Source Code

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

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

061470,000002:                                                                                                  ## Copyright:   Public domain.
061471,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
061472,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
061473,000005:                                                                                                  ##              It is part of the source code for the original release
061474,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
061475,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
061476,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
061477,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
061478,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
061479,000011:                                                                                                  ##              that the code format has been changed to conform to the
061480,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
061481,000013:                                                                                                  ##              original YUL assembler.
061482,000014:                                                                                                  ## Reference:   pp. 1416-1435
061483,000015:                                                                                                  ## Assembler:   yaYUL
061484,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061485,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061486,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
061487,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
061488,000020:                                                                                                  ##              2017-01-05 RRB  Updated for Luminary 69.
061489,000021:                                                                                                  ##              2017-01-22 HG   Add a "D" to opernad +8 -> +8D. 
061490,000022:                                                                                                  ##                              Should actually be changed in yaYul but it might be the only case of this 
061491,000023:                                                                                                  ##                              kind in the existing code 
061492,000024:                                                                                                  ##              2017-01-22 HG   Fix operand DAPTREG4 -> ITEMP1
061493,000025:                                                                                                  ##              2017-01-28 MAS  Removed the +8D workaround.
061494,000026:                                                                                                  ##              2017-01-28 RSB  Proofed comment text using octopus/prooferComments
061495,000027:                                                                                                  ##                              but no errors found.
061496,000028:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
061497,000029:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
061498,000030:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
061499,000031:                                                                                                  ##              2021-05-30 ABS  "--1" -> " -1" to match scans and for
061500,000032:                                                                                                  ##                              yaYUL compatibility.
061501,000033: 

Page 1416

061503,000035: 16,2210                                           BANK     16                                    
061504,000036: 16,2000                                           SETLOC   DAPS1                                 
061505,000037: 16,2000                                           BANK                                           
061506,000038: 
061507,000039: 16,2210  E6,1462                                  EBANK=   PERROR                                
061508,000040: 16,2210                                           COUNT*   $$/DAPP                               
061509,000041: 
061510,000042:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
061511,000043:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
061512,000044: 
061513,000045: 16,2210           37726        PAXIS              CA       MS100                                 
061514,000046: 16,2211           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
061515,000047:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
061516,000048: 
061517,000049: 16,2212           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
061518,000050: 16,2213           00006                           EXTEND                                         
061519,000051: 16,2214           22012                           QXCH     QRUPT                                 
061520,000052: 
061521,000053:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
061522,000054: 
061523,000055: 16,2215           11755                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
061524,000056: 16,2216           05634                           TC       BAILOUT                               #     STILL IN PROGRESS AND A RESTART IS
061525,000057: 16,2217           02000                           OCT      02000                                 #    CALLED FOR.  IT IS NEVER ZERO.
061526,000058: 
061527,000059: 16,2220           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
061528,000060: 
061529,000061:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
061530,000062: 
061531,000063:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
061532,000064:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
061533,000065: 
061534,000066: 16,2221           31633                           CA       CDUXD                                 
061535,000067: 16,2222           00006                           EXTEND                                         
061536,000068: 16,2223           21636                           MSU      DELCDUX                               
061537,000069: 16,2224           02245                           TC       1STOTWOS                              
061538,000070: 16,2225           55633                           TS       CDUXD                                 
061539,000071: 16,2226           31634                           CA       CDUYD                                 
061540,000072: 16,2227           00006                           EXTEND                                         
061541,000073: 16,2230           21637                           MSU      DELCDUY                               
061542,000074: 16,2231           02245                           TC       1STOTWOS                              
061543,000075: 16,2232           55634                           TS       CDUYD                                 
061544,000076: 16,2233           31635                           CA       CDUZD                                 
061545,000077: 16,2234           00006                           EXTEND                                         
061546,000078: 16,2235           21640                           MSU      DELCDUZ                               
061547,000079: 16,2236           02245                           TC       1STOTWOS                              
061548,000080: 16,2237           55635                           TS       CDUZD                                 
061549,000081: 16,2240           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
061550,000082: 16,2241           27443                           DIM      TCP                                   #  TIME COUNTERS.
061551,000083: 16,2242           00006                           EXTEND                                         
061552,000084: 16,2243           27455                           DIM      TCQR                                  

Page 1417

061554,000086:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061555,000087:                                                                                                  #   RETURNS TO BACKP.
061556,000088: 
061557,000089:                                                                                                  #   JETRATE = 1JACC*NO.PJETS*TJP   (NOTE TJ IS THE TIME FIRED DURING CSP)
061558,000090:                                                                                                  #   JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061559,000091:                                                                                                  #   JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061560,000092: 
061561,000093: 16,2244           13624                           TCF      RATELOOP                              
061562,000094: 16,2245           10000        1STOTWOS           CCS      A                                     
061563,000095: 16,2246           64753                           AD       ONE                                   
061564,000096: 16,2247           00002                           TC       Q                                     
061565,000097: 16,2250           40000                           CS       A                                     
061566,000098: 16,2251           00002                           TC       Q                                     
061567,000099: 16,2252           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
061568,000100: 16,2253           71737                           MP       DAPTEMP3                              #  POSMAX OR NEGMAX IF THE DIVIDE WOULD
061569,000101: 16,2254           21425                           DAS      OMEGAU                                #  OVERFLOW
061570,000102: 
061571,000103: 16,2255           00006                 +3        EXTEND                                         
061572,000104: 16,2256           31425                           DCA      OMEGAU                                
061573,000105: 16,2257           53742                           DXCH     DAPTEMP5                              
061574,000106: 16,2260           11424                           CCS      OMEGAU                                
061575,000107: 16,2261           12263                           TCF      +2                                    
061576,000108: 16,2262           12273                           TCF      DIVIDER                               
061577,000109: 16,2263           62304                           AD       -OCT630                               
061578,000110: 16,2264           00006                           EXTEND                                         
061579,000111: 16,2265           62273                           BZMF     DIVIDER                               
061580,000112: 
061581,000113: 16,2266           11424                           CCS      OMEGAU                                
061582,000114: 16,2267           34733                           CA       POSMAX                                #  45 DEG/SEC
061583,000115: 16,2270           00002                           TC       Q                                     
061584,000116: 16,2271           44733                           CS       POSMAX                                
061585,000117: 16,2272           00002                           TC       Q                                     
061586,000118: 
061587,000119: 16,2273           53425        DIVIDER            DXCH     OMEGAU                                
061588,000120: 16,2274           00006                           EXTEND                                         
061589,000121: 16,2275           10061                           DV       ITEMP1                                
061590,000122: 16,2276           00002                           TC       Q                                     
061591,000123: 
061592,000124: 16,2277           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
061593,000125: 16,2300           00002                           TC       Q                                     #    POSMAX OR NEGMAX IF A HAS OVERFLOW
061594,000126: 16,2301           50000                           INDEX    A                                     
061595,000127: 16,2302           44734                           CS       BIT15      -1                         
061596,000128: 16,2303           00002                           TC       Q                                     
061597,000129: 
061598,000130: 16,2304           77147        -OCT630            OCT      77147                                 
061599,000131: 
061600,000132: 16,2305           31735        BACKP              CA       DAPTEMP1                              
061601,000133: 16,2306           00006                           EXTEND                                         

Page 1418

061603,000135: 16,2307           71530                           MP       1JACC                                 
061604,000136: 16,2310           55743                           TS       JETRATE                               
061605,000137: 
061606,000138:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
061607,000139:                                                                                                  #  OMEGAP,Q,R      BODY RATES SCALED AT PI/4
061608,000140:                                                                                                  #  TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061609,000141:                                                                                                  #  NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061610,000142:                                                                                                  #  AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
061611,000143:                                                                                                  #  JETRATE,Q,R     CHANGE IN RATE DUE TO  JET   ACCELLERATION.  (PI/4)
061612,000144:                                                                                                  #  TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
061613,000145:                                                                                                  #  OMEGAU          DP-TEMPORARY STORAGE
061614,000146:                                                                                                  #      OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061615,000147: 
061616,000148: 16,2311           30032                           CAE      CDUX                                  
061617,000149: 16,2312           54001                           TS       L                                     
061618,000150: 16,2313           00006                           EXTEND                                         
061619,000151: 16,2314           21436                           MSU      OLDXFORP                              #  SCALED AT PI
061620,000152: 16,2315           23436                           LXCH     OLDXFORP                              
061621,000153: 16,2316           55735                           TS       DAPTEMP1                              
061622,000154: 16,2317           33603                           CA       1/40                                  
061623,000155: 16,2320           54061                           TS       ITEMP1                                
061624,000156: 16,2321           41743                           CS       JETRATE                               
061625,000157: 16,2322           00006                           EXTEND                                         
061626,000158: 16,2323           74736                           MP       BIT14                                 
061627,000159: 16,2324           27426                           ADS      TRAPEDP                               
061628,000160: 16,2325           31744                           CA       JETRATEQ                              
061629,000161: 16,2326           61545                           AD       AOSQTERM                              
061630,000162: 16,2327           00006                           EXTEND                                         
061631,000163: 16,2330           77735                           MP       -BIT14                                
061632,000164: 16,2331           27427                           ADS      TRAPEDQ                               
061633,000165: 16,2332           31745                           CA       JETRATER                              
061634,000166: 16,2333           61546                           AD       AOSRTERM                              
061635,000167: 16,2334           00006                           EXTEND                                         
061636,000168: 16,2335           77735                           MP       -BIT14                                
061637,000169: 16,2336           27430                           ADS      TRAPEDR                               
061638,000170: 
061639,000171: 16,2337           30033                           CA       CDUY                                  
061640,000172: 16,2340           54001                           TS       L                                     
061641,000173: 16,2341           00006                           EXTEND                                         
061642,000174: 16,2342           21437                           MSU      OLDYFORP                              #  SCALED AT PI
061643,000175: 16,2343           23437                           LXCH     OLDYFORP                              
061644,000176: 16,2344           55736                           TS       DAPTEMP2                              
061645,000177: 16,2345           00006                           EXTEND                                         
061646,000178: 16,2346           71412                           MP       M11                                   #  M11 SCALED AT 1
061647,000179: 16,2347           61735                           AD       DAPTEMP1                              
061648,000180: 16,2350           53425                           DXCH     OMEGAU                                
061649,000181: 
061650,000182: 16,2351           02255                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
061651,000183: 
061652,000184: 16,2352           00006                           EXTEND                                         

Page 1419

061654,000186: 16,2353           61417                           SU       OMEGAP                                
061655,000187: 16,2354           27426                           ADS      TRAPEDP                               
061656,000188: 16,2355           02277                           TC       OVERSUB                               
061657,000189: 16,2356           55426                           TS       TRAPEDP                               
061658,000190: 16,2357           00006                           EXTEND                                         
061659,000191: 16,2360           31742                           DCA      DAPTEMP5                              
061660,000192: 16,2361           21445                           DAS      DXERROR                               
061661,000193: 16,2362           41452                           CS       PLAST                                 
061662,000194: 16,2363           00006                           EXTEND                                         
061663,000195: 16,2364           73603                           MP       1/40                                  
061664,000196: 16,2365           21445                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
061665,000197: 16,2366           30034                           CA       CDUZ                                  
061666,000198: 16,2367           54001                           TS       L                                     
061667,000199: 16,2370           00006                           EXTEND                                         
061668,000200: 16,2371           21440                           MSU      OLDZFORQ                              
061669,000201: 16,2372           55737                           TS       DAPTEMP3                              
061670,000202: 16,2373           23440                           LXCH     OLDZFORQ                              
061671,000203: 16,2374           31413                           CA       M21                                   
061672,000204: 16,2375           00006                           EXTEND                                         
061673,000205: 16,2376           71736                           MP       DAPTEMP2                              
061674,000206: 16,2377           53425                           DXCH     OMEGAU                                
061675,000207: 16,2400           31415                           CA       M22                                   
061676,000208: 16,2401           02252                           TC       SUBDIVDE                              
061677,000209: 
061678,000210: 16,2402           00006                           EXTEND                                         
061679,000211: 16,2403           61420                           SU       OMEGAQ                                
061680,000212: 16,2404           27427                           ADS      TRAPEDQ                               
061681,000213: 16,2405           02277                           TC       OVERSUB                               
061682,000214: 16,2406           55427                           TS       TRAPEDQ                               
061683,000215: 16,2407           00006                           EXTEND                                         
061684,000216: 16,2410           31742                           DCA      DAPTEMP5                              
061685,000217: 16,2411           21447                           DAS      DYERROR                               
061686,000218: 16,2412           41453                           CS       QLAST                                 
061687,000219: 16,2413           00006                           EXTEND                                         
061688,000220: 16,2414           73603                           MP       1/40                                  
061689,000221: 16,2415           21447                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
061690,000222: 16,2416           31414                           CA       M31                                   
061691,000223: 16,2417           00006                           EXTEND                                         
061692,000224: 16,2420           71736                           MP       DAPTEMP2                              
061693,000225: 16,2421           53425                           DXCH     OMEGAU                                
061694,000226: 16,2422           31416                           CA       M32                                   
061695,000227: 
061696,000228: 16,2423           02252                           TC       SUBDIVDE                              
061697,000229: 
061698,000230: 16,2424           00006                           EXTEND                                         
061699,000231: 16,2425           61421                           SU       OMEGAR                                
061700,000232: 16,2426           27430                           ADS      TRAPEDR                               
061701,000233: 16,2427           02277                           TC       OVERSUB                               
061702,000234: 16,2430           55430                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED

Page 1420

061704,000236: 16,2431           00006                           EXTEND                                         
061705,000237: 16,2432           31742                           DCA      DAPTEMP5                              
061706,000238: 16,2433           21451                           DAS      DZERROR                               
061707,000239: 16,2434           41454                           CS       RLAST                                 
061708,000240: 16,2435           00006                           EXTEND                                         
061709,000241: 16,2436           73603                           MP       1/40                                  
061710,000242: 16,2437           21451                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
061711,000243: 16,2440           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
061712,000244: 16,2441           74737                           MASK     CSMDOCKD                              
061713,000245: 16,2442           00006                           EXTEND                                         
061714,000246: 16,2443           12451                           BZF      LMONLY                                
061715,000247: 16,2444           00006                           EXTEND                                         #  DOCKED
061716,000248: 16,2445           31405                           DCA      DKOMEGAN                              
061717,000249: 16,2446           52062                           DXCH     ITEMP1                                
061718,000250: 16,2447           31403                           CA       DKTRAP                                
061719,000251: 16,2450           12455                           TCF      +5                                    
061720,000252: 16,2451           00006        LMONLY             EXTEND                                         #  UNDOCKED
061721,000253: 16,2452           31410                           DCA      LMOMEGAN                              
061722,000254: 16,2453           52062                           DXCH     ITEMP1                                
061723,000255: 16,2454           31406                           CA       LMTRAP                                
061724,000256: 16,2455           54063                 +5        TS       ITEMP3                                
061725,000257: 
061726,000258: 16,2456           11426                           CCS      TRAPEDP                               
061727,000259: 16,2457           12461                           TCF      +2                                    
061728,000260: 16,2460           12476                           TCF      SMALPDIF                              
061729,000261: 16,2461           60063                           AD       ITEMP3                                #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061730,000262: 16,2462           00006                           EXTEND                                         
061731,000263: 16,2463           62476                           BZMF     SMALPDIF                              
061732,000264: 16,2464           22007                           ZL                                             
061733,000265: 16,2465           23426                           LXCH     TRAPEDP                               
061734,000266: 16,2466           34755                           CA       ZERO                                  
061735,000267: 16,2467           00006                           EXTEND                                         
061736,000268: 16,2470           11431                           DV       NPTRAPS                               
061737,000269: 16,2471           27417                           ADS      OMEGAP                                
061738,000270: 16,2472           02277                           TC       OVERSUB                               
061739,000271: 16,2473           55417                           TS       OMEGAP                                
061740,000272: 16,2474           30061                           CA       ITEMP1                                #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061741,000273: 16,2475           55431                           TS       NPTRAPS                               
061742,000274: 16,2476           25431        SMALPDIF           INCR     NPTRAPS                               
061743,000275: 16,2477           31743        P-RATE             CA       JETRATE                               
061744,000276: 16,2500           27417                           ADS      OMEGAP                                
061745,000277: 16,2501           02277                           TC       OVERSUB                               
061746,000278: 16,2502           55417                           TS       OMEGAP                                
061747,000279: 
061748,000280: 16,2503           11427                           CCS      TRAPEDQ                               
061749,000281: 16,2504           12506                           TCF      +2                                    
061750,000282: 16,2505           12533                           TCF      Q-RATE                                
061751,000283: 16,2506           60063                           AD       ITEMP3                                #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061752,000284: 16,2507           00006                           EXTEND                                         
061753,000285: 16,2510           62533                           BZMF     Q-RATE                                

Page 1421

061755,000287: 16,2511           22007                           ZL                                             
061756,000288: 16,2512           23427                           LXCH     TRAPEDQ                               
061757,000289: 16,2513           34755                           CA       ZERO                                  
061758,000290: 16,2514           00006                           EXTEND                                         
061759,000291: 16,2515           11432                           DV       NQTRAPS                               
061760,000292: 16,2516           55735                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
061761,000293: 16,2517           27420                           ADS      OMEGAQ                                
061762,000294: 16,2520           02277                           TC       OVERSUB                               
061763,000295: 16,2521           55420                           TS       OMEGAQ                                
061764,000296: 16,2522           30061                           CA       ITEMP1                                #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061765,000297: 16,2523           57432                           XCH      NQTRAPS                               
061766,000298: 16,2524           60062                           AD       ITEMP2                                #  KAOS > ABOUT 60D %N/N_60"
061767,000299: 16,2525           57735                           XCH      DAPTEMP1                              
061768,000300: 16,2526           00006                           EXTEND                                         
061769,000301: 16,2527           74756                           MP       FIVE                                  
061770,000302: 16,2530           00006                           EXTEND                                         
061771,000303: 16,2531           11735                           DV       DAPTEMP1                              
061772,000304: 16,2532           27537                           ADS      AOSQ                                  
061773,000305: 16,2533           25432        Q-RATE             INCR     NQTRAPS                               
061774,000306: 16,2534           31744                           CA       JETRATEQ                              
061775,000307: 16,2535           61545                           AD       AOSQTERM                              
061776,000308: 16,2536           27420                           ADS      OMEGAQ                                
061777,000309: 16,2537           02277                           TC       OVERSUB                               
061778,000310: 16,2540           55420                           TS       OMEGAQ                                
061779,000311: 
061780,000312: 16,2541           11430                           CCS      TRAPEDR                               
061781,000313: 16,2542           12544                           TCF      +2                                    
061782,000314: 16,2543           12571                           TCF      R-RATE                                
061783,000315: 16,2544           60063                           AD       ITEMP3                                #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061784,000316: 16,2545           00006                           EXTEND                                         
061785,000317: 16,2546           62571                           BZMF     R-RATE                                
061786,000318: 16,2547           22007                           ZL                                             
061787,000319: 16,2550           23430                           LXCH     TRAPEDR                               
061788,000320: 16,2551           34755                           CA       ZERO                                  
061789,000321: 16,2552           00006                           EXTEND                                         
061790,000322: 16,2553           11433                           DV       NRTRAPS                               
061791,000323: 16,2554           55736                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
061792,000324: 16,2555           27421                           ADS      OMEGAR                                
061793,000325: 16,2556           02277                           TC       OVERSUB                               
061794,000326: 16,2557           55421                           TS       OMEGAR                                
061795,000327: 16,2560           30061                           CA       ITEMP1                                #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061796,000328: 16,2561           57433                           XCH      NRTRAPS                               
061797,000329: 16,2562           60062                           AD       ITEMP2                                #  KAOS > ABOUT 60D %N/N_60"
061798,000330: 16,2563           57736                           XCH      DAPTEMP2                              
061799,000331: 16,2564           00006                           EXTEND                                         
061800,000332: 16,2565           74756                           MP       FIVE                                  
061801,000333: 16,2566           00006                           EXTEND                                         
061802,000334: 16,2567           11736                           DV       DAPTEMP2                              
061803,000335: 16,2570           27541                           ADS      AOSR                                  
061804,000336: 16,2571           25433        R-RATE             INCR     NRTRAPS                               

Page 1422

061806,000338: 16,2572           31745                           CA       JETRATER                              
061807,000339: 16,2573           61546                           AD       AOSRTERM                              
061808,000340: 16,2574           27421                           ADS      OMEGAR                                
061809,000341: 16,2575           02277                           TC       OVERSUB                               
061810,000342: 16,2576           55421                           TS       OMEGAR                                
061811,000343: 
061812,000344:                                                                                                  #  END OF RATE DERIVATION
061813,000345:                                                                                                  #   BEGIN OFFSET ESTIMATER
061814,000346:                                                                                                  #    IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
061815,000347:                                                                                                  #    AOS = AOS + K*SUMRATE
061816,000348: 
061817,000349: 16,2577           40111                           CS       DAPBOOLS                              
061818,000350: 16,2600           74744                           MASK     DRIFTBIT                              
061819,000351: 16,2601           10000                           CCS      A                                     
061820,000352: 16,2602           12613                           TCF      WORKTIME                              
061821,000353: 16,2603           55422                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
061822,000354: 16,2604           55423                           TS       ALPHAR                                
061823,000355: 16,2605           55545                           TS       AOSQTERM                              
061824,000356: 16,2606           55546                           TS       AOSRTERM                              
061825,000357: 16,2607           55537                           TS       AOSQ                                  
061826,000358: 16,2610           55541                           TS       AOSR                                  
061827,000359: 16,2611           12635                           TCF      PAXFILT                               
061828,000360: 16,2612           00074        KAOS               DEC      60         B-14                       
061829,000361: 16,2613           31510        WORKTIME           CA       QACCDOT                               
061830,000362: 16,2614           00006                           EXTEND                                         
061831,000363: 16,2615           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
061832,000364: 16,2616           21540                           DAS      AOSQ                                  
061833,000365: 16,2617           31537                           CA       AOSQ                                  
061834,000366: 16,2620           55422                           TS       ALPHAQ                                
061835,000367: 16,2621           00006                           EXTEND                                         
061836,000368: 16,2622           73601                           MP       200MS                                 #  .2 AT 1
061837,000369: 16,2623           55545                           TS       AOSQTERM                              
061838,000370: 16,2624           31512                           CA       RACCDOT                               
061839,000371: 16,2625           00006                           EXTEND                                         
061840,000372: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
061841,000373: 16,2627           21542                           DAS      AOSR                                  
061842,000374: 16,2630           31541                           CA       AOSR                                  
061843,000375: 16,2631           55423                           TS       ALPHAR                                
061844,000376: 16,2632           00006                           EXTEND                                         
061845,000377: 16,2633           73601                           MP       200MS                                 #  .2 AT 1
061846,000378: 16,2634           55546                           TS       AOSRTERM                              
061847,000379: 
061848,000380: 16,2635           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
061849,000381: 16,2636           71273                           MASK     RCSFLAGS                              
061850,000382: 16,2637           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
061851,000383: 16,2640           03721                           TC       ACDT+C12                              #  VALID.

Page 1423

061853,000385: 16,2641           52011                           DXCH     ARUPT                                 
061854,000386: 16,2642           53752                           DXCH     DAPARUPT                              
061855,000387: 16,2643           32654                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
061856,000388: 16,2644           56017                           XCH      BRUPT                                 
061857,000389: 16,2645           22012                           LXCH     QRUPT                                 
061858,000390: 16,2646           53754                           DXCH     DAPBQRPT                              
061859,000391: 16,2647           32653                           CA       SUPERADR                              
061860,000392: 16,2650           52016                           DXCH     ZRUPT                                 
061861,000393: 16,2651           53756                           DXCH     DAPZRUPT                              
061862,000394: 16,2652           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
061863,000395:                                                                                                  #    FORM OF A JASK, AT SUPERJOB.
061864,000396: 
061865,000397: 16,2653           02655        SUPERADR           GENADR   SUPERJOB   +1                         
061866,000398: 
061867,000399:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
061868,000400: 
061869,000401: 16,2654           11630        SUPERJOB           CCS      QGIMTIMR                              #  Q-AXIS GIMBAL DRIVE TIMER
061870,000402: 16,2655           12667                           TCF      DECQTIMR                              #    POSITIVE- COUNTING DOWN
061871,000403: 16,2656           12673                           TCF      TURNOFFQ                              #    NEGATIVE- DRIVE SHOULD BE ENDED
061872,000404: 16,2657           11632        CHKRTIMR           CCS      RGIMTIMR                              #    NEGATIVE- INACTIVE
061873,000405: 16,2660           12671                           TCF      DECRTIMR                              #   (NEG ZERO - IMPOSSIBLE)
061874,000406: 16,2661           12703                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
061875,000407: 
061876,000408: 16,2662           34740                           CA       BIT12                                 
061877,000409: 16,2663           71273                           MASK     RCSFLAGS                              
061878,000410: 16,2664           00006                           EXTEND                                         
061879,000411: 16,2665           12713                           BZF      SKIPPAXS                              
061880,000412: 16,2666           02717                           TC       CHKVISFZ                              
061881,000413: 16,2667           55630        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
061882,000414: 16,2670           12657                           TCF      CHKRTIMR                              
061883,000415: 16,2671           55632        DECRTIMR           TS       RGIMTIMR                              
061884,000416: 16,2672           12662                           TCF      CHKRTIMR   +3                         
061885,000417: 
061886,000418: 16,2673           55500        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
061887,000419: 16,2674           55510                           TS       QACCDOT                               
061888,000420: 16,2675           45007                           CS       QGIMBITS                              
061889,000421: 16,2676           00006                           EXTEND                                         
061890,000422: 16,2677           03012                           WAND     CHAN12                                
061891,000423: 16,2700           34735                           CAF      NEGMAX                                
061892,000424: 16,2701           55630                           TS       QGIMTIMR                              
061893,000425: 16,2702           12657                           TCF      CHKRTIMR                              
061894,000426: 16,2703           55502        TURNOFFR           TS       NEGUR                                 
061895,000427: 16,2704           55512                           TS       RACCDOT                               
061896,000428: 16,2705           45020                           CS       RGIMBITS                              
061897,000429: 16,2706           00006                           EXTEND                                         
061898,000430: 16,2707           03012                           WAND     CHAN12                                
061899,000431: 16,2710           34735                           CAF      NEGMAX                                
061900,000432: 16,2711           55632                           TS       RGIMTIMR                              
061901,000433: 16,2712           12662                           TCF      CHKRTIMR   +3                         
061902,000434: 16,2713     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
061903,000435: 16,2713     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).

Page 1424

061905,000437: 16,2713           41273        SKIPPAXS           CS       RCSFLAGS                              
061906,000438: 16,2714           74740                           MASK     BIT12                                 
061907,000439: 16,2715           27273                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
061908,000440: 16,2716           13607                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
061909,000441: 
061910,000442:                                                                                                  #  Y-Z TRANSLATION
061911,000443: 
061912,000444:                                                                                                  #  INPUT:   BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
061913,000445: 
061914,000446:                                                                                                  #  OUTPUT:  NEXTP
061915,000447: 
061916,000448:                                                                                                  #    NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
061917,000449:                                                                                                  #    IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
061918,000450:                                                                                                  #       (1) FOR DIAGONAL TRANS:  UNFAILED PAIR
061919,000451:                                                                                                  #                                ALARM (IF NO PAIR)
061920,000452:                                                                                                  #       (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
061921,000453:                                                                                                  #                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
061922,000454: 
061923,000455: 16,2717           00006        CHKVISFZ           EXTEND                                         
061924,000456: 16,2720           00031                           READ     CHAN31                                
061925,000457: 16,2721           40000                           CS       A                                     
061926,000458: 16,2722           73576                           MASK     07400OCT                              
061927,000459: 16,2723           00006                           EXTEND                                         
061928,000460: 16,2724           12773                           BZF      TSNEXTP                               
061929,000461: 16,2725           00006                           EXTEND                                         
061930,000462: 16,2726           74745                           MP       BIT7                                  
061931,000463: 16,2727           50000                           INDEX    A                                     
061932,000464: 16,2730           33555                           CA       INDXYZ                                
061933,000465: 16,2731           55742                           TS       ROTINDEX                              
061934,000466: 16,2732           36241        TRYUORV            CA       SIX                                   
061935,000467: 16,2733           03534                           TC       SELECTYZ                              
061936,000468: 16,2734           46241                           CS       SIX                                   
061937,000469: 16,2735           61741                           AD       NUMBERT                               
061938,000470: 16,2736           00006                           EXTEND                                         
061939,000471: 16,2737           12772                           BZF      TSNEXTP    -1                         
061940,000472: 16,2740           44756                           CS       FIVE                                  
061941,000473: 16,2741           61742                           AD       ROTINDEX                              
061942,000474: 16,2742           00006                           EXTEND                                         
061943,000475: 16,2743           62761                           BZMF     ALTERYZ                               
061944,000476: 16,2744           41741                           CS       NUMBERT                               
061945,000477: 16,2745           64751                           AD       FOUR                                  
061946,000478: 16,2746           00006                           EXTEND                                         
061947,000479: 16,2747           62772                           BZMF     TSNEXTP    -1                         
061948,000480: 16,2750           05567        ABORTYZ            TC       ALARM                                 
061949,000481: 16,2751           02001                           OCT      02001                                 
061950,000482: 16,2752           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
061951,000483: 16,2753           23273                           LXCH     RCSFLAGS                              
061952,000484: 16,2754           00006                           EXTEND                                         
061953,000485: 16,2755           06001                           RXOR     1                                     

Page 1425

061955,000487: 16,2756           55273                           TS       RCSFLAGS                              
061956,000488: 16,2757           34755                           CA       ZERO                                  
061957,000489: 16,2760           12773                           TCF      TSNEXTP                               
061958,000490: 16,2761           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
061959,000491: 16,2762           23273                           LXCH     RCSFLAGS                              
061960,000492: 16,2763           00006                           EXTEND                                         
061961,000493: 16,2764           06001                           RXOR     1                                     
061962,000494: 16,2765           55273                           TS       RCSFLAGS                              
061963,000495: 16,2766           74753                           MASK     BIT1                                  
061964,000496: 16,2767           64751                           AD       FOUR                                  
061965,000497: 16,2770           27742                           ADS      ROTINDEX                              
061966,000498: 16,2771           12732                           TCF      TRYUORV                               
061967,000499: 16,2772           31737                           CA       POLYTEMP                              
061968,000500: 16,2773           55470        TSNEXTP            TS       NEXTP                                 
061969,000501: 
061970,000502:                                                                                                  #  STATE LOGIC
061971,000503:                                                                                                  #    CHECK IN ORDER:             IF ON
061972,000504:                                                                                                  #    LPDPHASE                    GO TO PURGENCY
061973,000505:                                                                                                  #    PULSES                      MINIMUM PULSE LOGIC
061974,000506:                                                                                                  #    DETENT(BIT15 CH31)          RATE COMMAND
061975,000507:                                                                                                  #    GO TO PURGENCY
061976,000508: 
061977,000509: 16,2774           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
061978,000510: 16,2775           00006                           EXTEND                                         
061979,000511: 16,2776           02031                           RAND     CHAN31                                
061980,000512: 16,2777           00006                           EXTEND                                         
061981,000513: 16,3000           13006                           BZF      MANMODE                               
061982,000514: 
061983,000515: 16,3001           30111                           CA       DAPBOOLS                              
061984,000516: 16,3002           74743                           MASK     XOVINHIB                              
061985,000517: 16,3003           10000                           CCS      A                                     
061986,000518: 16,3004           13442                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
061987,000519: 
061988,000520: 16,3005           13050                           TCF      DETENTCK                              
061989,000521: 16,3006           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
061990,000522: 16,3007           70111                           MASK     DAPBOOLS                              
061991,000523: 16,3010           00006                           EXTEND                                         
061992,000524: 16,3011           13050                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
061993,000525: 
061994,000526: 16,3012           34755                           CA       ZERO                                  
061995,000527: 16,3013           55462                           TS       PERROR                                
061996,000528: 
061997,000529:                                                                                                  #  MINIMUM IMPULSE MODE
061998,000530: 
061999,000531: 16,3014           30032                           CA       CDUX                                  
062000,000532: 16,3015           55633                           TS       CDUXD                                 
062001,000533: 
062002,000534: 16,3016           11456                           CCS      OLDPMIN                               
062003,000535: 16,3017           13033                           TCF      CHECKP                                
062004,000536: 
062005,000537: 16,3020           34751        FIREP              CA       BIT3                                  
062006,000538: 16,3021           00006                           EXTEND                                         

Page 1426

062008,000540: 16,3022           02031                           RAND     CHAN31                                
062009,000541: 16,3023           00006                           EXTEND                                         
062010,000542: 16,3024           13043                           BZF      +XMIN                                 
062011,000543: 
062012,000544: 16,3025           34750                           CA       BIT4                                  
062013,000545: 16,3026           00006                           EXTEND                                         
062014,000546: 16,3027           02031                           RAND     CHAN31                                
062015,000547: 16,3030           00006                           EXTEND                                         
062016,000548: 16,3031           13041                           BZF      -XMIN                                 
062017,000549: 
062018,000550: 16,3032           13421                           TCF      JETSOFF                               
062019,000551: 
062020,000552: 16,3033           00006        CHECKP             EXTEND                                         
062021,000553: 16,3034           00031                           READ     CHAN31                                
062022,000554: 16,3035           40000                           CS       A                                     
062023,000555: 16,3036           75742                           MASK     OCT14                                 
062024,000556: 16,3037           55456                           TS       OLDPMIN                               
062025,000557: 16,3040           13421                           TCF      JETSOFF                               
062026,000558: 
062027,000559: 16,3041           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS.  CORRECTED
062028,000560: 16,3042           13044                           TCF      +2                                    #    IN JET SELECTION ROUTINE
062029,000561: 16,3043           34363        +XMIN              CA       TEN                                   
062030,000562: 16,3044           55524                           TS       TJP                                   
062031,000563: 16,3045           34753                           CA       ONE                                   
062032,000564: 16,3046           55456                           TS       OLDPMIN                               
062033,000565: 16,3047           13327                           TCF      PJETSLEC   -6                         
062034,000566: 
062035,000567:                                                                                                  #                                        MANUAL RATE COMMAND MODE
062036,000568:                                                                                                  #                                        ========================
062037,000569:                                                                                                  #                                          BY ROBERT F. STENGEL
062038,000570: 
062039,000571:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:                    1) DIRECT RATE AND 2) PSEUDO-AUTO.
062040,000572:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
062041,000573:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
062042,000574: 
062043,000575:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
062044,000576:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
062045,000577:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
062046,000578:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
062047,000579:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
062048,000580:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
062049,000581: 
062050,000582:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
062051,000583:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
062052,000584:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
062053,000585: 
062054,000586:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
062055,000587:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
062056,000588:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
062057,000589:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.

Page 1427

062059,000591:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
062060,000592:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
062061,000593: 
062062,000594: 16,3050           00006        DETENTCK           EXTEND                                         
062063,000595: 16,3051           00031                           READ     CHAN31                                
062064,000596: 16,3052           55441                           TS       CH31TEMP                              
062065,000597: 16,3053           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
062066,000598: 16,3054           00006                           EXTEND                                         
062067,000599: 16,3055           13202                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
062068,000600: 16,3056           34740                           CAF      OURRCBIT                              #  IN DETENT. CHECK THE RATE COMMAND BIT.
062069,000601: 16,3057           70111                           MASK     DAPBOOLS                              
062070,000602: 16,3060           00006                           EXTEND                                         
062071,000603: 16,3061           13442                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
062072,000604: 
062073,000605:                                                                                                  #  ........................................................................
062074,000606: 
062075,000607: 16,3062           34743                           CA       BIT9                                  #  JUST IN DETENT??
062076,000608: 16,3063           71273                           MASK     RCSFLAGS                              
062077,000609: 16,3064           00006                           EXTEND                                         
062078,000610: 16,3065           13077                           BZF      RUTH                                  
062079,000611: 16,3066           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
062080,000612: 16,3067           00006                           EXTEND                                         
062081,000613: 16,3070           02031                           RAND     CHAN31                                
062082,000614: 16,3071           00006                           EXTEND                                         
062083,000615: 16,3072           13177                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
062084,000616: 
062085,000617: 16,3073           45014                           CS       BITS9,11                              #  IN AUTO.
062086,000618: 16,3074           71273                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
062087,000619: 16,3075           55273                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
062088,000620: 16,3076           13177                           TCF      RATEDAMP                              
062089,000621: 
062090,000622: 16,3077           31273        RUTH               CA       RCSFLAGS                              
062091,000623: 16,3100           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
062092,000624: 16,3101           00006                           EXTEND                                         
062093,000625: 16,3102           13104                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
062094,000626: 16,3103           13177                           TCF      RATEDAMP                              
062095,000627: 16,3104           31273                           CA       RCSFLAGS                              
062096,000628: 16,3105           74741                           MASK     QRBIT                                 
062097,000629: 16,3106           00006                           EXTEND                                         
062098,000630: 16,3107           13115                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
062099,000631: 16,3110           13177                           TCF      RATEDAMP                              
062100,000632: 
062101,000633:                                                                                                  #  ============================================
062102,000634: 
062103,000635: 16,3111           00001        1/10SEC            OCT      1                                     
062104,000636: 16,3112           00050        40CYC              OCT      50                                    
062105,000637: 16,3113           74777        PQRBIT             OCT      74777                                 
062106,000638: 16,3114     5014               BITS9,11           EQUALS   EBANK5                                
062107,000639: 16,3114           00056        LINRATP            DEC      46         B-14                       
062108,000640: 
062109,000641:                                                                                                  #  ============================================
062110,000642: 
062111,000643: 16,3115           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
062112,000644: 16,3116           00004                           INHINT                                         #  ALL AXES.
062113,000645: 16,3117           70111                           MASK     DAPBOOLS                              

Page 1428

062115,000647: 16,3120           54111                           TS       DAPBOOLS                              
062116,000648: 
062117,000649:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
062118,000650: 
062119,000651: 16,3121           34737                           CAF      BIT13                                 
062120,000652: 16,3122           00006                           EXTEND                                         
062121,000653: 16,3123           02031                           RAND     CHAN31                                
062122,000654: 16,3124           00006                           EXTEND                                         
062123,000655: 16,3125           13131                           BZF      +4                                    
062124,000656: 16,3126           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
062125,000657: 16,3127           55633                           TS       CDUXD                                 
062126,000658: 16,3130           03133                           TC       +3                                    
062127,000659: 16,3131           04674                           TC       IBNKCALL                              
062128,000660: 16,3132           40153                           FCADR    ZATTEROR                              
062129,000661: 16,3133           00003                           RELINT                                         
062130,000662: 16,3134           13442                           TCF      PURGENCY                              
062131,000663: 
062132,000664: 16,3135           55462                           TS       PERROR                                
062133,000665: 16,3136           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
062134,000666: 16,3137           26111                           ADS      DAPBOOLS                              
062135,000667: 16,3140           34755                           CA       ZERO                                  
062136,000668: 16,3141           55444                           TS       DXERROR                               
062137,000669: 16,3142           55445                           TS       DXERROR    +1                         
062138,000670: 16,3143           55446                           TS       DYERROR                               
062139,000671: 16,3144           55447                           TS       DYERROR    +1                         
062140,000672: 16,3145           55450                           TS       DZERROR                               
062141,000673: 16,3146           55451                           TS       DZERROR    +1                         
062142,000674: 16,3147           55452                           TS       PLAST                                 
062143,000675: 16,3150           55453                           TS       QLAST                                 
062144,000676: 16,3151           55454                           TS       RLAST                                 
062145,000677: 16,3152           54042                           TS       Q-RHCCTR                              
062146,000678: 16,3153           54044                           TS       R-RHCCTR                              
062147,000679: 16,3154           33113                           CA       PQRBIT                                
062148,000680: 16,3155           71273                           MASK     RCSFLAGS                              
062149,000681: 16,3156           55273                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.
062150,000682: 16,3157           41273                           CS       RCSFLAGS                              #  SET 'JUST-IN' BIT TO 1.
062151,000683: 16,3160           74743                           MASK     BIT9                                  
062152,000684: 16,3161           27273                           ADS      RCSFLAGS                              
062153,000685: 16,3162           03164                           TC       ZEROENBL                              
062154,000686: 16,3163           13421                           TCF      JETSOFF                               
062155,000687: 16,3164           22044        ZEROENBL           LXCH     R-RHCCTR                              
062156,000688: 16,3165           30042                           CA       Q-RHCCTR                              
062157,000689: 16,3166           53461                           DXCH     SAVEHAND                              
062158,000690: 16,3167           34755                           CA       ZERO                                  
062159,000691: 16,3170           54043                           TS       P-RHCCTR                              
062160,000692: 16,3171           54042                           TS       Q-RHCCTR                              
062161,000693: 16,3172           54044                           TS       R-RHCCTR                              
062162,000694: 16,3173           33602                           CA       BITS8,9                               
062163,000695: 16,3174           00006                           EXTEND                                         
062164,000696: 16,3175           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED

Page 1429

062166,000698: 16,3176           00002                           TC       Q                                     
062167,000699: 16,3177           34755        RATEDAMP           CA       ZERO                                  
062168,000700: 16,3200           54043                           TS       P-RHCCTR                              
062169,000701: 16,3201           13206                           TCF      RATERROR                              
062170,000702: 
062171,000703: 16,3202           34740        RHCMOVED           CA       OURRCBIT                              #  P CONTROL
062172,000704: 16,3203           70111                           MASK     DAPBOOLS                              
062173,000705: 16,3204           00006                           EXTEND                                         
062174,000706: 16,3205           13135                           BZF      JUSTOUT    -1                         
062175,000707: 16,3206           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
062176,000708: 16,3207           55633                           TS       CDUXD                                 #  X-AXIS OVERRIDE
062177,000709: 16,3210           10043                           CCS      P-RHCCTR                              
062178,000710: 16,3211           13214                           TCF      +3                                    
062179,000711: 16,3212           13214                           TCF      +2                                    
062180,000712: 16,3213           13214                           TCF      +1                                    
062181,000713: 16,3214           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
062182,000714: 16,3215           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
062183,000715: 16,3216           63114                           AD       LINRATP                               #   AUTOPILOT)
062184,000716: 16,3217           00006                           EXTEND                                         
062185,000717: 16,3220           70043                           MP       P-RHCCTR                              
062186,000718: 16,3221           30001                           CA       L                                     
062187,000719: 16,3222           00006                           EXTEND                                         
062188,000720: 16,3223           71442                           MP       STIKSENS                              
062189,000721: 16,3224           57452                           XCH      PLAST                                 
062190,000722: 16,3225           40000                           COM                                            
062191,000723: 16,3226           61452                           AD       PLAST                                 
062192,000724: 16,3227           55735                           TS       DAPTEMP1                              
062193,000725: 16,3230           03164                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.
062194,000726: 16,3231           41452                           CS       PLAST                                 
062195,000727: 16,3232           61417                           AD       OMEGAP                                
062196,000728: 16,3233           55425                           TS       EDOTP                                 
062197,000729: 16,3234           11735                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
062198,000730: 16,3235           13240                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
062199,000731: 16,3236           13246                           TCF      +8                                    #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
062200,000732: 16,3237           13240                           TCF      +1                                    
062201,000733: 16,3240           61474                           AD       -RATEDB                               
062202,000734: 16,3241           00006                           EXTEND                                         
062203,000735: 16,3242           63246                           BZMF     +4                                    
062204,000736: 16,3243           33112                           CA       40CYC                                 
062205,000737: 16,3244           55443                           TS       TCP                                   
062206,000738: 16,3245           03257                           TC       PEGI                                  
062207,000739: 16,3246           31273                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
062208,000740: 16,3247           74742                           MASK     PBIT                                  
062209,000741: 16,3250           00006                           EXTEND                                         
062210,000742: 16,3251           13253                           BZF      +2                                    
062211,000743: 16,3252           03257                           TC       PEGI                                  #  TO PURE RATE COMMAND
062212,000744: 16,3253           31444                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
062213,000745: 16,3254           55750                           TS       E                                     #  X-ATTITUDE ERROR (SP)
062214,000746: 16,3255           55462                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062215,000747: 16,3256           03446                           TC       PURGENCY   +4                         

Page 1430

062217,000749: 16,3257           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
062218,000750: 16,3260           55633                           TS       CDUXD                                 
062219,000751: 16,3261           34755                           CA       ZERO                                  
062220,000752: 16,3262           55444                           TS       DXERROR                               
062221,000753: 16,3263           55445                           TS       DXERROR    +1                         
062222,000754: 16,3264           55462                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062223,000755: 16,3265           11425                           CCS      EDOTP                                 
062224,000756: 16,3266           03271                           TC       +3                                    
062225,000757: 16,3267           03271                           TC       +2                                    
062226,000758: 16,3270           03271                           TC       +1                                    
062227,000759: 16,3271           55735                           TS       ABSEDOTP                              
062228,000760: 16,3272           61474                           AD       TARGETDB                              
062229,000761: 16,3273           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
062230,000762: 16,3274           63304                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
062231,000763: 16,3275           31443                           CA       TCP                                   
062232,000764: 16,3276           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
062233,000765: 16,3277           63304                           BZMF     LAST                                  
062234,000766: 16,3300           41273                           CS       RCSFLAGS                              
062235,000767: 16,3301           74742                           MASK     PBIT                                  
062236,000768: 16,3302           27273                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
062237,000769: 16,3303           13307                           TCF      +4                                    
062238,000770: 16,3304           44742        LAST               CS       PBIT                                  
062239,000771: 16,3305           71273                           MASK     RCSFLAGS                              
062240,000772: 16,3306           55273                           TS       RCSFLAGS                              #  BIT 10 IS 0.
062241,000773: 16,3307           41425                           CS       EDOTP                                 
062242,000774: 16,3310           00006                           EXTEND                                         
062243,000775: 16,3311           71551                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI
062244,000776: 16,3312           20001                           DAS      A                                     
062245,000777: 16,3313           02277                           TC       OVERSUB                               
062246,000778: 16,3314           00006                           EXTEND                                         
062247,000779: 16,3315           77715                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
062248,000780: 16,3316           55524                           TS       TJP                                   #  4.JET TIME
062249,000781: 16,3317           31735                           CA       ABSEDOTP                              
062250,000782: 16,3320           61473                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
062251,000783: 16,3321           00006                           EXTEND                                         
062252,000784: 16,3322           63325                           BZMF     +3                                    
062253,000785: 
062254,000786: 16,3323           36241                           CA       SIX                                   
062255,000787: 16,3324           13334                           TCF      +8D                                   
062256,000788: 16,3325           31524                           CA       TJP                                   
062257,000789: 16,3326           27524                           ADS      TJP                                   
062258,000790: 
062259,000791:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
062260,000792: 
062261,000793:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
062262,000794: 
062263,000795:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
062264,000796:                                                                                                  #                TJP             + FOR +P ROTATION
062265,000797: 
062266,000798:                                                                                                  #  OUTPUT:       CHANNEL 6
062267,000799:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP

Page 1431

062269,000801:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
062270,000802: 
062271,000803:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
062272,000804:                                                                                                  #        +P      -P
062273,000805:                                                                                                  #        7,15    8,16
062274,000806:                                                                                                  #        4,12    3,11
062275,000807:                                                                                                  #        4,7     8,11
062276,000808:                                                                                                  #        7,12    11,16
062277,000809:                                                                                                  #        12,15   3,16
062278,000810:                                                                                                  #        4,15    3,8
062279,000811:                                                                                                  #        ALARM   ALARM
062280,000812: 
062281,000813: 16,3327           34747                           CA       AORBSYST                              
062282,000814: 16,3330           70111                           MASK     DAPBOOLS                              
062283,000815: 16,3331           10000                           CCS      A                                     
062284,000816: 16,3332           34753                           CA       ONE                                   
062285,000817: 16,3333           64751                           AD       FOUR                                  
062286,000818: 16,3334           55741                           TS       NUMBERT                               
062287,000819: 16,3335           34753        PJETSLEC           CA       ONE                                   
062288,000820: 16,3336           54001                           TS       L                                     
062289,000821: 16,3337           11524                           CCS      TJP                                   
062290,000822: 16,3340           13345                           TCF      +5                                    
062291,000823: 16,3341           13421                           TCF      JETSOFF                               
062292,000824: 16,3342           13344                           TCF      +2                                    
062293,000825: 16,3343           13421                           TCF      JETSOFF                               
062294,000826: 16,3344           22007                           ZL                                             
062295,000827: 16,3345           64753                           AD       ONE                                   
062296,000828: 16,3346           55735                           TS       ABSTJ                                 
062297,000829: 16,3347           23742                           LXCH     ROTINDEX                              
062298,000830: 16,3350           03514                           TC       SELECTP                               
062299,000831: 16,3351           46241                           CS       SIX                                   
062300,000832: 16,3352           61741                           AD       NUMBERT                               
062301,000833: 16,3353           00006                           EXTEND                                         
062302,000834: 16,3354           13356                           BZF      +2                                    
062303,000835: 
062304,000836: 16,3355           44752                           CS       TWO                                   
062305,000837: 16,3356           64751                           AD       FOUR                                  
062306,000838: 16,3357           55521                           TS       NO.PJETS                              
062307,000839: 16,3360           31737                           CA       POLYTEMP                              
062308,000840: 16,3361           05745                           TC       WRITEP                                
062309,000841: 16,3362           41735                           CS       ABSTJ                                 
062310,000842: 16,3363           63575                           AD       +150MST6                              
062311,000843: 16,3364           00006                           EXTEND                                         
062312,000844: 16,3365           63607                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
062313,000845: 
062314,000846: 16,3366           63555                           AD       -136MST6                              
062315,000847: 16,3367           00006                           EXTEND                                         
062316,000848: 16,3370           63375                           BZMF     +5                                    
062317,000849: 
062318,000850: 16,3371           27735                           ADS      ABSTJ                                 
062319,000851: 16,3372           51742                           INDEX    ROTINDEX                              

Page 1432

062321,000853: 16,3373           33604                           CA       MINTIMES                              
062322,000854: 16,3374           55524                           TS       TJP                                   
062323,000855: 
062324,000856: 16,3375           31735                           CA       ABSTJ                                 
062325,000857: 16,3376           22007                           ZL                                             
062326,000858: 16,3377           00004                           INHINT                                         
062327,000859: 16,3400           53467                           DXCH     T6FURTHA                              
062328,000860: 16,3401           04674                           TC       IBNKCALL                              
062329,000861: 16,3402           37046                           CADR     JTLST                                 
062330,000862: 16,3403           44740                           CS       BIT12                                 
062331,000863: 16,3404           71273                           MASK     RCSFLAGS                              
062332,000864: 16,3405           55273                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
062333,000865: 16,3406           03410                           TC       ALTSYST                               
062334,000866: 16,3407           13607                           TCF      QRAXIS                                
062335,000867: 
062336,000868: 16,3410           30111        ALTSYST            CA       DAPBOOLS                              #  ALTERNATE P-AXIS JETS
062337,000869: 16,3411           54001                           TS       L                                     
062338,000870: 16,3412           34747                           CA       AORBSYST                              
062339,000871: 16,3413           00006                           EXTEND                                         
062340,000872: 16,3414           06001                           RXOR     LCHAN                                 
062341,000873: 16,3415           54111                           TS       DAPBOOLS                              
062342,000874: 16,3416           00003                           RELINT                                         
062343,000875: 16,3417           00002                           TC       Q                                     
062344,000876: 
062345,000877: 16,3420           03410        DKALT              TC       ALTSYST                               
062346,000878: 
062347,000879: 16,3421           05744        JETSOFF            TC       WRITEP     -1                         
062348,000880: 16,3422           34755                           CA       ZERO                                  
062349,000881: 16,3423           55524                           TS       TJP                                   
062350,000882: 16,3424           13607                           TCF      QRAXIS                                
062351,000883: 
062352,000884:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
062353,000885: 
062354,000886: 16,3425           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
062355,000887: 16,3426           00006                           EXTEND                                         
062356,000888: 16,3427           21634                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)            
062357,000889: 16,3430           00006                           EXTEND                                         
062358,000890: 16,3431           71412                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
062359,000891: 16,3432           57750                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
062360,000892: 16,3433           30032                           CA       CDUX                                  #  THIRD COMPONENT
062361,000893: 16,3434           00006                           EXTEND                                         
062362,000894: 16,3435           21633                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
062363,000895:                                                                                                  #                EXTEND
062364,000896:                                                                                                  #                MP      M13
062365,000897: 16,3436           61277                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
062366,000898: 16,3437           27750                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
062367,000899: 16,3440           57462                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
062368,000900: 16,3441           00002                           TC       Q                                     #  RETURN TO CALLER
062369,000901: 
062370,000902:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.

Page 1433

062372,000904: 16,3442           03425        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
062373,000905: 16,3443           41641                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
062374,000906: 16,3444           61417                           AD       OMEGAP                                #  SPS-BACKUP MODE.
062375,000907: 16,3445           55425                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
062376,000908: 
062377,000909: 16,3446           44753                           CS       ONE                                   
062378,000910: 16,3447           55476                           TS       AXISCTR                               
062379,000911: 16,3450           30111                           CA       DAPBOOLS                              
062380,000912: 16,3451           74737                           MASK     CSMDOCKD                              
062381,000913: 16,3452           00006                           EXTEND                                         
062382,000914: 16,3453           13470                           BZF      HEADTJET                              
062383,000915: 16,3454           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
062384,000916: 16,3455           04674                           TC       IBNKCALL                              
062385,000917: 16,3456           37700                           CADR     SPSRCS                                
062386,000918: 
062387,000919: 16,3457           31524                           CA       TJP                                   
062388,000920: 16,3460           00006                           EXTEND                                         
062389,000921: 16,3461           13420                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
062390,000922: 16,3462           00003                           RELINT                                         
062391,000923: 16,3463           41741                           CS       NUMBERT                               
062392,000924: 16,3464           66241                           AD       SIX                                   
062393,000925: 16,3465           00006                           EXTEND                                         #  IF NUMBERT = 6 BYPASS AORBSYST CHECK
062394,000926: 16,3466           13335                           BZF      PJETSLEC                              #     AND USE FOUR JETS,  OTHERWISE,
062395,000927: 16,3467           13327                           TCF      PJETSLEC   -6                         #     SELECT AORBSYST AND USE TWO JETS
062396,000928: 16,3470           34755        HEADTJET           CA       ZERO                                  
062397,000929: 16,3471           55477                           TS       SENSETYP                              
062398,000930: 16,3472           00004                           INHINT                                         
062399,000931: 16,3473           04674                           TC       IBNKCALL                              
062400,000932: 16,3474           37207                           CADR     TJETLAW                               
062401,000933: 16,3475           00003                           RELINT                                         
062402,000934: 
062403,000935: 16,3476           41737                           CS       FIREFCT                               
062404,000936: 16,3477           63513                           AD       -FOURDEG                              
062405,000937: 16,3500           00006                           EXTEND                                         
062406,000938: 16,3501           63327                           BZMF     PJETSLEC   -6                         
062407,000939: 16,3502           11524                           CCS      TJP                                   
062408,000940: 16,3503           13505                           TCF      +2                                    
062409,000941: 16,3504           13421                           TCF      JETSOFF                               
062410,000942: 16,3505           63512                           AD       -160MST6                              
062411,000943: 16,3506           00006                           EXTEND                                         
062412,000944: 16,3507           63327                           BZMF     PJETSLEC   -6                         
062413,000945: 16,3510           36241                           CA       SIX                                   
062414,000946: 16,3511           13334                           TCF      PJETSLEC   -1                         
062415,000947: 16,3512           77377        -160MST6           DEC      -256       B-14                       
062416,000948: 16,3513           75117        -FOURDEG           DEC      -.08888                               
062417,000949: 

Page 1434

062419,000951:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
062420,000952: 
062421,000953:                                                                                                  #  INPUT:        ROTINDEX, NUMBERT
062422,000954: 
062423,000955:                                                                                                  #  OUTPUT:       POLYTEMP (JET POLICY)
062424,000956: 
062425,000957:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
062426,000958: 
062427,000959: 16,3514           36241        SELECTP            CA       SIX                                   
062428,000960: 16,3515           55740                           TS       TEMPNUM                               
062429,000961: 16,3516           51741                           INDEX    NUMBERT                               
062430,000962: 16,3517           33546                           CA       TYPEP                                 
062431,000963: 16,3520           51742                           INDEX    ROTINDEX                              
062432,000964: 16,3521           73537                           MASK     JETSALL                               
062433,000965: 16,3522           55737                           TS       POLYTEMP                              
062434,000966: 16,3523           71263                           MASK     CH6MASK                               
062435,000967: 16,3524           10000                           CCS      A                                     
062436,000968: 16,3525           13527                           TCF      +2                                    
062437,000969: 16,3526           00002                           TC       Q                                     
062438,000970: 16,3527           11740                           CCS      TEMPNUM                               
062439,000971: 16,3530           13534                           TCF      +4                                    
062440,000972: 16,3531           05567                           TC       ALARM                                 
062441,000973: 16,3532           02003                           OCT      02003                                 
062442,000974: 16,3533           13421                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
062443,000975: 16,3534           55741        SELECTYZ           TS       NUMBERT                               
062444,000976: 16,3535           13515                           TCF      SELECTP    +1                         
062445,000977: 16,3536           12752                 -1        TCF      ABORTYZ    +2                         
062446,000978: 16,3537           00252        JETSALL            OCT      00252                                 
062447,000979: 16,3540           00125                           OCT      00125                                 #  +P
062448,000980: 16,3541           00140                           OCT      00140                                 #  -Y
062449,000981: 16,3542           00006                           OCT      00006                                 #  -Z
062450,000982: 16,3543           00220                           OCT      00220                                 #  +Y
062451,000983: 16,3544           00011                           OCT      00011                                 #  +Z
062452,000984: 16,3545           00151                           OCT      00151                                 #  +V
062453,000985: 16,3546           00146        TYPEP              OCT      00146                                 #  -U
062454,000986: 16,3547           00226                           OCT      00226                                 #  -V
062455,000987: 16,3550           00231                           OCT      00231                                 #  +U
062456,000988: 16,3551           00151                           OCT      00151                                 #  +V
062457,000989: 16,3552           00132                           OCT      00132                                 #  1-3
062458,000990: 16,3553           00245                           OCT      00245                                 #  2-4
062459,000991: 16,3554           00377                           OCT      00377                                 #  ALL
062460,000992: 16,3555  16,3555               INDXYZ             =        -136MST6                              
062461,000993: 16,3555           77445        -136MST6           DEC      -218       B-14                       
062462,000994: 16,3556           00004                           DEC      4          B-14                       
062463,000995: 16,3557           00002                           DEC      2          B-14                       
062464,000996: 16,3560           07776                           OCT      07776                                 
062465,000997: 16,3561           00005                           DEC      5          B-14                       
062466,000998: 16,3562           00011                           DEC      9          B-14                       
062467,000999: 16,3563           00012                           DEC      10         B-14                       
062468,001000: 16,3564           07776                           OCT      07776                                 
062469,001001: 16,3565           00003                           DEC      3          B-14                       

Page 1435

062471,001003: 16,3566           00010                           DEC      8          B-14                       
062472,001004: 16,3567           00007                           DEC      7          B-14                       
062473,001005: 16,3570           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
062474,001006: 16,3571           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
062475,001007: 16,3572           07776                           OCT      07776                                 #  TO BE    TC  JETSALL -1
062476,001008: 16,3573           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
062477,001009: 16,3574           07776                           OCT      07776                                 
062478,001010: 16,3575           00360        +150MST6           DEC      240        B-14                       
062479,001011: 16,3576           07400        07400OCT           OCT      07400                                 
062480,001012: 
062481,001013:                                                                                                  #  T-JET LAW FIXED CONSTANTS
062482,001014: 
062483,001015: 16,3577           00266        NORMSCL            OCT      266                                   
062484,001016: 16,3600           74631        -100MS             DEC      -.1                                   
062485,001017: 16,3601           06315        200MS              DEC      .2                                    
062486,001018: 16,3602     7715               25/32              =        PRIO31                                #  (DEC .78125)
062487,001019: 16,3602           00600        BITS8,9            OCTAL    00600                                 
062488,001020: 16,3603           00632        1/40               DEC      .02500                                
062489,001021: 16,3604           77751        MINTIMES           DEC      -22        B-14                       
062490,001022: 16,3605           00026                           DEC      22         B-14                       
062491,001023: 16,3606           02713        PSKIPADR           GENADR   SKIPPAXS                              
062492,001024: 
062493,001025:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
062494,001026: 16,3607           41643        QRAXIS             CS       OMEGARD                               
062495,001027: 16,3610           61421                           AD       OMEGAR                                
062496,001028: 16,3611           02277                           TC       OVERSUB                               
062497,001029: 16,3612           55435                           TS       EDOTR                                 
062498,001030: 16,3613           41642                           CS       OMEGAQD                               
062499,001031: 16,3614           61420                           AD       OMEGAQ                                
062500,001032: 16,3615           02277                           TC       OVERSUB                               
062501,001033: 16,3616           55434                           TS       EDOTQ                                 
062502,001034: 16,3617           00006                           EXTEND                                         
062503,001035: 16,3620           33623                           DCA      QERRCALL                              
062504,001036: 16,3621           52006                           DTCB                                           
062505,001037: 
062506,001038: 16,3622  E6,1537                                  EBANK=   AOSQ                                  
062507,001039: 16,3622           02043 36106  QERRCALL           2CADR    CALLQERR                              

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