Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

062474,000002:                                                                                                  ## Copyright:   Public domain.
062475,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
062476,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
062477,000005:                                                                                                  ##              It is part of the source code for the original release
062478,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
062479,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
062480,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
062481,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
062482,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
062483,000011:                                                                                                  ##              that the code format has been changed to conform to the
062484,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
062485,000013:                                                                                                  ##              original YUL assembler.
062486,000014:                                                                                                  ## Reference:   pp. 1436-1453
062487,000015:                                                                                                  ## Assembler:   yaYUL
062488,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062489,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
062490,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
062491,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
062492,000020:                                                                                                  ##              2017-01-03 RRB  Updated for Luminary 69.
062493,000021:                                                                                                  ##              2017-01-21 HG   Fix operand ROT-TOUV -> ROT45DEG
062494,000022:                                                                                                  ##                                          +X0RULGE -> +XORULGE
062495,000023:                                                                                                  ##                              Add missing declaration .707 DEC .70711
062496,000024:                                                                                                  ##              2017-01-23 HG   Add mising statement CA POSMAX
062497,000025:                                                                                                  ##              2017-01-28 RSB  Proofed comment text using octopus/prooferComments
062498,000026:                                                                                                  ##                              and fixed errors found.
062499,000027:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062500,000028:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062501,000029: 

Page 1436

062503,000031: 17,2043                                           BANK     17                                    
062504,000032: 17,2000                                           SETLOC   DAPS2                                 
062505,000033: 17,2000                                           BANK                                           
062506,000034: 
062507,000035: 17,2043  E6,1633                                  EBANK=   CDUXD                                 
062508,000036: 
062509,000037: 17,2043                                           COUNT*   $$/DAPQR                              
062510,000038: 
062511,000039: 17,2043           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062512,000040: 17,2044           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062513,000041: 17,2045           02031                           RAND     CHAN31                                
062514,000042: 17,2046           10000                           CCS      A                                     
062515,000043: 17,2047           12054                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062516,000044: 17,2050           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062517,000045: 17,2051           74740                           MASK     OURRCBIT                              
062518,000046: 17,2052           00006                           EXTEND                                         
062519,000047: 17,2053           12055                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062520,000048: 17,2054           02563                           TC       QERRCALC                              
062521,000049: 
062522,000050: 17,2055           11627        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062523,000051: 17,2056           12544                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
062524,000052: 17,2057           12531                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
062525,000053: 17,2060           34755        RCS                CAF      ZERO                                  #    RCS (TRYGTS MAY BRANCH TO HERE)
062526,000054: 17,2061           55627                           TS       COTROLER                              
062527,000055: 
062528,000056: 17,2062           53435                           DXCH     EDOTQ                                 
062529,000057: 17,2063           03100                           TC       ROT45DEG                              
062530,000058: 17,2064           53425                           DXCH     OMEGAU                                
062531,000059: 
062532,000060:                                                                                                  #  X - TRANSLATION:
062533,000061: 
062534,000062:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062535,000063:                                                                                                  #                ULLAGER
062536,000064:                                                                                                  #                APSFLAG, DRIFTBIT
062537,000065:                                                                                                  #                ACC40R2X, ACRBTRAN
062538,000066: 
062539,000067:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
062540,000068:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
062541,000069: 
062542,000070:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062543,000071:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062544,000072: 
062545,000073: 17,2065           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062546,000074: 17,2066           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062547,000075: 17,2067           02031                           RAND     CHAN31                                
062548,000076: 17,2070           00006                           EXTEND                                         
062549,000077: 17,2071           12117                           BZF      +XORULGE                              

Page 1437

062551,000079: 17,2072           34744                           CA       BIT8                                  
062552,000080: 17,2073           00006                           EXTEND                                         
062553,000081: 17,2074           02031                           RAND     CHAN31                                
062554,000082: 17,2075           00006                           EXTEND                                         
062555,000083: 17,2076           12120                           BZF      -XTRANS                               
062556,000084: 
062557,000085: 17,2077           34746                           CA       ULLAGER                               
062558,000086: 17,2100           70111                           MASK     DAPBOOLS                              
062559,000087: 17,2101           10000                           CCS      A                                     
062560,000088: 17,2102           12117                           TCF      +XORULGE                              
062561,000089: 
062562,000090: 17,2103           55471                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062563,000091: 17,2104           55472                           TS       NEXTV                                 
062564,000092: 17,2105           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062565,000093: 17,2106           74744                           MASK     DRIFTBIT                              
062566,000094: 17,2107           00006                           EXTEND                                         
062567,000095: 17,2110           12115                           BZF      TSENSE                                
062568,000096: 17,2111           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062569,000097: 17,2112           74737                           MASK     APSFLBIT                              
062570,000098: 17,2113           10000                           CCS      A                                     
062571,000099: 17,2114           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062572,000100: 17,2115           55477        TSENSE             TS       SENSETYP                              
062573,000101: 17,2116           12151                           TCF      QRCONTRL                              
062574,000102: 
062575,000103: 17,2117           34753        +XORULGE           CAF      ONE                                   
062576,000104: 17,2120           64751        -XTRANS            AD       FOUR                                  
062577,000105: 17,2121           55742                           TS       ROTINDEX                              
062578,000106: 17,2122           67744                           AD       NEG3                                  
062579,000107: 17,2123           55477                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062580,000108: 17,2124           30111                           CA       DAPBOOLS                              
062581,000109: 17,2125           74741                           MASK     ACC4OR2X                              
062582,000110: 17,2126           10000                           CCS      A                                     
062583,000111: 17,2127           12256                           TCF      TRANS4                                
062584,000112: 
062585,000113: 17,2130           30111                           CA       DAPBOOLS                              
062586,000114: 17,2131           74742                           MASK     AORBTRAN                              
062587,000115: 17,2132           10000                           CCS      A                                     
062588,000116: 17,2133           34753                           CA       ONE                                   #  THREE FOR B
062589,000117: 17,2134           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062590,000118: 17,2135           55741        TSNUMBRT           TS       NUMBERT                               
062591,000119: 
062592,000120: 17,2136           03130                           TC       SELCTSUB                              
062593,000121: 
062594,000122: 17,2137           11737                           CCS      POLYTEMP                              
062595,000123: 17,2140           12143                           TCF      +3                                    
062596,000124: 17,2141           05567                           TC       ALARM                                 
062597,000125: 17,2142           02002                           OCT      02002                                 
062598,000126: 17,2143           35765                           CA       00314OCT                              
062599,000127: 17,2144           71737                           MASK     POLYTEMP                              
062600,000128: 17,2145           55471        TSNEXTS            TS       NEXTU                                 

Page 1438

062602,000130: 17,2146           45765                           CS       00314OCT                              
062603,000131: 17,2147           71737                           MASK     POLYTEMP                              
062604,000132: 17,2150           55472                           TS       NEXTV                                 
062605,000133: 
062606,000134:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
062607,000135:                                                                                                  #        SWITCHES        INDICATION WHEN SET
062608,000136:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
062609,000137:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
062610,000138:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
062611,000139: 
062612,000140: 17,2151           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062613,000141: 17,2152           00006                           EXTEND                                         
062614,000142: 17,2153           02031                           RAND     CHAN31                                #  BITS INVERTED
062615,000143: 17,2154           10000                           CCS      A                                     
062616,000144: 17,2155           12616                           TCF      ATTSTEER                              
062617,000145: 17,2156           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062618,000146: 17,2157           70111                           MASK     DAPBOOLS                              
062619,000147: 17,2160           00006                           EXTEND                                         
062620,000148: 17,2161           12260                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062621,000149: 
062622,000150:                                                                                                  #  MINIMUM IMPULSE MODE
062623,000151: 
062624,000152: 17,2162           00004                           INHINT                                         
062625,000153: 17,2163           04674                           TC       IBNKCALL                              
062626,000154: 17,2164           40153                           CADR     ZATTEROR                              
062627,000155: 17,2165           34755                           CA       ZERO                                  
062628,000156: 17,2166           55446                           TS       QERROR                                
062629,000157: 17,2167           55450                           TS       RERROR                                #  FOR DISPLAYS
062630,000158: 17,2170           00003                           RELINT                                         
062631,000159: 
062632,000160: 17,2171           00006                           EXTEND                                         
062633,000161: 17,2172           00031                           READ     CHAN31                                
062634,000162: 17,2173           55735                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062635,000163: 17,2174           11457                           CCS      OLDQRMIN                              
062636,000164: 17,2175           12217                           TCF      CHECKIN                               
062637,000165: 
062638,000166: 17,2176           31735        FIREQR             CA       TEMP31                                
062639,000167: 17,2177           74753                           MASK     BIT1                                  
062640,000168: 17,2200           00006                           EXTEND                                         
062641,000169: 17,2201           12223                           BZF      +QMIN                                 
062642,000170: 
062643,000171: 17,2202           31735                           CA       TEMP31                                
062644,000172: 17,2203           74752                           MASK     BIT2                                  
062645,000173: 17,2204           00006                           EXTEND                                         
062646,000174: 17,2205           12227                           BZF      -QMIN                                 
062647,000175: 
062648,000176: 17,2206           31735                           CA       TEMP31                                
062649,000177: 17,2207           74747                           MASK     BIT5                                  

Page 1439

062651,000179: 17,2210           00006                           EXTEND                                         
062652,000180: 17,2211           12233                           BZF      +RMIN                                 
062653,000181: 
062654,000182: 17,2212           31735                           CA       TEMP31                                
062655,000183: 17,2213           74746                           MASK     BIT6                                  
062656,000184: 17,2214           00006                           EXTEND                                         
062657,000185: 17,2215           12235                           BZF      -RMIN                                 
062658,000186: 
062659,000187: 17,2216           13015                           TCF      XTRANS                                
062660,000188: 
062661,000189: 17,2217           41735        CHECKIN            CS       TEMP31                                
062662,000190: 17,2220           72255                           MASK     OCT63                                 
062663,000191: 17,2221           55457                           TS       OLDQRMIN                              
062664,000192: 17,2222           13015                           TCF      XTRANS                                
062665,000193: 
062666,000194: 17,2223           33041        +QMIN              CA       14MS                                  
062667,000195: 17,2224           55525                           TS       TJU                                   
062668,000196: 17,2225           43041                           CS       14MS                                  
062669,000197: 17,2226           12237                           TCF      MINQR                                 
062670,000198: 17,2227           43041        -QMIN              CS       14MS                                  
062671,000199: 17,2230           55525                           TS       TJU                                   
062672,000200: 17,2231           33041                           CA       14MS                                  
062673,000201: 17,2232           12237                           TCF      MINQR                                 
062674,000202: 17,2233           33041        +RMIN              CA       14MS                                  
062675,000203: 17,2234           12236                           TCF      +2                                    
062676,000204: 17,2235           43041        -RMIN              CS       14MS                                  
062677,000205: 17,2236           55525                           TS       TJU                                   
062678,000206: 17,2237           55526        MINQR              TS       TJV                                   
062679,000207: 17,2240           32254                           CA       MINADR                                
062680,000208: 17,2241           55475                           TS       RETJADR                               
062681,000209: 17,2242           34753                           CA       ONE                                   
062682,000210: 17,2243           55457                           TS       OLDQRMIN                              
062683,000211: 17,2244           55476        MINRTN             TS       AXISCTR                               
062684,000212: 17,2245           30111                           CA       DAPBOOLS                              
062685,000213: 17,2246           74742                           MASK     AORBTRAN                              
062686,000214: 17,2247           10000                           CCS      A                                     
062687,000215: 17,2250           34753                           CA       ONE                                   
062688,000216: 17,2251           64752                           AD       TWO                                   
062689,000217: 17,2252           55741                           TS       NUMBERT                               
062690,000218: 17,2253           12661                           TCF      AFTERTJ                               
062691,000219: 
062692,000220: 17,2254           02244        MINADR             GENADR   MINRTN                                
062693,000221: 17,2255           00063        OCT63              OCT      63                                    
062694,000222: 17,2256  17,3041               14MS               =        +TJMINT6                              
062695,000223: 
062696,000224: 17,2256           34751        TRANS4             CA       FOUR                                  
062697,000225: 17,2257           12135                           TCF      TSNUMBRT                              
062698,000226: 
062699,000227:                                                                                                  #  RATE COMMAND MODE:

Page 1440

062701,000229:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
062702,000230: 
062703,000231: 17,2260           55631        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062704,000232: 17,2261           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062705,000233: 17,2262           55627                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062706,000234: 17,2263           34735                           CA       BIT15                                 
062707,000235: 17,2264           71441                           MASK     CH31TEMP                              
062708,000236: 17,2265           00006                           EXTEND                                         
062709,000237: 17,2266           12305                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062710,000238: 17,2267           34740                           CA       OURRCBIT                              #  ***********
062711,000239: 17,2270           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062712,000240: 17,2271           00006                           EXTEND                                         #  ***********   LAST TIME.
062713,000241: 17,2272           12616                           BZF      STILLRCS                              
062714,000242: 17,2273           44743                           CS       BIT9                                  
062715,000243: 17,2274           71273                           MASK     RCSFLAGS                              
062716,000244: 17,2275           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062717,000245: 17,2276           12302                           TCF      DAMPING                               
062718,000246: 17,2277           00050        40CYCL             OCT      50                                    
062719,000247: 17,2300           00001        1/10S              OCT      1                                     
062720,000248: 17,2301           00056        LINRAT             DEC      46         B-14                       
062721,000249: 
062722,000250:                                                                                                  #  ================================
062723,000251: 
062724,000252: 17,2302           34755        DAMPING            CA       ZERO                                  
062725,000253: 17,2303           55460                           TS       SAVEHAND                              
062726,000254: 17,2304           55461                           TS       SAVEHAND   +1                         
062727,000255: 17,2305           11460        RHCACTIV           CCS      SAVEHAND                              #  *******************
062728,000256: 17,2306           12311                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
062729,000257: 17,2307           12311                           TCF      +2                                    #  *******************
062730,000258: 17,2310           12311                           TCF      +1                                    
062731,000259: 17,2311           60000                           DOUBLE                                         #  WHERE
062732,000260: 17,2312           60000                           DOUBLE                                         
062733,000261: 17,2313           62301                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
062734,000262: 17,2314           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
062735,000263: 17,2315           71460                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
062736,000264: 17,2316           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
062737,000265: 17,2317           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
062738,000266: 17,2320           71442                           MP       STIKSENS                              
062739,000267: 17,2321           57453                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062740,000268: 17,2322           40000                           COM                                            
062741,000269: 17,2323           61453                           AD       QLAST                                 
062742,000270: 17,2324           55737                           TS       DAPTEMP3                              
062743,000271: 17,2325           11461                           CCS      SAVEHAND   +1                         
062744,000272: 17,2326           12331                           TCF      +3                                    
062745,000273: 17,2327           12331                           TCF      +2                                    
062746,000274: 17,2330           12331                           TCF      +1                                    
062747,000275: 17,2331           60000                           DOUBLE                                         
062748,000276: 17,2332           60000                           DOUBLE                                         
062749,000277: 17,2333           62301                           AD       LINRAT                                
062750,000278: 17,2334           00006                           EXTEND                                         
062751,000279: 17,2335           71461                           MP       SAVEHAND   +1                         
062752,000280: 17,2336           30001                           CA       L                                     

Page 1441

062754,000282: 17,2337           00006                           EXTEND                                         
062755,000283: 17,2340           71442                           MP       STIKSENS                              
062756,000284: 17,2341           57454                           XCH      RLAST                                 
062757,000285: 17,2342           40000                           COM                                            
062758,000286: 17,2343           61454                           AD       RLAST                                 
062759,000287: 17,2344           55740                           TS       DAPTEMP4                              
062760,000288: 17,2345           41453                           CS       QLAST                                 #  INTERVAL.
062761,000289: 17,2346           61420                           AD       OMEGAQ                                
062762,000290: 17,2347           55434                           TS       QRATEDIF                              
062763,000291: 17,2350           41454                           CS       RLAST                                 
062764,000292: 17,2351           61421                           AD       OMEGAR                                
062765,000293: 17,2352           55435                           TS       RRATEDIF                              
062766,000294: 17,2353           53435        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062767,000295: 17,2354           03100                           TC       ROT45DEG                              
062768,000296: 17,2355           53425                           DXCH     URATEDIF                              
062769,000297: 17,2356           11737                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062770,000298: 17,2357           02362                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062771,000299: 17,2360           02362                           TC       +2                                    
062772,000300: 17,2361           02362                           TC       +1                                    
062773,000301: 17,2362           61474                           AD       -RATEDB                               
062774,000302: 17,2363           00006                           EXTEND                                         
062775,000303: 17,2364           62366                           BZMF     +2                                    
062776,000304: 17,2365           12404                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062777,000305: 17,2366           11740                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062778,000306: 17,2367           02372                           TC       +3                                    
062779,000307: 17,2370           02372                           TC       +2                                    
062780,000308: 17,2371           02372                           TC       +1                                    
062781,000309: 17,2372           61474                           AD       -RATEDB                               
062782,000310: 17,2373           00006                           EXTEND                                         
062783,000311: 17,2374           62376                           BZMF     +2                                    
062784,000312: 17,2375           12404                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062785,000313: 17,2376           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062786,000314: 17,2377           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062787,000315: 17,2400           00006                           EXTEND                                         
062788,000316: 17,2401           12403                           BZF      +2                                    
062789,000317: 17,2402           12406                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062790,000318: 17,2403           12616                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062791,000319: 17,2404           32277                           CA       40CYCL                                
062792,000320: 17,2405           55455                           TS       TCQR                                  
062793,000321: 17,2406           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
062794,000322: 17,2407           04674                           TC       IBNKCALL                              
062795,000323: 17,2410           40153                           FCADR    ZATTEROR                              
062796,000324: 17,2411           00003                           RELINT                                         
062797,000325: 17,2412           34755                           CA       ZERO                                  
062798,000326: 17,2413           55446                           TS       DYERROR                               
062799,000327: 17,2414           55447                           TS       DYERROR    +1                         
062800,000328: 17,2415           55450                           TS       DZERROR                               
062801,000329: 17,2416           55451                           TS       DZERROR    +1                         
062802,000330: 17,2417           11424                           CCS      URATEDIF                              
062803,000331: 17,2420           12423                           TCF      +3                                    

Page 1442

062805,000333: 17,2421           12423                           TCF      +2                                    
062806,000334: 17,2422           12423                           TCF      +1                                    
062807,000335: 17,2423           61474                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062808,000336: 17,2424           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062809,000337: 17,2425           62441                           BZMF     VDB                                   
062810,000338: 17,2426           11425                           CCS      VRATEDIF                              
062811,000339: 17,2427           12432                           TCF      +3                                    
062812,000340: 17,2430           12432                           TCF      +2                                    
062813,000341: 17,2431           12432                           TCF      +1                                    
062814,000342: 17,2432           61474                           AD       TARGETDB                              
062815,000343: 17,2433           00006                           EXTEND                                         
062816,000344: 17,2434           62436                           BZMF     +2                                    
062817,000345: 17,2435           12452                           TCF      QRTIME                                
062818,000346: 17,2436           34755                           CA       ZERO                                  
062819,000347: 17,2437           55425                           TS       VRATEDIF                              
062820,000348: 17,2440           12452                           TCF      QRTIME                                
062821,000349: 17,2441           11425        VDB                CCS      VRATEDIF                              
062822,000350: 17,2442           02445                           TC       +3                                    
062823,000351: 17,2443           02445                           TC       +2                                    
062824,000352: 17,2444           02445                           TC       +1                                    
062825,000353: 17,2445           61474                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062826,000354: 17,2446           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062827,000355: 17,2447           62461                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062828,000356: 17,2450           34755                           CA       ZERO                                  #  PASS.
062829,000357: 17,2451           55424                           TS       URATEDIF                              
062830,000358: 17,2452           31455        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062831,000359: 17,2453           00006                           EXTEND                                         
062832,000360: 17,2454           62461                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062833,000361: 17,2455           41273                           CS       RCSFLAGS                              
062834,000362: 17,2456           74741                           MASK     QRBIT                                 
062835,000363: 17,2457           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062836,000364: 17,2460           02464                           TC       +4                                    
062837,000365: 17,2461           44741        TOPSEUDO           CS       QRBIT                                 
062838,000366: 17,2462           71273                           MASK     RCSFLAGS                              
062839,000367: 17,2463           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062840,000368: 17,2464           32530                           CA       HANDADR                               
062841,000369: 17,2465           55475                           TS       RETJADR                               
062842,000370: 17,2466           34753                           CA       ONE                                   
062843,000371: 17,2467           55476        BACKHAND           TS       AXISCTR                               
062844,000372: 
062845,000373: 17,2470           34751                           CA       FOUR                                  
062846,000374: 17,2471           55741                           TS       NUMBERT                               
062847,000375: 
062848,000376: 17,2472           51476                           INDEX    AXISCTR                               
062849,000377: 17,2473           51535                           INDEX    SKIPU                                 
062850,000378: 17,2474           12475                           TCF      +1                                    
062851,000379: 17,2475           34751                           CA       FOUR                                  
062852,000380: 17,2476           51476                           INDEX    AXISCTR                               
062853,000381: 17,2477           55535                           TS       SKIPU                                 
062854,000382: 17,2500           12737                           TCF      LOOPER                                

Page 1443

062856,000384: 17,2501           51476                           INDEX    AXISCTR                               
062857,000385: 17,2502           11424                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
062858,000386: 17,2503           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
062859,000387: 17,2504           12506                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
062860,000388: 17,2505           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
062861,000389: 17,2506           51476                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
062862,000390: 17,2507           63657                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062863,000391: 
062864,000392: 17,2510           50000                           INDEX    A                                     
062865,000393: 17,2511           41571                           CS       1/ANET2    +1                         
062866,000394: 17,2512           00006                           EXTEND                                         
062867,000395: 17,2513           51476                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062868,000396: 17,2514           71424                           MP       URATEDIF                              #   JET TIME IN A      SCALED 32 SEC
062869,000397: 17,2515           54002                           TS       Q                                     
062870,000398: 17,2516           20001                           DAS      A                                     
062871,000399: 17,2517           60002                           AD       Q                                     
062872,000400: 17,2520           54000                           TS       A                                     #   OVERFLOW SKIP
062873,000401: 17,2521           12523                           TCF      +2                                    
062874,000402: 17,2522           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062875,000403: 17,2523           51476        SETTIME            INDEX    AXISCTR                               
062876,000404: 17,2524           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062877,000405: 17,2525           12661                           TCF      AFTERTJ                               
062878,000406: 
062879,000407: 17,2526           34755        ZEROTJ             CA       ZERO                                  
062880,000408: 17,2527           12523                           TCF      SETTIME                               
062881,000409: 
062882,000410: 17,2530           02467        HANDADR            GENADR   BACKHAND                              
062883,000411: 
062884,000412:                                                                                                  #  GTS WILL BE TRIED IF
062885,000413:                                                                                                  #        1. USEQRJTS= 0,
062886,000414:                                                                                                  #        2. ALLOWGTS POS,
062887,000415:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
062888,000416: 
062889,000417: 17,2531           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
062890,000418: 17,2532           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062891,000419: 17,2533           10000                           CCS      A                                     
062892,000420: 17,2534           12060                           TCF      RCS                                   
062893,000421: 17,2535           11501                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?
062894,000422: 17,2536           12540                           TCF      +2                                    
062895,000423: 17,2537           12060                           TCF      RCS                                   
062896,000424: 17,2540           00006                           EXTEND                                         
062897,000425: 17,2541           00005                           READ     CHAN5                                 
062898,000426: 17,2542           10000                           CCS      A                                     
062899,000427: 17,2543           12547                           TCF      CHKINGTS                              
062900,000428: 17,2544           00006        GOTOGTS            EXTEND                                         
062901,000429: 17,2545           32562                           DCA      GTSCADR                               
062902,000430: 17,2546           52006                           DTCB                                           
062903,000431: 
062904,000432: 17,2547           11631        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062905,000433: 17,2550           12552                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
062906,000434: 17,2551           12060                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS

Page 1444

062908,000436: 17,2552           00004                           INHINT                                         
062909,000437: 17,2553           04674                           TC       IBNKCALL                              
062910,000438: 17,2554           43450                           CADR     TIMEGMBL                              
062911,000439: 17,2555           00003                           RELINT                                         
062912,000440: 17,2556           34755                           CAF      ZERO                                  
062913,000441: 17,2557           55631                           TS       INGTS                                 
062914,000442: 17,2560           12060                           TCF      RCS                                   
062915,000443: 
062916,000444: 17,2561  E6,1633                                  EBANK=   CDUXD                                 
062917,000445: 17,2561           03263 42106  GTSCADR            2CADR    GTS                                   
062918,000446: 

Page 1445

062920,000448:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062921,000449: 
062922,000450: 17,2563           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062923,000451: 17,2564           00006                           EXTEND                                         
062924,000452: 17,2565           21634                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062925,000453: 17,2566           55735                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062926,000454: 17,2567           00006                           EXTEND                                         
062927,000455: 17,2570           71413                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062928,000456: 17,2571           55750                           TS       E                                     
062929,000457: 17,2572           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062930,000458: 17,2573           00006                           EXTEND                                         
062931,000459: 17,2574           21635                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062932,000460: 17,2575           55736                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062933,000461: 17,2576           00006                           EXTEND                                         
062934,000462: 17,2577           71415                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062935,000463: 17,2600           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062936,000464: 17,2601           61750                           AD       E                                     
062937,000465: 17,2602           57446                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062938,000466: 
062939,000467: 17,2603           31735        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062940,000468: 17,2604           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062941,000469: 17,2605           71414                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062942,000470: 17,2606           55750                           TS       E                                     
062943,000471: 17,2607           31736                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062944,000472: 17,2610           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062945,000473: 17,2611           71416                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062946,000474: 17,2612           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062947,000475: 17,2613           61750                           AD       E                                     
062948,000476: 17,2614           57450                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062949,000477: 17,2615           00002                           TC       Q                                     
062950,000478: 

Page 1446

062952,000480:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062953,000481: 
062954,000482: 17,2616  17,2616               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062955,000483: 
062956,000484: 17,2616           31450        STILLRCS           CA       RERROR                                
062957,000485: 17,2617           22000                           LXCH     A                                     
062958,000486: 17,2620           31446                           CA       QERROR                                
062959,000487: 17,2621           03100                           TC       ROT45DEG                              
062960,000488: 17,2622           53750                           DXCH     UERROR                                
062961,000489: 
062962,000490:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062963,000491:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062964,000492: 
062965,000493: 17,2623           33045        TJLAW              CA       TJLAWADR                              
062966,000494: 17,2624           55475                           TS       RETJADR                               
062967,000495: 17,2625           34753                           CA       ONE                                   
062968,000496: 17,2626           55476                           TS       AXISCTR                               
062969,000497: 17,2627           51476                           INDEX    AXISCTR                               
062970,000498: 17,2630           51535                           INDEX    SKIPU                                 
062971,000499: 17,2631           12632                           TCF      +1                                    
062972,000500: 17,2632           34751                           CA       FOUR                                  
062973,000501: 17,2633           51476                           INDEX    AXISCTR                               
062974,000502: 17,2634           55535                           TS       SKIPU                                 
062975,000503: 17,2635           12737                           TCF      LOOPER                                
062976,000504: 17,2636           51476                           INDEX    AXISCTR                               
062977,000505: 17,2637           31747                           CA       UERROR                                
062978,000506: 17,2640           55750                           TS       E                                     
062979,000507: 17,2641           51476                           INDEX    AXISCTR                               
062980,000508: 17,2642           31424                           CA       OMEGAU                                
062981,000509: 17,2643           55425                           TS       EDOT                                  
062982,000510: 17,2644           30111                           CA       DAPBOOLS                              
062983,000511: 17,2645           74737                           MASK     CSMDOCKD                              
062984,000512: 17,2646           10000                           CCS      A                                     
062985,000513: 17,2647           12652                           TCF      +3                                    
062986,000514: 17,2650           03207                           TC       TJETLAW                               
062987,000515: 17,2651           12661                           TCF      AFTERTJ                               
062988,000516: 17,2652           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062989,000517: 17,2653           74736                           MASK     USEQRJTS                              #   ON THE NEXT PASS.
062990,000518: 17,2654           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062991,000519: 17,2655           55627                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062992,000520: 17,2656           03700                           TC       SPSRCS                                #  DETERMINE RCS CONTROL.
062993,000521: 17,2657           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062994,000522: 17,2660           55741                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062995,000523: 
062996,000524:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
062997,000525: 
062998,000526:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
062999,000527:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
063000,000528:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
063001,000529:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
063002,000530:                                                                                                  #                RETJADR         WHERE TO RETURN TO

Page 1447

063004,000532:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
063005,000533:                                                                                                  #                CHANNEL 5
063006,000534:                                                                                                  #                SKIPU,SKIPV     FOR LESS THAN 150MS FIRING
063007,000535: 
063008,000536:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
063009,000537:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
063010,000538:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
063011,000539:                                                                                                  #                IF NONE CAN BE FOUND.
063012,000540: 
063013,000541:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063014,000542:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063015,000543: 
063016,000544: 17,2661           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
063017,000545: 17,2662           74737                           MASK     SNUFFBIT                              #   XTRANS; THAT IS, INHIBIT CONTROL.
063018,000546: 17,2663           00006                           EXTEND                                         
063019,000547: 17,2664           12675                           BZF      DOROTAT                               
063020,000548: 17,2665           40106                           CS       FLGWRD10                              
063021,000549: 17,2666           74737                           MASK     APSFLBIT                              
063022,000550: 17,2667           00006                           EXTEND                                         
063023,000551: 17,2670           12675                           BZF      DOROTAT                               
063024,000552: 17,2671           30111                           CA       DAPBOOLS                              
063025,000553: 17,2672           74744                           MASK     DRIFTBIT                              
063026,000554: 17,2673           00006                           EXTEND                                         
063027,000555: 17,2674           13015                           BZF      XTRANS                                
063028,000556: 
063029,000557: 17,2675           34752        DOROTAT            CAF      TWO                                   
063030,000558: 17,2676           54001                           TS       L                                     
063031,000559: 17,2677           51476                           INDEX    AXISCTR                               
063032,000560: 17,2700           11525                           CCS      TJU                                   
063033,000561: 17,2701           12706                           TCF      +5                                    
063034,000562: 17,2702           12731                           TCF      NOROTAT                               
063035,000563: 17,2703           12705                           TCF      +2                                    
063036,000564: 17,2704           12731                           TCF      NOROTAT                               
063037,000565: 17,2705           22007                           ZL                                             
063038,000566: 17,2706           64753                           AD       ONE                                   
063039,000567: 17,2707           55735                           TS       ABSTJ                                 
063040,000568: 
063041,000569: 17,2710           31476                           CA       AXISCTR                               
063042,000570: 17,2711           60001                           AD       L                                     
063043,000571: 17,2712           55742                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
063044,000572: 
063045,000573: 17,2713           31735                           CA       ABSTJ                                 
063046,000574: 17,2714           63042                           AD       -150MS                                
063047,000575: 17,2715           00006                           EXTEND                                         
063048,000576: 17,2716           62742                           BZMF     DOSKIP                                
063049,000577: 
063050,000578: 17,2717           03130                           TC       SELCTSUB                              
063051,000579: 
063052,000580: 17,2720           51476                           INDEX    AXISCTR                               
063053,000581: 17,2721           33037                           CA       INDEXES                               

Page 1448

063055,000583: 17,2722           54001                           TS       L                                     
063056,000584: 
063057,000585: 17,2723           31737                           CA       POLYTEMP                              
063058,000586: 17,2724           00004                           INHINT                                         
063059,000587: 17,2725           50001                           INDEX    L                                     
063060,000588: 17,2726           05745                           TC       WRITEP                                
063061,000589: 
063062,000590: 17,2727           00003                           RELINT                                         
063063,000591: 17,2730           13003                           TCF      FEEDBACK                              
063064,000592: 
063065,000593: 17,2731           51476        NOROTAT            INDEX    AXISCTR                               
063066,000594: 17,2732           33037                           CA       INDEXES                               
063067,000595: 17,2733           00004                           INHINT                                         
063068,000596: 17,2734           50000                           INDEX    A                                     
063069,000597: 17,2735           05744                           TC       WRITEP     -1                         
063070,000598: 
063071,000599: 17,2736           00003                           RELINT                                         
063072,000600: 17,2737           11476        LOOPER             CCS      AXISCTR                               
063073,000601: 17,2740           01475                           TC       RETJADR                               
063074,000602: 17,2741           13173                           TCF      CLOSEOUT                              
063075,000603: 17,2742           41735        DOSKIP             CS       ABSTJ                                 
063076,000604: 17,2743           63041                           AD       +TJMINT6                              #  14MS
063077,000605: 17,2744           00006                           EXTEND                                         
063078,000606: 17,2745           62764                           BZMF     NOTMIN                                
063079,000607: 
063080,000608: 17,2746           27735                           ADS      ABSTJ                                 
063081,000609: 17,2747           51476                           INDEX    AXISCTR                               
063082,000610: 17,2750           11525                           CCS      TJU                                   
063083,000611: 17,2751           33041                           CA       +TJMINT6                              
063084,000612: 17,2752           12754                           TCF      +2                                    
063085,000613: 17,2753           43041                           CS       +TJMINT6                              
063086,000614: 17,2754           51476                           INDEX    AXISCTR                               
063087,000615: 17,2755           55525                           TS       TJU                                   
063088,000616: 
063089,000617: 17,2756           11477                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
063090,000618: 17,2757           12763                           TCF      NOTMIN     -1                         
063091,000619: 17,2760           00006                           EXTEND                                         
063092,000620: 17,2761           00004                           READ     LOSCALAR                              
063093,000621: 17,2762           74753                           MASK     ONE                                   
063094,000622: 17,2763           55741                           TS       NUMBERT                               
063095,000623: 
063096,000624: 17,2764           03130        NOTMIN             TC       SELCTSUB                              
063097,000625: 
063098,000626: 17,2765           51476                           INDEX    AXISCTR                               
063099,000627: 17,2766           33037                           CA       INDEXES                               
063100,000628: 17,2767           00004                           INHINT                                         
063101,000629: 17,2770           55467                           TS       T6FURTHA   +1                         
063102,000630: 17,2771           31737                           CA       POLYTEMP                              
063103,000631: 17,2772           51467                           INDEX    T6FURTHA   +1                         
063104,000632: 17,2773           05745                           TC       WRITEP                                

Page 1449

063106,000634: 17,2774           31735                           CA       ABSTJ                                 
063107,000635: 17,2775           55466                           TS       T6FURTHA                              
063108,000636: 17,2776           03046                           TC       JTLST                                 #  IN QR BANK BY NOW
063109,000637: 
063110,000638: 17,2777           00003                           RELINT                                         
063111,000639: 
063112,000640: 17,3000           34755                           CA       ZERO                                  
063113,000641: 17,3001           51476                           INDEX    AXISCTR                               
063114,000642: 17,3002           55535                           TS       SKIPU                                 
063115,000643: 
063116,000644: 17,3003           46244        FEEDBACK           CS       THREE                                 
063117,000645: 17,3004           61741                           AD       NUMBERT                               
063118,000646: 17,3005           00006                           EXTEND                                         
063119,000647: 17,3006           63011                           BZMF     +3                                    
063120,000648: 
063121,000649: 17,3007           34752                           CA       TWO                                   
063122,000650: 17,3010           13012                           TCF      +2                                    
063123,000651: 17,3011           34753                           CA       ONE                                   
063124,000652: 17,3012           51476                           INDEX    AXISCTR                               
063125,000653: 17,3013           55522                           TS       NO.UJETS                              
063126,000654: 17,3014           12737                           TCF      LOOPER                                
063127,000655: 
063128,000656: 17,3015           34755        XTRANS             CA       ZERO                                  
063129,000657: 17,3016           55525                           TS       TJU                                   
063130,000658: 17,3017           55526                           TS       TJV                                   
063131,000659: 17,3020           34751                           CA       FOUR                                  
063132,000660: 17,3021           00004                           INHINT                                         
063133,000661: 17,3022           57535                           XCH      SKIPU                                 
063134,000662: 17,3023           00006                           EXTEND                                         
063135,000663: 17,3024           13026                           BZF      +2                                    
063136,000664: 17,3025           05750                           TC       WRITEU     -1                         
063137,000665: 17,3026           34751                           CA       FOUR                                  
063138,000666: 17,3027           57536                           XCH      SKIPV                                 
063139,000667: 17,3030           00003                           RELINT                                         
063140,000668: 
063141,000669: 17,3031           00006                           EXTEND                                         
063142,000670: 17,3032           13173                           BZF      CLOSEOUT                              
063143,000671: 17,3033           00004                           INHINT                                         
063144,000672: 17,3034           05761                           TC       WRITEV     -1                         
063145,000673: 17,3035           00003                           RELINT                                         
063146,000674: 
063147,000675: 17,3036           13173                           TCF      CLOSEOUT                              
063148,000676: 17,3037           00004        INDEXES            DEC      4          B-14                       
063149,000677: 17,3040           00015                           DEC      13         B-14                       
063150,000678: 17,3041           00026        +TJMINT6           DEC      22         B-14                       
063151,000679: 17,3042           77417        -150MS             DEC      -240       B-14                       
063152,000680: 17,3043           00600        BIT8,9             OCT      00600                                 
063153,000681: 17,3044           00266        SCLNORM            OCT      266                                   
063154,000682: 17,3045           02626        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063155,000683: 

Page 1450

063157,000685:                                                                                                  #  THE JET LIST:
063158,000686:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
063159,000687: 
063160,000688:                                                                                                  #  CALLED BY:
063161,000689:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
063162,000690:                                                                                                  #                TS      T6FURTHA
063163,000691:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063164,000692:                                                                                                  #                TS      T6FURTHA +1
063165,000693:                                                                                                  #                TC      JTLST
063166,000694: 
063167,000695:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063168,000696:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063169,000697:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063170,000698:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063171,000699:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063172,000700: 
063173,000701:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063174,000702:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
063175,000703: 
063176,000704:                                                                                                  #  RETURNS BY:
063177,000705:                                                                                                  #        +       TC      Q
063178,000706: 
063179,000707:                                                                                                  #  DEFINITIONS:  (OUTPUT)
063180,000708:                                                                                                  #        TIME6           TIME OF NEXT RUPT
063181,000709:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
063182,000710:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
063183,000711:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
063184,000712:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
063185,000713:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
063186,000714: 
063187,000715: 17,3046           41466        JTLST              CS       T6FURTHA                              
063188,000716: 17,3047           60031                           AD       TIME6                                 
063189,000717: 17,3050           00006                           EXTEND                                         
063190,000718: 17,3051           63063                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
063191,000719: 
063192,000720: 17,3052           23463                           LXCH     NXT6ADR                               
063193,000721: 17,3053           53465                           DXCH     T6NEXT                                
063194,000722: 17,3054           53467                           DXCH     T6FURTHA                              
063195,000723: 17,3055           54031                           TS       TIME6                                 
063196,000724: 17,3056           23463                           LXCH     NXT6ADR                               
063197,000725: 
063198,000726: 17,3057           34735        TURNON             CA       BIT15                                 
063199,000727: 17,3060           00006                           EXTEND                                         
063200,000728: 17,3061           05013                           WOR      CHAN13                                
063201,000729: 17,3062           00002                           TC       Q                                     
063202,000730: 
063203,000731: 17,3063           61464        MIDORLST           AD       T6NEXT                                
063204,000732: 17,3064           00006                           EXTEND                                         
063205,000733: 17,3065           63074                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
063206,000734: 
063207,000735: 17,3066           23465                           LXCH     T6NEXT     +1                         

Page 1451

063209,000737: 17,3067           53467                           DXCH     T6FURTHA                              
063210,000738: 17,3070           00006                           EXTEND                                         
063211,000739: 17,3071           60031                           SU       TIME6                                 
063212,000740: 17,3072           53465                           DXCH     T6NEXT                                
063213,000741: 
063214,000742: 17,3073           00002                           TC       Q                                     
063215,000743: 
063216,000744: 17,3074           40000        LASTCHG            CS       A                                     
063217,000745: 17,3075           64754                           AD       NEG0                                  
063218,000746: 17,3076           55466                           TS       T6FURTHA                              
063219,000747: 
063220,000748: 17,3077           00002                           TC       Q                                     
063221,000749: 
063222,000750: 17,3100           55735        ROT45DEG           TS       ROTEMP1                               
063223,000751: 17,3101           60001                           AD       L                                     
063224,000752: 17,3102           55736                           TS       ROTEMP2                               
063225,000753: 17,3103           13111                           TCF      +6                                    
063226,000754: 17,3104           10000                           CCS      A                                     
063227,000755: 17,3105           34733                           CA       POSMAX                                
063228,000756: 17,3106           13110                           TCF      +2                                    
063229,000757: 17,3107           34735                           CA       NEGMAX                                
063230,000758: 17,3110           55736                           TS       ROTEMP2                               #  Q+R
063231,000759: 17,3111           41735                           CS       ROTEMP1                               
063232,000760: 17,3112           60001                           AD       L                                     
063233,000761: 17,3113           55735                           TS       ROTEMP1                               #  R-Q
063234,000762: 17,3114           13120                           TCF      +4                                    
063235,000763: 17,3115           00006                           EXTEND                                         
063236,000764: 17,3116           74733                           MP       POSMAX                                
063237,000765: 17,3117           30001                           CA       L                                     
063238,000766: 17,3120           00006                           EXTEND                                         
063239,000767: 17,3121           73127                           MP       .707                                  
063240,000768: 17,3122           57736                           XCH      ROTEMP2                               
063241,000769: 17,3123           00006                           EXTEND                                         
063242,000770: 17,3124           73127                           MP       .707                                  
063243,000771: 17,3125           23736                           LXCH     ROTEMP2                               
063244,000772: 17,3126           00002                           TC       Q                                     
063245,000773: 
063246,000774: 17,3127           26501        .707               DEC      .70711                                
063247,000775: 
063248,000776: 17,3130           51742        SELCTSUB           INDEX    ROTINDEX                              
063249,000777: 17,3131           33162                           CA       ALLJETS                               
063250,000778: 17,3132           51741                           INDEX    NUMBERT                               
063251,000779: 17,3133           73166                           MASK     TYPEPOLY                              
063252,000780: 17,3134           55737                           TS       POLYTEMP                              
063253,000781: 
063254,000782: 17,3135           71262                           MASK     CH5MASK                               
063255,000783: 17,3136           10000                           CCS      A                                     
063256,000784: 17,3137           13141                           TCF      +2                                    

Page 1452

063258,000786: 17,3140           00002                           TC       Q                                     
063259,000787: 
063260,000788: 17,3141           36244                           CA       THREE                                 
063261,000789: 17,3142           55741        FAILOOP            TS       NUMBERT                               
063262,000790: 17,3143           51742                           INDEX    ROTINDEX                              
063263,000791: 17,3144           33162                           CA       ALLJETS                               
063264,000792: 17,3145           51741                           INDEX    NUMBERT                               
063265,000793: 17,3146           73166                           MASK     TYPEPOLY                              
063266,000794: 17,3147           55737                           TS       POLYTEMP                              
063267,000795: 17,3150           71262                           MASK     CH5MASK                               
063268,000796: 17,3151           00006                           EXTEND                                         
063269,000797: 17,3152           13140                           BZF      FAILOOP    -2                         
063270,000798: 17,3153           11741                           CCS      NUMBERT                               
063271,000799: 17,3154           13142                           TCF      FAILOOP                               
063272,000800: 17,3155           51476                           INDEX    AXISCTR                               
063273,000801: 17,3156           55525                           TS       TJU                                   
063274,000802: 17,3157           05567                           TC       ALARM                                 
063275,000803: 17,3160           02004                           OCT      02004                                 
063276,000804: 17,3161           12731                           TCF      NOROTAT                               
063277,000805: 17,3162           00110        ALLJETS            OCT      00110                                 #        -U      6 13
063278,000806: 17,3163           00022                           OCT      00022                                 #        -V      2 9
063279,000807: 17,3164           00204                           OCT      00204                                 #        +U      5 14
063280,000808: 17,3165           00041                           OCT      00041                                 #        +V      1 10
063281,000809: 17,3166           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
063282,000810: 17,3167           00252                           OCT      00252                                 #        +X      2 6 10 14
063283,000811: 17,3170           00146                           OCT      00146                                 #        A       2 5 10 13
063284,000812: 17,3171           00231                           OCT      00231                                 #        B       1 6 9 14
063285,000813: 17,3172           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
063286,000814: 
063287,000815:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063288,000816: 
063289,000817: 17,3173           33175        CLOSEOUT           CA       ADRRUPT                               
063290,000818: 17,3174           07753                           TC       MAKERUPT                              
063291,000819: 
063292,000820: 17,3175           03176        ADRRUPT            ADRES    ENDJASK                               
063293,000821: 
063294,000822: 17,3176           53752        ENDJASK            DXCH     DAPARUPT                              
063295,000823: 17,3177           52011                           DXCH     ARUPT                                 
063296,000824: 17,3200           53754                           DXCH     DAPBQRPT                              
063297,000825: 17,3201           56017                           XCH      BRUPT                                 
063298,000826: 17,3202           22002                           LXCH     Q                                     
063299,000827: 17,3203           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063300,000828: 17,3204           53756                           DXCH     DAPZRUPT                              
063301,000829: 17,3205           52016                           DXCH     ZRUPT                                 
063302,000830: 17,3206           15272                           TCF      NOQRSM                                
063303,000831:    7753                                           BLOCK    3                                     
063304,000832:    6000                                           SETLOC   FFTAG6                                
063305,000833:    6000                                           BANK                                           

Page 1453

063307,000835:    7753                                           COUNT*   $$/DAP                                
063308,000836: 
063309,000837:    7753           00006        MAKERUPT           EXTEND                                         
063310,000838:    7754           07753                           EDRUPT   MAKERUPT                              
063311,000839: 

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