Source Code

These source-code files derive from a printout of Luminary 210 (Apollo 15-17 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Jim Lawton, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY 
	BY NASA 2021112-161 17:11 MAR. 19,1971
Note that the date is the date of the printout, not the date of the program revision.

062364,000002:                                                                                                  ## Copyright:   Public domain.
062365,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
062366,000004:                                                                                                  ## Purpose:     A section of Luminary revision 210.
062367,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
062368,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 15-17.
062369,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
062370,000008:                                                                                                  ##              that the code format has been changed to conform to the
062371,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
062372,000010:                                                                                                  ##              original YUL assembler.
062373,000011:                                                                                                  ## Reference:   pp. 1440-1457
062374,000012:                                                                                                  ## Assembler:   yaYUL
062375,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062376,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
062377,000015:                                                                                                  ## Mod history: 2016-11-17 JL   Created from Luminary131 version.
062378,000016:                                                                                                  ##              2016-12-12 HG   Transcribed
062379,000017:                                                                                                  ##              2016-12-26 RSB  Comment-text proofed using ProoferComments
062380,000018:                                                                                                  ##                              and corrected errors found.
062381,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062382,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062383,000021: 

Page 1440

062385,000023: 17,2124                                           BANK     17                                    
062386,000024: 17,2000                                           SETLOC   DAPS2                                 
062387,000025: 17,2000                                           BANK                                           
062388,000026: 
062389,000027: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
062390,000028: 
062391,000029: 17,2124                                           COUNT*   $$/DAPQR                              
062392,000030: 
062393,000031: 17,2124           34730        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062394,000032: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062395,000033: 17,2126           02031                           RAND     CHAN31                                
062396,000034: 17,2127           10000                           CCS      A                                     
062397,000035: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062398,000036: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062399,000037: 17,2132           74731                           MASK     OURRCBIT                              
062400,000038: 17,2133           00006                           EXTEND                                         
062401,000039: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062402,000040: 17,2135           02655                           TC       QERRCALC                              
062403,000041: 
062404,000042: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062405,000043: 17,2137           12636                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
062406,000044: 17,2140           12623                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
062407,000045: 17,2141           34746        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
062408,000046: 17,2142           55630                           TS       COTROLER                              
062409,000047: 
062410,000048: 17,2143           53437                           DXCH     EDOTQ                                 
062411,000049: 17,2144           03200                           TC       ROT-TOUV                              
062412,000050: 17,2145           53427                           DXCH     OMEGAU                                
062413,000051: 
062414,000052:                                                                                                  #                                          X - TRANSLATION:
062415,000053: 
062416,000054:                                                                                                  #                                          INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062417,000055:                                                                                                  #                                                   ULLAGER
062418,000056:                                                                                                  #                                                   APSFLAG, DRIFTBIT
062419,000057:                                                                                                  #                                                   ACC40R2X, ACRBTRAN
062420,000058: 
062421,000059:                                                                                                  #                                          OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
062422,000060:                                                                                                  #                                                   SENSETYP           TELL ROTATION DIRECTION AND DESIRE
062423,000061: 
062424,000062:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062425,000063:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062426,000064: 
062427,000065: 17,2146           34736        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062428,000066: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062429,000067: 17,2150           02031                           RAND     CHAN31                                
062430,000068: 17,2151           00006                           EXTEND                                         
062431,000069: 17,2152           12200                           BZF      +X0RULGE                              
062432,000070: 

Page 1441

062434,000072: 17,2153           34735                           CA       BIT8                                  
062435,000073: 17,2154           00006                           EXTEND                                         
062436,000074: 17,2155           02031                           RAND     CHAN31                                
062437,000075: 17,2156           00006                           EXTEND                                         
062438,000076: 17,2157           12201                           BZF      -XTRANS                               
062439,000077: 
062440,000078: 17,2160           34737                           CA       ULLAGER                               
062441,000079: 17,2161           70111                           MASK     DAPBOOLS                              
062442,000080: 17,2162           10000                           CCS      A                                     
062443,000081: 17,2163           12200                           TCF      +X0RULGE                              
062444,000082: 
062445,000083: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062446,000084: 17,2165           55474                           TS       NEXTV                                 
062447,000085: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062448,000086: 17,2167           74735                           MASK     DRIFTBIT                              

Note: There is a short blue horizontal marker line right to the right of the opernad DRIFTBIT

062450,000088: 17,2170           00006                           EXTEND                                         
062451,000089: 17,2171           12176                           BZF      TSENSE                                
062452,000090: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062453,000091: 17,2173           74730                           MASK     APSFLBIT                              
062454,000092: 17,2174           10000                           CCS      A                                     
062455,000093: 17,2175           34743                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062456,000094: 17,2176           55500        TSENSE             TS       SENSETYP                              
062457,000095: 17,2177           12232                           TCF      QRCONTRL                              
062458,000096: 
062459,000097: 17,2200           34744        +X0RULGE           CAF      ONE                                   
062460,000098: 17,2201           64742        -XTRANS            AD       FOUR                                  
062461,000099: 17,2202           55743                           TS       ROTINDEX                              
062462,000100: 17,2203           67766                           AD       NEG3                                  
062463,000101: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062464,000102: 17,2205           30111                           CA       DAPBOOLS                              
062465,000103: 17,2206           74732                           MASK     ACC4OR2X                              
062466,000104: 17,2207           10000                           CCS      A                                     
062467,000105: 17,2210           12352                           TCF      TRANS4                                
062468,000106: 
062469,000107: 17,2211           30111                           CA       DAPBOOLS                              
062470,000108: 17,2212           74733                           MASK     AORBTRAN                              
062471,000109: 17,2213           10000                           CCS      A                                     
062472,000110: 17,2214           34744                           CA       ONE                                   #  THREE FOR B
062473,000111: 17,2215           64743                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062474,000112: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
062475,000113: 
062476,000114: 17,2217           03225                           TC       SELCTSUB                              
062477,000115: 
062478,000116: 17,2220           11740                           CCS      POLYTEMP                              
062479,000117: 17,2221           12224                           TCF      +3                                    
062480,000118: 17,2222           05571                           TC       ALARM                                 
062481,000119: 17,2223           02002                           OCT      02002                                 
062482,000120: 17,2224           35770                           CA       00314OCT                              
062483,000121: 17,2225           71740                           MASK     POLYTEMP                              
062484,000122: 17,2226           55473        TSNEXTS            TS       NEXTU                                 
062485,000123: 

Page 1442

062487,000125: 17,2227           45770                           CS       00314OCT                              
062488,000126: 17,2230           71740                           MASK     POLYTEMP                              
062489,000127: 17,2231           55474                           TS       NEXTV                                 
062490,000128: 
062491,000129:                                                                                                  #                                               Q,R-AXES RCS CONTROL MODE SELECTION
062492,000130: 
062493,000131:                                                                                                  #                                                 SWITCHES                INDICATION WHEN SET
062494,000132: 
062495,000133:                                                                                                  #                                                 BIT13/CHAN31            AUTO, GO TO ATTSTEER
062496,000134:                                                                                                  #                                                 PULSES                  MINIMUM IMPULSE MODE
062497,000135:                                                                                                  #                                                 (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
062498,000136: 
062499,000137: 17,2232           34730        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062500,000138: 17,2233           00006                           EXTEND                                         
062501,000139: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
062502,000140: 17,2235           10000                           CCS      A                                     
062503,000141: 17,2236           12710                           TCF      ATTSTEER                              
062504,000142: 17,2237           34726        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062505,000143: 17,2240           70111                           MASK     DAPBOOLS                              
062506,000144: 17,2241           00006                           EXTEND                                         
062507,000145: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062508,000146: 
062509,000147:                                                                                                  #  MINIMUM IMPULSE MODE
062510,000148: 
062511,000149: 17,2243           00004                           INHINT                                         
062512,000150: 17,2244           04665                           TC       IBNKCALL                              
062513,000151: 17,2245           40154                           CADR     ZATTEROR                              
062514,000152: 17,2246           34746                           CA       ZERO                                  
062515,000153: 17,2247           55450                           TS       QERROR                                
062516,000154: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
062517,000155: 17,2251           00003                           RELINT                                         
062518,000156: 
062519,000157: 17,2252           00006                           EXTEND                                         
062520,000158: 17,2253           00031                           READ     CHAN31                                
062521,000159: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062522,000160: 17,2255           11461                           CCS      OLDQRMIN                              
062523,000161: 17,2256           12300                           TCF      CHECKIN                               
062524,000162: 
062525,000163: 17,2257           31736        FIREQR             CA       TEMP31                                
062526,000164: 17,2260           74744                           MASK     BIT1                                  
062527,000165: 17,2261           00006                           EXTEND                                         
062528,000166: 17,2262           12304                           BZF      +QMIN                                 
062529,000167: 
062530,000168: 17,2263           31736                           CA       TEMP31                                
062531,000169: 17,2264           74743                           MASK     BIT2                                  
062532,000170: 17,2265           00006                           EXTEND                                         
062533,000171: 17,2266           12310                           BZF      -QMIN                                 
062534,000172: 
062535,000173: 17,2267           31736                           CA       TEMP31                                
062536,000174: 17,2270           74740                           MASK     BIT5                                  
062537,000175: 

Page 1443

062539,000177: 17,2271           00006                           EXTEND                                         
062540,000178: 17,2272           12314                           BZF      +RMIN                                 
062541,000179: 
062542,000180: 17,2273           31736                           CA       TEMP31                                
062543,000181: 17,2274           74737                           MASK     BIT6                                  
062544,000182: 17,2275           00006                           EXTEND                                         
062545,000183: 17,2276           12316                           BZF      -RMIN                                 
062546,000184: 
062547,000185: 17,2277           13112                           TCF      XTRANS                                
062548,000186: 
062549,000187: 17,2300           41736        CHECKIN            CS       TEMP31                                
062550,000188: 17,2301           72351                           MASK     OCT63                                 
062551,000189: 17,2302           55461                           TS       OLDQRMIN                              
062552,000190: 17,2303           13112                           TCF      XTRANS                                
062553,000191: 
062554,000192: 17,2304           33136        +QMIN              CA       14MS                                  
062555,000193: 17,2305           55525                           TS       TJU                                   
062556,000194: 17,2306           43136                           CS       14MS                                  
062557,000195: 17,2307           12320                           TCF      MINQR                                 
062558,000196: 17,2310           43136        -QMIN              CS       14MS                                  
062559,000197: 17,2311           55525                           TS       TJU                                   
062560,000198: 17,2312           33136                           CA       14MS                                  
062561,000199: 17,2313           12320                           TCF      MINQR                                 
062562,000200: 17,2314           33136        +RMIN              CA       14MS                                  
062563,000201: 17,2315           12317                           TCF      +2                                    
062564,000202: 17,2316           43136        -RMIN              CS       14MS                                  
062565,000203: 17,2317           55525                           TS       TJU                                   
062566,000204: 17,2320           55526        MINQR              TS       TJV                                   
062567,000205: 17,2321           32350                           CA       MINADR                                
062568,000206: 17,2322           55477                           TS       RETJADR                               
062569,000207: 17,2323           34744                           CA       ONE                                   
062570,000208: 17,2324           55461                           TS       OLDQRMIN                              
062571,000209: 17,2325           55505        MINRTN             TS       AXISCTR                               
062572,000210: 17,2326           30111                           CA       DAPBOOLS                              
062573,000211: 17,2327           74730                           MASK     CSMDOCKD                              
062574,000212: 17,2330           00006                           EXTEND                                         
062575,000213: 17,2331           12341                           BZF      MIMRET                                
062576,000214: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
062577,000215: 17,2333           11525                           CCS      TJU                                   
062578,000216: 17,2334           34767                           CA       60MS                                  
062579,000217: 17,2335           12337                           TCF      +2                                    
062580,000218: 17,2336           44767                           CS       60MS                                  
062581,000219: 17,2337           51505                           INDEX    AXISCTR                               
062582,000220: 17,2340           55525                           TS       TJU                                   
062583,000221: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
062584,000222: 17,2342           74733                           MASK     AORBTRAN                              
062585,000223: 17,2343           10000                           CCS      A                                     
062586,000224: 17,2344           34744                           CA       ONE                                   
062587,000225: 17,2345           64743                           AD       TWO                                   
062588,000226: 17,2346           55742                           TS       NUMBERT                               

Page 1444

062590,000228: 17,2347           12756                           TCF      AFTERTJ                               
062591,000229: 
062592,000230: 17,2350     4767               60MS               =        OCT140                                
062593,000231: 17,2350           02325        MINADR             GENADR   MINRTN                                
062594,000232: 17,2351           00063        OCT63              OCT      63                                    
062595,000233: 17,2352  17,3136               14MS               =        +TJMINT6                              
062596,000234: 
062597,000235: 17,2352           34742        TRANS4             CA       FOUR                                  
062598,000236: 17,2353           12216                           TCF      TSNUMBRT                              
062599,000237: 
062600,000238:                                                                                                  #                                               RATE COMMAND MODE:
062601,000239: 
062602,000240:                                                                                                  #                                               DESCRIPTION (SAME AS P-AXIS)
062603,000241: 
062604,000242: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062605,000243: 17,2355           44744                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062606,000244: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062607,000245: 17,2357           34726                           CA       BIT15                                 
062608,000246: 17,2360           71443                           MASK     CH31TEMP                              
062609,000247: 17,2361           00006                           EXTEND                                         
062610,000248: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062611,000249: 17,2363           34731                           CA       OURRCBIT                              #  ***********
062612,000250: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062613,000251: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
062614,000252: 17,2366           12710                           BZF      STILLRCS                              
062615,000253: 17,2367           44734                           CS       BIT9                                  
062616,000254: 17,2370           71774                           MASK     RCSFLAGS                              
062617,000255: 17,2371           55774                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062618,000256: 17,2372           12374                           TCF      DAMPING                               
062619,000257: 17,2373     4762               40CYCL             =        OCT50                                 
062620,000258: 17,2373     4744               1/10S              =        BIT1                                  
062621,000259: 17,2373           00056        LINRAT             DEC      46         B-14                       
062622,000260:                                                                                                  #  ================================
062623,000261: 17,2374           34746        DAMPING            CA       ZERO                                  
062624,000262: 17,2375           55462                           TS       SAVEHAND                              
062625,000263: 17,2376           55463                           TS       SAVEHAND   +1                         
062626,000264: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
062627,000265: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL  WC = A*(B+|D|)*D
062628,000266: 17,2401           12403                           TCF      +2                                    #  *******************
062629,000267: 17,2402           12403                           TCF      +1                                    
062630,000268: 17,2403           60000                           DOUBLE                                         #    WHERE
062631,000269: 17,2404           60000                           DOUBLE                                         
062632,000270: 17,2405           62373                           AD       LINRAT                                #         WC = COMMANDED ROTATIONAL RATE
062633,000271: 17,2406           00006                           EXTEND                                         #         A  = QUADRATIC SENSITIVITY FACTOR
062634,000272: 17,2407           71462                           MP       SAVEHAND                              #         B  = LINEAR/QUADRATIC SENSITIVITY
062635,000273: 17,2410           30001                           CA       L                                     #         |D|= ABS. VALUE OF DEFLECTION
062636,000274: 17,2411           00006                           EXTEND                                         #         D  = HAND CONTROLLER DEFLECTION
062637,000275: 17,2412           71444                           MP       STIKSENS                              
062638,000276: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062639,000277: 17,2414           40000                           COM                                            
062640,000278: 

Page 1445

062642,000280: 17,2415           61455                           AD       QLAST                                 
062643,000281: 17,2416           55740                           TS       DAPTEMP3                              
062644,000282: 17,2417           11463                           CCS      SAVEHAND   +1                         
062645,000283: 17,2420           12423                           TCF      +3                                    
062646,000284: 17,2421           12423                           TCF      +2                                    
062647,000285: 17,2422           12423                           TCF      +1                                    
062648,000286: 17,2423           60000                           DOUBLE                                         
062649,000287: 17,2424           60000                           DOUBLE                                         
062650,000288: 17,2425           62373                           AD       LINRAT                                
062651,000289: 17,2426           00006                           EXTEND                                         
062652,000290: 17,2427           71463                           MP       SAVEHAND   +1                         
062653,000291: 17,2430           30001                           CA       L                                     
062654,000292: 17,2431           00006                           EXTEND                                         
062655,000293: 17,2432           71444                           MP       STIKSENS                              
062656,000294: 17,2433           57456                           XCH      RLAST                                 
062657,000295: 17,2434           40000                           COM                                            
062658,000296: 17,2435           61456                           AD       RLAST                                 
062659,000297: 17,2436           55741                           TS       DAPTEMP4                              
062660,000298: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
062661,000299: 17,2440           61422                           AD       OMEGAQ                                
062662,000300: 17,2441           55436                           TS       QRATEDIF                              
062663,000301: 17,2442           41456                           CS       RLAST                                 
062664,000302: 17,2443           61423                           AD       OMEGAR                                
062665,000303: 17,2444           55437                           TS       RRATEDIF                              
062666,000304: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062667,000305: 17,2446           03200                           TC       ROT-TOUV                              
062668,000306: 17,2447           53427                           DXCH     URATEDIF                              
062669,000307: 17,2450           00004                           INHINT                                         #  SET AUTO DESIRED ATTITUDE TO ACTUAL
062670,000308: 17,2451           04665                           TC       IBNKCALL                              #    ATTITUDE AND ZERO AUTO DESIRED RATE
062671,000309: 17,2452           40154                           FCADR    ZATTEROR                              
062672,000310: 17,2453           00003                           RELINT                                         
062673,000311: 17,2454           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062674,000312: 17,2455           02460                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062675,000313: 17,2456           02460                           TC       +2                                    
062676,000314: 17,2457           02460                           TC       +1                                    
062677,000315: 17,2460           61476                           AD       -RATEDB                               
062678,000316: 17,2461           00006                           EXTEND                                         
062679,000317: 17,2462           62464                           BZMF     +2                                    
062680,000318: 17,2463           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062681,000319: 17,2464           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062682,000320: 17,2465           02470                           TC       +3                                    
062683,000321: 17,2466           02470                           TC       +2                                    
062684,000322: 17,2467           02470                           TC       +1                                    
062685,000323: 17,2470           61476                           AD       -RATEDB                               
062686,000324: 17,2471           00006                           EXTEND                                         
062687,000325: 17,2472           62474                           BZMF     +2                                    
062688,000326: 17,2473           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062689,000327: 17,2474           31774                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062690,000328: 17,2475           74732                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062691,000329: 17,2476           00006                           EXTEND                                         
062692,000330: 

Page 1446

062694,000332: 17,2477           12501                           BZF      +2                                    
062695,000333: 17,2500           12504                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062696,000334: 17,2501           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062697,000335: 17,2502           34762                           CA       40CYCL                                
062698,000336: 17,2503           55457                           TS       TCQR                                  
062699,000337: 17,2504           34746        ENTERUV            CA       ZERO                                  #  *** DIRECT RATE CONTROL ***
062700,000338: 17,2505           55450                           TS       DYERROR                               
062701,000339: 17,2506           55451                           TS       DYERROR    +1                         
062702,000340: 17,2507           55452                           TS       DZERROR                               
062703,000341: 17,2510           55453                           TS       DZERROR    +1                         
062704,000342: 17,2511           11426                           CCS      URATEDIF                              
062705,000343: 17,2512           12515                           TCF      +3                                    
062706,000344: 17,2513           12515                           TCF      +2                                    
062707,000345: 17,2514           12515                           TCF      +1                                    
062708,000346: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062709,000347: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062710,000348: 17,2517           62533                           BZMF     VDB                                   
062711,000349: 17,2520           11427                           CCS      VRATEDIF                              
062712,000350: 17,2521           12524                           TCF      +3                                    
062713,000351: 17,2522           12524                           TCF      +2                                    
062714,000352: 17,2523           12524                           TCF      +1                                    
062715,000353: 17,2524           61476                           AD       TARGETDB                              
062716,000354: 17,2525           00006                           EXTEND                                         
062717,000355: 17,2526           62530                           BZMF     +2                                    
062718,000356: 17,2527           12544                           TCF      QRTIME                                
062719,000357: 17,2530           34746                           CA       ZERO                                  
062720,000358: 17,2531           55427                           TS       VRATEDIF                              
062721,000359: 17,2532           12544                           TCF      QRTIME                                
062722,000360: 17,2533           11427        VDB                CCS      VRATEDIF                              
062723,000361: 17,2534           02537                           TC       +3                                    
062724,000362: 17,2535           02537                           TC       +2                                    
062725,000363: 17,2536           02537                           TC       +1                                    
062726,000364: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062727,000365: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062728,000366: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062729,000367: 17,2542           34746                           CA       ZERO                                  #  PASS.
062730,000368: 17,2543           55426                           TS       URATEDIF                              
062731,000369: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062732,000370: 17,2545           00006                           EXTEND                                         
062733,000371: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062734,000372: 17,2547           41774                           CS       RCSFLAGS                              
062735,000373: 17,2550           74732                           MASK     QRBIT                                 
062736,000374: 17,2551           27774                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062737,000375: 17,2552           02556                           TC       +4                                    
062738,000376: 17,2553           44732        TOPSEUDO           CS       QRBIT                                 
062739,000377: 17,2554           71774                           MASK     RCSFLAGS                              
062740,000378: 17,2555           55774                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062741,000379: 17,2556           32622                           CA       HANDADR                               
062742,000380: 17,2557           55477                           TS       RETJADR                               
062743,000381: 17,2560           34744                           CA       ONE                                   
062744,000382: 

Page 1447

062746,000384: 17,2561           55505        BACKHAND           TS       AXISCTR                               
062747,000385: 
062748,000386: 17,2562           34742                           CA       FOUR                                  
062749,000387: 17,2563           55742                           TS       NUMBERT                               
062750,000388: 
062751,000389: 17,2564           51505                           INDEX    AXISCTR                               
062752,000390: 17,2565           51534                           INDEX    SKIPU                                 
062753,000391: 17,2566           12567                           TCF      +1                                    
062754,000392: 17,2567           34742                           CA       FOUR                                  
062755,000393: 17,2570           51505                           INDEX    AXISCTR                               
062756,000394: 17,2571           55534                           TS       SKIPU                                 
062757,000395: 17,2572           13034                           TCF      LOOPER                                
062758,000396: 
062759,000397: 17,2573           51505                           INDEX    AXISCTR                               
062760,000398: 17,2574           11426                           CCS      URATEDIF                              #  INDEX  AXIS    QUANITY
062761,000399: 17,2575           34746                           CA       ZERO                                  #    0     -U     1/JETACC-AOSU
062762,000400: 17,2576           12600                           TCF      +2                                    #    1     +U     1/JETACC+AOSU
062763,000401: 17,2577           34744                           CA       ONE                                   #   16     -V     1/JETACC-AOSV
062764,000402: 17,2600           51505                           INDEX    AXISCTR                               #   17     +V     1/JETACC+AOSV
062765,000403: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062766,000404: 
062767,000405: 17,2602           50000                           INDEX    A                                     
062768,000406: 17,2603           41570                           CS       1/ANET2    +1                         
062769,000407: 17,2604           00006                           EXTEND                                         
062770,000408: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062771,000409: 17,2606           71426                           MP       URATEDIF                              #   JET TIME IN A       SCALED 32 SEC
062772,000410: 17,2607           54002                           TS       Q                                     
062773,000411: 17,2610           20001                           DAS      A                                     
062774,000412: 17,2611           60002                           AD       Q                                     
062775,000413: 17,2612           54000                           TS       A                                     #   OVERFLOW SKIP
062776,000414: 17,2613           12615                           TCF      +2                                    
062777,000415: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062778,000416: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
062779,000417: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062780,000418: 17,2617           12756                           TCF      AFTERTJ                               
062781,000419: 
062782,000420: 17,2620           34746        ZEROTJ             CA       ZERO                                  
062783,000421: 17,2621           12615                           TCF      SETTIME                               
062784,000422: 
062785,000423: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
062786,000424: 
062787,000425:                                                                                                  #                                               GTS WILL BE TRIED IF
062788,000426:                                                                                                  #                                                  1. USEQRJTS= 0,
062789,000427:                                                                                                  #                                                  2. ALLOWGTS POS,
062790,000428:                                                                                                  #                                                  3. JETS ARE OFF (Q,R-AXES)
062791,000429: 17,2623           34727        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.        (AS LONG AS
062792,000430: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062793,000431: 17,2625           10000                           CCS      A                                     
062794,000432: 17,2626           12141                           TCF      RCS                                   
062795,000433: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?
062796,000434: 

Page 1448

062798,000436: 17,2630           12632                           TCF      +2                                    
062799,000437: 17,2631           12141                           TCF      RCS                                   
062800,000438: 17,2632           00006                           EXTEND                                         
062801,000439: 17,2633           00005                           READ     CHAN5                                 
062802,000440: 17,2634           10000                           CCS      A                                     
062803,000441: 17,2635           12641                           TCF      CHKINGTS                              
062804,000442: 17,2636           00006        GOTOGTS            EXTEND                                         
062805,000443: 17,2637           32654                           DCA      GTSCADR                               
062806,000444: 17,2640           52006                           DTCB                                           
062807,000445: 
062808,000446: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062809,000447: 17,2642           12644                           TCF      +2                                    #    YES.  SET UP A DAMPED NULLING DRIVE.
062810,000448: 17,2643           12141                           TCF      RCS                                   #    NO.  NULLING WAS SET UP BEFORE. DO RCS
062811,000449: 17,2644           00004                           INHINT                                         
062812,000450: 17,2645           04665                           TC       IBNKCALL                              
062813,000451: 17,2646           43260                           CADR     TIMEGMBL                              
062814,000452: 17,2647           00003                           RELINT                                         
062815,000453: 17,2650           34746                           CAF      ZERO                                  
062816,000454: 17,2651           55632                           TS       INGTS                                 
062817,000455: 17,2652           12141                           TCF      RCS                                   
062818,000456: 
062819,000457: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
062820,000458: 17,2653           03027 42106  GTSCADR            2CADR    GTS                                   
062821,000459: 

Page 1449

062823,000461:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062824,000462: 
062825,000463: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062826,000464: 17,2656           00006                           EXTEND                                         
062827,000465: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062828,000466: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062829,000467: 17,2661           00006                           EXTEND                                         
062830,000468: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062831,000469: 17,2663           55751                           TS       E                                     
062832,000470: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062833,000471: 17,2665           00006                           EXTEND                                         
062834,000472: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062835,000473: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062836,000474: 17,2670           00006                           EXTEND                                         
062837,000475: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062838,000476: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062839,000477: 17,2673           61751                           AD       E                                     
062840,000478: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062841,000479: 
062842,000480: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062843,000481: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062844,000482: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062845,000483: 17,2700           55751                           TS       E                                     
062846,000484: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062847,000485: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062848,000486: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062849,000487: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062850,000488: 17,2705           61751                           AD       E                                     
062851,000489: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062852,000490: 17,2707           00002                           TC       Q                                     
062853,000491: 

Page 1450

062855,000493:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062856,000494: 
062857,000495: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062858,000496: 
062859,000497: 17,2710           31452        STILLRCS           CA       RERROR                                
062860,000498: 17,2711           22000                           LXCH     A                                     
062861,000499: 17,2712           31450                           CA       QERROR                                
062862,000500: 17,2713           03200                           TC       ROT-TOUV                              
062863,000501: 17,2714           53751                           DXCH     UERROR                                
062864,000502: 
062865,000503:                                                                                                  #                                               PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062866,000504:                                                                                                  #                                               PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062867,000505: 17,2715           33142        TJLAW              CA       TJLAWADR                              
062868,000506: 17,2716           55477                           TS       RETJADR                               
062869,000507: 17,2717           34744                           CA       ONE                                   
062870,000508: 17,2720           55505                           TS       AXISCTR                               
062871,000509: 17,2721           51505                           INDEX    AXISCTR                               
062872,000510: 17,2722           51534                           INDEX    SKIPU                                 
062873,000511: 17,2723           12724                           TCF      +1                                    
062874,000512: 17,2724           34742                           CA       FOUR                                  
062875,000513: 17,2725           51505                           INDEX    AXISCTR                               
062876,000514: 17,2726           55534                           TS       SKIPU                                 
062877,000515: 17,2727           13034                           TCF      LOOPER                                
062878,000516: 17,2730           51505                           INDEX    AXISCTR                               
062879,000517: 17,2731           31750                           CA       UERROR                                
062880,000518: 17,2732           55751                           TS       E                                     
062881,000519: 17,2733           51505                           INDEX    AXISCTR                               
062882,000520: 17,2734           31426                           CA       OMEGAU                                
062883,000521: 17,2735           55427                           TS       EDOT                                  
062884,000522: 17,2736           30111                           CA       DAPBOOLS                              
062885,000523: 17,2737           74730                           MASK     CSMDOCKD                              
062886,000524: 17,2740           10000                           CCS      A                                     
062887,000525: 17,2741           12744                           TCF      +3                                    
062888,000526: 17,2742           03304                           TC       TJETLAW                               
062889,000527: 17,2743           12756                           TCF      AFTERTJ                               
062890,000528: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062891,000529: 17,2745           74727                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
062892,000530: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062893,000531: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062894,000532: 17,2750           00004                           INHINT                                         
062895,000533: 17,2751           04665                           TC       IBNKCALL                              
062896,000534: 17,2752           43667                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062897,000535: 17,2753           00003                           RELINT                                         
062898,000536: 17,2754           34742                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062899,000537: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062900,000538: 
062901,000539:                                                                                                  #                                               Q,R-JET-SELECTION-LOGIC
062902,000540: 
062903,000541:                                                                                                  #                                               INPUT: AXISCTR        0,1 FOR U,V
062904,000542:                                                                                                  #                                                      SNUFFBIT       ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062905,000543: 

Page 1451

062907,000545:                                                                                                  #                                                      TJU,TJV        JET TIME SCALED 10.24 SEC.
062908,000546:                                                                                                  #                                                      NUMBERT        INDICATES NUMBER OF JETS AND TYPE OF POLICY
062909,000547:                                                                                                  #                                                      RETJADR        WHERE TO RETURN TO
062910,000548: 
062911,000549:                                                                                                  #                                               OUTPUT:  NO.U(V)JETS  RATE DERIVATION FEEDBACK
062912,000550:                                                                                                  #                                                        CHANNEL 5
062913,000551:                                                                                                  #                                                        SKIPU,SKIPV FOR LESS THAN 150MS FIRING
062914,000552: 
062915,000553:                                                                                                  #                                               NOTES:  IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062916,000554:                                                                                                  #                                                       JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062917,000555:                                                                                                  #                                                       TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062918,000556:                                                                                                  #                                                       IF NONE CAN BE FOUND.
062919,000557: 
062920,000558:                                                                                                  #                                                       TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062921,000559:                                                                                                  #                                                       MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062922,000560: 
062923,000561: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062924,000562: 17,2757           74730                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
062925,000563: 17,2760           00006                           EXTEND                                         
062926,000564: 17,2761           12772                           BZF      DOROTAT                               
062927,000565: 17,2762           40106                           CS       FLGWRD10                              
062928,000566: 17,2763           74730                           MASK     APSFLBIT                              
062929,000567: 17,2764           00006                           EXTEND                                         
062930,000568: 17,2765           12772                           BZF      DOROTAT                               
062931,000569: 17,2766           30111                           CA       DAPBOOLS                              
062932,000570: 17,2767           74735                           MASK     DRIFTBIT                              

Note: There is a short blue horizontal marker line right to the rigth of the operand DRIFTBIT

062934,000572: 17,2770           00006                           EXTEND                                         
062935,000573: 17,2771           13112                           BZF      XTRANS                                
062936,000574: 
062937,000575: 17,2772           34743        DOROTAT            CAF      TWO                                   
062938,000576: 17,2773           54001                           TS       L                                     
062939,000577: 17,2774           51505                           INDEX    AXISCTR                               
062940,000578: 17,2775           11525                           CCS      TJU                                   
062941,000579: 17,2776           13003                           TCF      +5                                    
062942,000580: 17,2777           13026                           TCF      NOROTAT                               
062943,000581: 17,3000           13002                           TCF      +2                                    
062944,000582: 17,3001           13026                           TCF      NOROTAT                               
062945,000583: 17,3002           22007                           ZL                                             
062946,000584: 17,3003           64744                           AD       ONE                                   
062947,000585: 17,3004           55736                           TS       ABSTJ                                 
062948,000586: 
062949,000587: 17,3005           31505                           CA       AXISCTR                               
062950,000588: 17,3006           60001                           AD       L                                     
062951,000589: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062952,000590: 
062953,000591: 17,3010           31736                           CA       ABSTJ                                 
062954,000592: 17,3011           63137                           AD       -150MS                                
062955,000593: 17,3012           00006                           EXTEND                                         
062956,000594: 17,3013           63037                           BZMF     DOSKIP                                
062957,000595: 

Page 1452

062959,000597: 17,3014           03225                           TC       SELCTSUB                              
062960,000598: 
062961,000599: 17,3015           51505                           INDEX    AXISCTR                               
062962,000600: 17,3016           33134                           CA       INDEXES                               
062963,000601: 17,3017           54001                           TS       L                                     
062964,000602: 
062965,000603: 17,3020           31740                           CA       POLYTEMP                              
062966,000604: 17,3021           00004                           INHINT                                         
062967,000605: 17,3022           50001                           INDEX    L                                     
062968,000606: 17,3023           05750                           TC       WRITEP                                
062969,000607: 
062970,000608: 17,3024           00003                           RELINT                                         
062971,000609: 17,3025           13100                           TCF      FEEDBACK                              
062972,000610: 
062973,000611: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
062974,000612: 17,3027           33134                           CA       INDEXES                               
062975,000613: 17,3030           00004                           INHINT                                         
062976,000614: 17,3031           50000                           INDEX    A                                     
062977,000615: 17,3032           05747                           TC       WRITEP     -1                         
062978,000616: 
062979,000617: 17,3033           00003                           RELINT                                         
062980,000618: 17,3034           11505        LOOPER             CCS      AXISCTR                               
062981,000619: 17,3035           01477                           TC       RETJADR                               
062982,000620: 17,3036           13270                           TCF      CLOSEOUT                              
062983,000621: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
062984,000622: 17,3040           63136                           AD       +TJMINT6                              #  14MS
062985,000623: 17,3041           00006                           EXTEND                                         
062986,000624: 17,3042           63061                           BZMF     NOTMIN                                
062987,000625: 
062988,000626: 17,3043           27736                           ADS      ABSTJ                                 
062989,000627: 17,3044           51505                           INDEX    AXISCTR                               
062990,000628: 17,3045           11525                           CCS      TJU                                   
062991,000629: 17,3046           33136                           CA       +TJMINT6                              
062992,000630: 17,3047           13051                           TCF      +2                                    
062993,000631: 17,3050           43136                           CS       +TJMINT6                              
062994,000632: 17,3051           51505                           INDEX    AXISCTR                               
062995,000633: 17,3052           55525                           TS       TJU                                   
062996,000634: 
062997,000635: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062998,000636: 17,3054           13060                           TCF      NOTMIN     -1                         
062999,000637: 17,3055           00006                           EXTEND                                         
063000,000638: 17,3056           00004                           READ     LOSCALAR                              
063001,000639: 17,3057           74744                           MASK     ONE                                   
063002,000640: 17,3060           55742                           TS       NUMBERT                               
063003,000641: 
063004,000642: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
063005,000643: 
063006,000644: 17,3062           51505                           INDEX    AXISCTR                               
063007,000645: 17,3063           33134                           CA       INDEXES                               
063008,000646: 17,3064           00004                           INHINT                                         
063009,000647: 

Page 1453

063011,000649: 17,3065           55471                           TS       T6FURTHA   +1                         
063012,000650: 17,3066           31740                           CA       POLYTEMP                              
063013,000651: 17,3067           51471                           INDEX    T6FURTHA   +1                         
063014,000652: 17,3070           05750                           TC       WRITEP                                
063015,000653: 
063016,000654: 17,3071           31736                           CA       ABSTJ                                 
063017,000655: 17,3072           55470                           TS       T6FURTHA                              
063018,000656: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
063019,000657: 
063020,000658: 17,3074           00003                           RELINT                                         
063021,000659: 
063022,000660: 17,3075           34746                           CA       ZERO                                  
063023,000661: 17,3076           51505                           INDEX    AXISCTR                               
063024,000662: 17,3077           55534                           TS       SKIPU                                 
063025,000663: 
063026,000664: 17,3100           46266        FEEDBACK           CS       THREE                                 
063027,000665: 17,3101           61742                           AD       NUMBERT                               
063028,000666: 17,3102           00006                           EXTEND                                         
063029,000667: 17,3103           63106                           BZMF     +3                                    
063030,000668: 
063031,000669: 17,3104           34743                           CA       TWO                                   
063032,000670: 17,3105           13107                           TCF      +2                                    
063033,000671: 17,3106           34744                           CA       ONE                                   
063034,000672: 17,3107           51505                           INDEX    AXISCTR                               
063035,000673: 17,3110           55522                           TS       NO.UJETS                              
063036,000674: 17,3111           13034                           TCF      LOOPER                                
063037,000675: 
063038,000676: 17,3112           34746        XTRANS             CA       ZERO                                  
063039,000677: 17,3113           55525                           TS       TJU                                   
063040,000678: 17,3114           55526                           TS       TJV                                   
063041,000679: 17,3115           34742                           CA       FOUR                                  
063042,000680: 17,3116           00004                           INHINT                                         
063043,000681: 17,3117           57534                           XCH      SKIPU                                 
063044,000682: 17,3120           00006                           EXTEND                                         
063045,000683: 17,3121           13123                           BZF      +2                                    
063046,000684: 17,3122           05753                           TC       WRITEU     -1                         
063047,000685: 17,3123           34742                           CA       FOUR                                  
063048,000686: 17,3124           57535                           XCH      SKIPV                                 
063049,000687: 17,3125           00003                           RELINT                                         
063050,000688: 
063051,000689: 17,3126           00006                           EXTEND                                         
063052,000690: 17,3127           13270                           BZF      CLOSEOUT                              
063053,000691: 17,3130           00004                           INHINT                                         
063054,000692: 17,3131           05764                           TC       WRITEV     -1                         
063055,000693: 17,3132           00003                           RELINT                                         
063056,000694: 
063057,000695: 17,3133           13270                           TCF      CLOSEOUT                              
063058,000696: 17,3134           00004        INDEXES            DEC      4          B-14                       
063059,000697: 17,3135           00015                           DEC      13         B-14                       
063060,000698: 17,3136           00026        +TJMINT6           DEC      22         B-14                       
063061,000699: 

Page 1454

063063,000701: 17,3137           77417        -150MS             DEC      -240       B-14                       
063064,000702: 17,3140           00600        BIT8,9             OCT      00600                                 
063065,000703: 17,3141           00266        SCLNORM            OCT      266                                   
063066,000704: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063067,000705: 
063068,000706:                                                                                                  #                                               THE JET LIST:
063069,000707:                                                                                                  #                                               THIS IS A WAITLIST FOR T6RUPTS.
063070,000708: 
063071,000709:                                                                                                  #                                               CALLED BY:
063072,000710:                                                                                                  #                                                        CA  TJ            TIME WHEN NEXT JETS WILL BE WRITTEN
063073,000711:                                                                                                  #                                                        TS  T6FURTHA
063074,000712:                                                                                                  #                                                        CA  INDEX         AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063075,000713:                                                                                                  #                                                        TS  T6FURTHA +1
063076,000714:                                                                                                  #                                                        TC  JTLST
063077,000715: 
063078,000716:                                                                                                  #                                               EXAMPLE-  U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063079,000717:                                                                                                  #                                               JETS INTO CHANNEL 5 .  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063080,000718:                                                                                                  #                                               150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063081,000719:                                                                                                  #                                               CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063082,000720:                                                                                                  #                                               OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063083,000721: 
063084,000722:                                                                                                  #                                               THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063085,000723:                                                                                                  #                                                THE INPUT IS THE LAST MEMBER OF THE LIST
063086,000724: 
063087,000725:                                                                                                  #                                               RETURNS BY:
063088,000726:                                                                                                  #                                                     +  TC  Q
063089,000727: 
063090,000728:                                                                                                  #                                               DEFINITIONS:(OUTPUT)
063091,000729:                                                                                                  #                                               TIME6             TIME OF NEXT RUPT
063092,000730:                                                                                                  #                                               T6NEXT            DELTA TIME TO NEXT RUPT
063093,000731:                                                                                                  #                                               T6FURTHA          DELTA TIME FROM 2ND TO LAST RUPT
063094,000732:                                                                                                  #                                               NXT6ADR           AXIS INDEX       Q - P-AXIS
063095,000733:                                                                                                  #                                               T6NEXT +1         AXIS INDEX       4 - U-AXIS
063096,000734:                                                                                                  #                                               T6FURTHA +1       AXIS INDEX      13 - V-AXIS
063097,000735: 17,3143           41470        JTLST              CS       T6FURTHA                              
063098,000736: 17,3144           60031                           AD       TIME6                                 
063099,000737: 17,3145           00006                           EXTEND                                         
063100,000738: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
063101,000739: 
063102,000740: 17,3147           23465                           LXCH     NXT6ADR                               
063103,000741: 17,3150           53467                           DXCH     T6NEXT                                
063104,000742: 17,3151           53471                           DXCH     T6FURTHA                              
063105,000743: 17,3152           54031                           TS       TIME6                                 
063106,000744: 17,3153           23465                           LXCH     NXT6ADR                               
063107,000745: 
063108,000746: 17,3154           00006        TURNON             EXTEND                                         
063109,000747: 17,3155           23265                           QXCH     C13QSAV                               
063110,000748: 17,3156           06040                           TC       C13STALL                              
063111,000749: 
063112,000750: 17,3157           34726                           CA       BIT15                                 
063113,000751: 

Page 1455

063115,000753: 17,3160           00006                           EXTEND                                         
063116,000754: 17,3161           05013                           WOR      CHAN13                                
063117,000755: 17,3162           01265                           TC       C13QSAV                               
063118,000756: 
063119,000757: 17,3163           61466        MIDORLST           AD       T6NEXT                                
063120,000758: 17,3164           00006                           EXTEND                                         
063121,000759: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
063122,000760: 
063123,000761: 17,3166           23467                           LXCH     T6NEXT     +1                         
063124,000762: 17,3167           53471                           DXCH     T6FURTHA                              
063125,000763: 17,3170           00006                           EXTEND                                         
063126,000764: 17,3171           60031                           SU       TIME6                                 
063127,000765: 17,3172           53467                           DXCH     T6NEXT                                
063128,000766: 
063129,000767: 17,3173           00002                           TC       Q                                     
063130,000768: 
063131,000769: 17,3174           40000        LASTCHG            CS       A                                     
063132,000770: 17,3175           64745                           AD       NEG0                                  
063133,000771: 17,3176           55470                           TS       T6FURTHA                              
063134,000772: 
063135,000773: 17,3177           00002                           TC       Q                                     
063136,000774: 
063137,000775:                                                                                                  #    ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063138,000776:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063139,000777:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063140,000778:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
063141,000779: 
063142,000780: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
063143,000781: 17,3201           00006                           EXTEND                                         
063144,000782: 17,3202           71626                           MP       COEFFQ                                
063145,000783: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063146,000784: 17,3204           00006                           EXTEND                                         
063147,000785: 17,3205           71627                           MP       COEFFR                                
063148,000786: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
063149,000787: 17,3207           61737                           AD       ROTEMP2                               
063150,000788: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063151,000789: 17,3211           13215                           TCF      +4                                    
063152,000790: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063153,000791: 17,3213           44725                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063154,000792: 17,3214           55736                           TS       ROTEMP1                               
063155,000793: 17,3215           41737                           CS       ROTEMP2                               
063156,000794: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063157,000795: 17,3217           54007                           TS       7                                     
063158,000796: 17,3220           13223                           TCF      +3                                    
063159,000797: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063160,000798: 17,3222           44725                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
063161,000799: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063162,000800: 17,3224           00002                           TC       Q                                     
063163,000801: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              
063164,000802: 

Page 1456

063166,000804: 17,3226           33257                           CA       ALLJETS                               
063167,000805: 17,3227           51742                           INDEX    NUMBERT                               
063168,000806: 17,3230           73263                           MASK     TYPEPOLY                              
063169,000807: 17,3231           55740                           TS       POLYTEMP                              
063170,000808: 
063171,000809: 17,3232           71257                           MASK     CH5MASK                               
063172,000810: 17,3233           10000                           CCS      A                                     
063173,000811: 17,3234           13236                           TCF      +2                                    
063174,000812: 
063175,000813: 17,3235           00002                           TC       Q                                     
063176,000814: 
063177,000815: 17,3236           36266                           CA       THREE                                 
063178,000816: 17,3237           55742        FAILOOP            TS       NUMBERT                               
063179,000817: 17,3240           51743                           INDEX    ROTINDEX                              
063180,000818: 17,3241           33257                           CA       ALLJETS                               
063181,000819: 17,3242           51742                           INDEX    NUMBERT                               
063182,000820: 17,3243           73263                           MASK     TYPEPOLY                              
063183,000821: 17,3244           55740                           TS       POLYTEMP                              
063184,000822: 17,3245           71257                           MASK     CH5MASK                               
063185,000823: 17,3246           00006                           EXTEND                                         
063186,000824: 17,3247           13235                           BZF      FAILOOP    -2                         
063187,000825: 17,3250           11742                           CCS      NUMBERT                               
063188,000826: 17,3251           13237                           TCF      FAILOOP                               
063189,000827: 17,3252           51505                           INDEX    AXISCTR                               
063190,000828: 17,3253           55525                           TS       TJU                                   
063191,000829: 17,3254           05571                           TC       ALARM                                 
063192,000830: 17,3255           02004                           OCT      02004                                 
063193,000831: 17,3256           13026                           TCF      NOROTAT                               
063194,000832: 17,3257           00110        ALLJETS            OCT      00110                                 #  -U      6  13
063195,000833: 17,3260           00022                           OCT      00022                                 #  -V      2   9
063196,000834: 17,3261           00204                           OCT      00204                                 #  +U      5  14
063197,000835: 
063198,000836: 17,3262           00041                           OCT      00041                                 #  +V      1  10
063199,000837: 17,3263           00125        TYPEPOLY           OCT      00125                                 #  -X  1 5 9  13
063200,000838: 17,3264           00252                           OCT      00252                                 #  +X 2 6 10 14
063201,000839: 17,3265           00146                           OCT      00146                                 #  A   2 5 10 13
063202,000840: 17,3266           00231                           OCT      00231                                 #  B   1 6 9 14
063203,000841: 17,3267           00377                           OCT      00377                                 #  ALL 1 2 5 6 9 10 13 14
063204,000842: 
063205,000843:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063206,000844: 
063207,000845: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
063208,000846: 17,3271           07775                           TC       MAKERUPT                              
063209,000847: 
063210,000848: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
063211,000849: 
063212,000850: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
063213,000851: 17,3274           52011                           DXCH     ARUPT                                 
063214,000852: 17,3275           53755                           DXCH     DAPBQRPT                              
063215,000853: 17,3276           56017                           XCH      BRUPT                                 
063216,000854: 

Page 1457

063218,000856: 17,3277           22002                           LXCH     Q                                     
063219,000857: 17,3300           34726                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063220,000858: 17,3301           53757                           DXCH     DAPZRUPT                              
063221,000859: 17,3302           52016                           DXCH     ZRUPT                                 
063222,000860: 17,3303           15274                           TCF      NOQRSM                                
063223,000861:    7775                                           BLOCK    3                                     
063224,000862:    6000                                           SETLOC   FFTAG6                                
063225,000863:    6000                                           BANK                                           
063226,000864: 
063227,000865:    7775                                           COUNT*   $$/DAP                                
063228,000866: 
063229,000867:    7775           00006        MAKERUPT           EXTEND                                         
063230,000868:    7776           07775                           EDRUPT   MAKERUPT                              

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