                     
060552,000888: 16,3437           34747                           CA       AORBSYST                              
060553,000889: 16,3440           00006                           EXTEND                                         
060554,000890: 16,3441           06001                           RXOR     LCHAN                                 
060555,000891: 16,3442           54101                           TS       FLAGWRD5                              
060556,000892: 16,3443           00003                           RELINT                                         
060557,000893: 16,3444           00002                           TC       Q                                     
060558,000894: 
060559,000895: 16,3445           03435        DKALT              TC       ALTSYST                               
060560,000896: 
060561,000897: 16,3446           05743        JETSOFF            TC       WRITEP     -1                         

Page 1430

060563,000899: 16,3447           34755                           CA       ZERO                                  
060564,000900: 16,3450           55524                           TS       TJP                                   
060565,000901: 16,3451           13630                           TCF      QRAXIS                                
060566,000902: 
060567,000903:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060568,000904: 
060569,000905: 16,3452           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
060570,000906: 16,3453           00006                           EXTEND                                         
060571,000907: 16,3454           21635                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
060572,000908: 16,3455           00006                           EXTEND                                         
060573,000909: 16,3456           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060574,000910: 16,3457           57751                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
060575,000911: 16,3460           30032                           CA       CDUX                                  #  THIRD COMPONENT
060576,000912: 16,3461           00006                           EXTEND                                         
060577,000913: 16,3462           21634                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
060578,000914:                                                                                                  #                EXTEND
060579,000915:                                                                                                  #                MP      M13
060580,000916: 16,3463           61274                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
060581,000917: 16,3464           27751                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
060582,000918: 16,3465           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060583,000919: 16,3466           00002                           TC       Q                                     #  RETURN TO CALLER
060584,000920: 
060585,000921:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
060586,000922: 
060587,000923: 16,3467           03452        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
060588,000924: 16,3470           41642                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
060589,000925: 16,3471           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
060590,000926: 16,3472           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060591,000927: 
060592,000928: 16,3473           44753                           CS       ONE                                   
060593,000929: 16,3474           55505                           TS       AXISCTR                               
060594,000930: 16,3475           30111                           CA       DAPBOOLS                              
060595,000931: 16,3476           74737                           MASK     CSMDOCKD                              
060596,000932: 16,3477           00006                           EXTEND                                         
060597,000933: 16,3500           13511                           BZF      HEADTJET                              
060598,000934: 16,3501           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060599,000935: 16,3502           04674                           TC       IBNKCALL                              
060600,000936: 16,3503           43736                           CADR     SPSRCS                                
060601,000937: 
060602,000938: 16,3504           31524                           CA       TJP                                   
060603,000939: 16,3505           00006                           EXTEND                                         
060604,000940: 16,3506           13445                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
060605,000941: 16,3507           00003                           RELINT                                         
060606,000942: 16,3510           13354                           TCF      PJETSLEC   -6                         #  SELECT AORBSYST AND USE TWO JETS
060607,000943: 16,3511           34755        HEADTJET           CA       ZERO                                  
060608,000944: 16,3512           55500                           TS       SENSETYP                              
060609,000945: 16,3513           00004                           INHINT                                         
060610,000946: 16,3514           04674                           TC       IBNKCALL                              
060611,000947: 16,3515           37304                           CADR     TJETLAW                               
060612,000948: 16,3516           00003                           RELINT                                         

Page 1431

060614,000950: 16,3517           41740                           CS       FIREFCT                               
060615,000951: 16,3520           63534                           AD       -FOURDEG                              
060616,000952: 16,3521           00006                           EXTEND                                         
060617,000953: 16,3522           63354                           BZMF     PJETSLEC   -6                         
060618,000954: 16,3523           11524                           CCS      TJP                                   
060619,000955: 16,3524           13526                           TCF      +2                                    
060620,000956: 16,3525           13446                           TCF      JETSOFF                               
060621,000957: 16,3526           63533                           AD       -160MST6                              
060622,000958: 16,3527           00006                           EXTEND                                         
060623,000959: 16,3530           63354                           BZMF     PJETSLEC   -6                         
060624,000960: 16,3531           36245                           CA       SIX                                   
060625,000961: 16,3532           13361                           TCF      PJETSLEC   -1                         
060626,000962: 16,3533           77377        -160MST6           DEC      -256       B-14                       
060627,000963: 16,3534           75117        -FOURDEG           DEC      -.08888                               
060628,000964: 

Page 1432

060630,000966:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
060631,000967: 
060632,000968:                                                                                                  #  INPUT:        ROTINDEX, NUMBERT
060633,000969: 
060634,000970:                                                                                                  #  OUTPUT:       POLYTEMP (JET POLICY)
060635,000971: 
060636,000972:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060637,000973: 
060638,000974: 16,3535           36245        SELECTP            CA       SIX                                   
060639,000975: 16,3536           55741                           TS       TEMPNUM                               
060640,000976: 16,3537           51742                           INDEX    NUMBERT                               
060641,000977: 16,3540           33567                           CA       TYPEP                                 
060642,000978: 16,3541           51743                           INDEX    ROTINDEX                              
060643,000979: 16,3542           73560                           MASK     JETSALL                               
060644,000980: 16,3543           55740                           TS       POLYTEMP                              
060645,000981: 16,3544           71260                           MASK     CH6MASK                               
060646,000982: 16,3545           10000                           CCS      A                                     
060647,000983: 16,3546           13550                           TCF      +2                                    
060648,000984: 16,3547           00002                           TC       Q                                     
060649,000985: 16,3550           11741                           CCS      TEMPNUM                               
060650,000986: 16,3551           13555                           TCF      +4                                    
060651,000987: 16,3552           05567                           TC       ALARM                                 
060652,000988: 16,3553           02003                           OCT      02003                                 
060653,000989: 16,3554           13446                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
060654,000990: 16,3555           55742        SELECTYZ           TS       NUMBERT                               
060655,000991: 16,3556           13536                           TCF      SELECTP    +1                         
060656,000992: 16,3557           12773                 -1        TCF      ABORTYZ    +2                         
060657,000993: 16,3560           00252        JETSALL            OCT      00252                                 
060658,000994: 16,3561           00125                           OCT      00125                                 #  +P
060659,000995: 16,3562           00140                           OCT      00140                                 #  -Y
060660,000996: 16,3563           00006                           OCT      00006                                 #  -Z
060661,000997: 16,3564           00220                           OCT      00220                                 #  +Y
060662,000998: 16,3565           00011                           OCT      00011                                 #  +Z
060663,000999: 16,3566           00151                           OCT      00151                                 #  +V
060664,001000: 16,3567           00146        TYPEP              OCT      00146                                 #  -U
060665,001001: 16,3570           00226                           OCT      00226                                 #  -V
060666,001002: 16,3571           00231                           OCT      00231                                 #  +U
060667,001003: 16,3572           00151                           OCT      00151                                 #  +V
060668,001004: 16,3573           00132                           OCT      00132                                 #  1-3
060669,001005: 16,3574           00245                           OCT      00245                                 #  2-4
060670,001006: 16,3575           00377                           OCT      00377                                 #  ALL
060671,001007: 16,3576  16,3576               INDXYZ             =        -136MST6                              
060672,001008: 16,3576           77445        -136MST6           DEC      -218       B-14                       
060673,001009: 16,3577           00004                           DEC      4          B-14                       
060674,001010: 16,3600           00002                           DEC      2          B-14                       
060675,001011: 16,3601           07776                           OCT      07776                                 
060676,001012: 16,3602           00005                           DEC      5          B-14                       
060677,001013: 16,3603           00011                           DEC      9          B-14                       
060678,001014: 16,3604           00012                           DEC      10         B-14                       
060679,001015: 16,3605           07776                           OCT      07776                                 
060680,001016: 16,3606           00003                           DEC      3          B-14                       

Page 1433

060682,001018: 16,3607           00010                           DEC      8          B-14                       
060683,001019: 16,3610           00007                           DEC      7          B-14                       
060684,001020: 16,3611           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
060685,001021: 16,3612           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
060686,001022: 16,3613           07776                           OCT      07776                                 #  TO BE         TC JETSALL -1
060687,001023: 16,3614           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
060688,001024: 16,3615           07776                           OCT      07776                                 
060689,001025: 16,3616           00360        +150MST6           DEC      240        B-14                       
060690,001026: 16,3617           07400        07400OCT           OCT      07400                                 
060691,001027: 
060692,001028:                                                                                                  #  T-JET LAW FIXED CONSTANTS
060693,001029: 
060694,001030: 16,3620           00266        NORMSCL            OCT      266                                   
060695,001031: 16,3621           74631        -100MS             DEC      -.1                                   
060696,001032: 16,3622           06315        200MS              DEC      .2                                    
060697,001033: 16,3623     7721               25/32              =        PRIO31                                #  (DEC .78125)
060698,001034: 16,3623           00600        BITS8,9            OCTAL    00600                                 
060699,001035: 16,3624           00632        1/40               DEC      .02500                                
060700,001036: 16,3625           77751        MINTIMES           DEC      -22        B-14                       
060701,001037: 16,3626           00026                           DEC      22         B-14                       
060702,001038: 16,3627           02734        PSKIPADR           GENADR   SKIPPAXS                              
060703,001039: 
060704,001040:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
060705,001041: 
060706,001042: 16,3630           41644        QRAXIS             CS       OMEGARD                               
060707,001043: 16,3631           61423                           AD       OMEGAR                                
060708,001044: 16,3632           02310                           TC       OVERSUB                               
060709,001045: 16,3633           55437                           TS       EDOTR                                 
060710,001046: 16,3634           41643                           CS       OMEGAQD                               
060711,001047: 16,3635           61422                           AD       OMEGAQ                                
060712,001048: 16,3636           02310                           TC       OVERSUB                               
060713,001049: 16,3637           55436                           TS       EDOTQ                                 
060714,001050: 16,3640           00006                           EXTEND                                         
060715,001051: 16,3641           33644                           DCA      QERRCALL                              
060716,001052: 16,3642           52006                           DTCB                                           
060717,001053: 
060718,001054: 16,3643  E6,1536                                  EBANK=   AOSQ                                  
060719,001055: 16,3643           02124 36106  QERRCALL           2CADR    CALLQERR                              

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