Source Code

These source-code files are part of a reconstructed copy of Luminary 178, the final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Zerlina 56, Luminary 210, and Luminary 131, previously transcribed from digitized copies of those programs. The code was created by combining the three, using Zerlina 56 as a base, since it was based off of Luminary 183. The differences between the three were carefully merged using the Luminary memos as a guide, with all changes made after Luminary 178 being backed out. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152N. Note that page numbers in the reconstructed code match those for the baseline log section mentioned in each file's changelog; the page numbers for a real Luminary 178 listing would be different.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

061556,000002:                                                                                                  ## Copyright:   Public domain.
061557,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
061558,000004:                                                                                                  ## Purpose:     A section of Luminary revision 178.
061559,000005:                                                                                                  ##              It is part of the reconstructed source code for the final
061560,000006:                                                                                                  ##              release of the flight software for the Lunar Module's
061561,000007:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
061562,000008:                                                                                                  ##              code has been recreated from copies of Zerlina 56, Luminary
061563,000009:                                                                                                  ##              210, and Luminary 131, as well as many Luminary memos.
061564,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
061565,000011:                                                                                                  ##              exactly match those specified for Luminary 178 in NASA
061566,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
061567,000013:                                                                                                  ##              that the reconstruction is correct.
061568,000014:                                                                                                  ## Reference:   pp. 1430-1447
061569,000015:                                                                                                  ## Assembler:   yaYUL
061570,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061571,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061572,000018:                                                                                                  ## Mod history: 2019-08-14 MAS  Created from Zerlina 56.
061573,000019: 

Page 1430

061575,000021: 17,2124                                           BANK     17                                    
061576,000022: 17,2000                                           SETLOC   DAPS2                                 
061577,000023: 17,2000                                           BANK                                           
061578,000024: 
061579,000025: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
061580,000026: 
061581,000027: 17,2124                                           COUNT*   $$/DAPQR                              
061582,000028: 
061583,000029: 
061584,000030: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
061585,000031: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
061586,000032: 17,2126           02031                           RAND     CHAN31                                
061587,000033: 17,2127           10000                           CCS      A                                     
061588,000034: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
061589,000035: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
061590,000036: 17,2132           74740                           MASK     OURRCBIT                              
061591,000037: 17,2133           00006                           EXTEND                                         
061592,000038: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
061593,000039: 17,2135           02655                           TC       QERRCALC                              
061594,000040: 
061595,000041: 
061596,000042: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061597,000043: 17,2137           12636                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
061598,000044: 17,2140           12623                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
061599,000045: 17,2141           34755        RCS                CAF      ZERO                                  #    RCS (TRYGTS MAY BRANCH TO HERE)
061600,000046: 17,2142           55630                           TS       COTROLER                              
061601,000047: 
061602,000048: 17,2143           53437                           DXCH     EDOTQ                                 
061603,000049: 17,2144           03200                           TC       ROT-TOUV                              
061604,000050: 17,2145           53427                           DXCH     OMEGAU                                
061605,000051: 
061606,000052:                                                                                                  #                                          X - TRANSLATION:
061607,000053: 
061608,000054:                                                                                                  #                                          INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061609,000055:                                                                                                  #                                                   ULLAGER
061610,000056:                                                                                                  #                                                   APSFLAG, DRIFTBIT
061611,000057:                                                                                                  #                                                   ACC40R2X, ACRBTRAN
061612,000058: 
061613,000059:                                                                                                  #                                          OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
061614,000060:                                                                                                  #                                                   SENSETYP           TELL ROTATION DIRECTION AND DESIRE
061615,000061: 
061616,000062:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
061617,000063:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061618,000064: 
061619,000065: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
061620,000066: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
061621,000067: 17,2150           02031                           RAND     CHAN31                                
061622,000068: 17,2151           00006                           EXTEND                                         
061623,000069: 17,2152           12200                           BZF      +XORULGE                              
061624,000070: 

Page 1431

061626,000072: 17,2153           34744                           CA       BIT8                                  
061627,000073: 17,2154           00006                           EXTEND                                         
061628,000074: 17,2155           02031                           RAND     CHAN31                                
061629,000075: 17,2156           00006                           EXTEND                                         
061630,000076: 17,2157           12201                           BZF      -XTRANS                               
061631,000077: 
061632,000078: 17,2160           34746                           CA       ULLAGER                               
061633,000079: 17,2161           70111                           MASK     DAPBOOLS                              
061634,000080: 17,2162           10000                           CCS      A                                     
061635,000081: 17,2163           12200                           TCF      +XORULGE                              
061636,000082: 
061637,000083: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
061638,000084: 17,2165           55474                           TS       NEXTV                                 
061639,000085: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
061640,000086: 17,2167           74744                           MASK     DRIFTBIT                              
061641,000087: 17,2170           00006                           EXTEND                                         
061642,000088: 17,2171           12176                           BZF      TSENSE                                
061643,000089: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
061644,000090: 17,2173           74737                           MASK     APSFLBIT                              
061645,000091: 17,2174           10000                           CCS      A                                     
061646,000092: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
061647,000093: 17,2176           55500        TSENSE             TS       SENSETYP                              
061648,000094: 17,2177           12232                           TCF      QRCONTRL                              
061649,000095: 
061650,000096: 17,2200           34753        +XORULGE           CAF      ONE                                   
061651,000097: 17,2201           64751        -XTRANS            AD       FOUR                                  
061652,000098: 17,2202           55743                           TS       ROTINDEX                              
061653,000099: 17,2203           67750                           AD       NEG3                                  
061654,000100: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
061655,000101: 17,2205           30111                           CA       DAPBOOLS                              
061656,000102: 17,2206           74741                           MASK     ACC4OR2X                              
061657,000103: 17,2207           10000                           CCS      A                                     
061658,000104: 17,2210           12352                           TCF      TRANS4                                
061659,000105: 
061660,000106: 17,2211           30111                           CA       DAPBOOLS                              
061661,000107: 17,2212           74742                           MASK     AORBTRAN                              
061662,000108: 17,2213           10000                           CCS      A                                     
061663,000109: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
061664,000110: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
061665,000111: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
061666,000112: 
061667,000113: 17,2217           03225                           TC       SELCTSUB                              
061668,000114: 
061669,000115: 17,2220           11740                           CCS      POLYTEMP                              
061670,000116: 17,2221           12224                           TCF      +3                                    
061671,000117: 17,2222           05600                           TC       ALARM                                 
061672,000118: 17,2223           02002                           OCT      02002                                 
061673,000119: 17,2224           35775                           CA       00314OCT                              
061674,000120: 17,2225           71740                           MASK     POLYTEMP                              
061675,000121: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1432

061677,000123: 17,2227           45775                           CS       00314OCT                              
061678,000124: 17,2230           71740                           MASK     POLYTEMP                              
061679,000125: 17,2231           55474                           TS       NEXTV                                 
061680,000126: 
061681,000127:                                                                                                  #                                          Q,R-AXES RCS CONTROL MODE SELECTION
061682,000128: 
061683,000129:                                                                                                  #                                            SWITCHES                INDICATION WHEN SET
061684,000130: 
061685,000131:                                                                                                  #                                            BIT13/CHAN31            AUTO, GO TO ATTSTEER
061686,000132:                                                                                                  #                                            PULSES                  MINIMUM IMPULSE MODE
061687,000133:                                                                                                  #                                            (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
061688,000134: 
061689,000135: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
061690,000136: 17,2233           00006                           EXTEND                                         
061691,000137: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
061692,000138: 17,2235           10000                           CCS      A                                     
061693,000139: 17,2236           12710                           TCF      ATTSTEER                              
061694,000140: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
061695,000141: 17,2240           70111                           MASK     DAPBOOLS                              
061696,000142: 17,2241           00006                           EXTEND                                         
061697,000143: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061698,000144: 
061699,000145:                                                                                                  #  MINIMUM IMPULSE MODE
061700,000146: 
061701,000147: 17,2243           00004                           INHINT                                         
061702,000148: 17,2244           04674                           TC       IBNKCALL                              
061703,000149: 17,2245           40154                           CADR     ZATTEROR                              
061704,000150: 17,2246           34755                           CA       ZERO                                  
061705,000151: 17,2247           55450                           TS       QERROR                                
061706,000152: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
061707,000153: 17,2251           00003                           RELINT                                         
061708,000154: 
061709,000155: 17,2252           00006                           EXTEND                                         
061710,000156: 17,2253           00031                           READ     CHAN31                                
061711,000157: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
061712,000158: 17,2255           11461                           CCS      OLDQRMIN                              
061713,000159: 17,2256           12300                           TCF      CHECKIN                               
061714,000160: 
061715,000161: 17,2257           31736        FIREQR             CA       TEMP31                                
061716,000162: 17,2260           74753                           MASK     BIT1                                  
061717,000163: 17,2261           00006                           EXTEND                                         
061718,000164: 17,2262           12304                           BZF      +QMIN                                 
061719,000165: 
061720,000166: 17,2263           31736                           CA       TEMP31                                
061721,000167: 17,2264           74752                           MASK     BIT2                                  
061722,000168: 17,2265           00006                           EXTEND                                         
061723,000169: 17,2266           12310                           BZF      -QMIN                                 
061724,000170: 
061725,000171: 17,2267           31736                           CA       TEMP31                                
061726,000172: 17,2270           74747                           MASK     BIT5                                  

Page 1433

061728,000174: 17,2271           00006                           EXTEND                                         
061729,000175: 17,2272           12314                           BZF      +RMIN                                 
061730,000176: 
061731,000177: 17,2273           31736                           CA       TEMP31                                
061732,000178: 17,2274           74746                           MASK     BIT6                                  
061733,000179: 17,2275           00006                           EXTEND                                         
061734,000180: 17,2276           12316                           BZF      -RMIN                                 
061735,000181: 
061736,000182: 17,2277           13112                           TCF      XTRANS                                
061737,000183: 
061738,000184: 17,2300           41736        CHECKIN            CS       TEMP31                                
061739,000185: 17,2301           72351                           MASK     OCT63                                 
061740,000186: 17,2302           55461                           TS       OLDQRMIN                              
061741,000187: 17,2303           13112                           TCF      XTRANS                                
061742,000188: 
061743,000189: 17,2304           33136        +QMIN              CA       14MS                                  
061744,000190: 17,2305           55525                           TS       TJU                                   
061745,000191: 17,2306           43136                           CS       14MS                                  
061746,000192: 17,2307           12320                           TCF      MINQR                                 
061747,000193: 17,2310           43136        -QMIN              CS       14MS                                  
061748,000194: 17,2311           55525                           TS       TJU                                   
061749,000195: 17,2312           33136                           CA       14MS                                  
061750,000196: 17,2313           12320                           TCF      MINQR                                 
061751,000197: 17,2314           33136        +RMIN              CA       14MS                                  
061752,000198: 17,2315           12317                           TCF      +2                                    
061753,000199: 17,2316           43136        -RMIN              CS       14MS                                  
061754,000200: 17,2317           55525                           TS       TJU                                   
061755,000201: 17,2320           55526        MINQR              TS       TJV                                   
061756,000202: 17,2321           32350                           CA       MINADR                                
061757,000203: 17,2322           55477                           TS       RETJADR                               
061758,000204: 17,2323           34753                           CA       ONE                                   
061759,000205: 17,2324           55461                           TS       OLDQRMIN                              
061760,000206: 17,2325           55505        MINRTN             TS       AXISCTR                               
061761,000207: 17,2326           30111                           CA       DAPBOOLS                              
061762,000208: 17,2327           74737                           MASK     CSMDOCKD                              
061763,000209: 17,2330           00006                           EXTEND                                         
061764,000210: 17,2331           12341                           BZF      MIMRET                                
061765,000211: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
061766,000212: 17,2333           11525                           CCS      TJU                                   
061767,000213: 17,2334           34776                           CA       60MS                                  
061768,000214: 17,2335           12337                           TCF      +2                                    
061769,000215: 17,2336           44776                           CS       60MS                                  
061770,000216: 17,2337           51505                           INDEX    AXISCTR                               
061771,000217: 17,2340           55525                           TS       TJU                                   
061772,000218: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
061773,000219: 17,2342           74742                           MASK     AORBTRAN                              
061774,000220: 17,2343           10000                           CCS      A                                     
061775,000221: 17,2344           34753                           CA       ONE                                   
061776,000222: 17,2345           64752                           AD       TWO                                   
061777,000223: 17,2346           55742                           TS       NUMBERT                               

Page 1434

061779,000225: 17,2347           12756                           TCF      AFTERTJ                               
061780,000226: 
061781,000227: 17,2350     4776               60MS               =        OCT140                                
061782,000228: 17,2350           02325        MINADR             GENADR   MINRTN                                
061783,000229: 17,2351           00063        OCT63              OCT      63                                    
061784,000230: 17,2352  17,3136               14MS               =        +TJMINT6                              
061785,000231: 
061786,000232: 17,2352           34751        TRANS4             CA       FOUR                                  
061787,000233: 17,2353           12216                           TCF      TSNUMBRT                              
061788,000234: 
061789,000235:                                                                                                  #                                          RATE COMMAND MODE:
061790,000236: 
061791,000237:                                                                                                  #                                          DESCRIPTION (SAME AS P-AXIS)
061792,000238: 
061793,000239: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
061794,000240: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
061795,000241: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
061796,000242: 17,2357           34735                           CA       BIT15                                 
061797,000243: 17,2360           71443                           MASK     CH31TEMP                              
061798,000244: 17,2361           00006                           EXTEND                                         
061799,000245: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
061800,000246: 17,2363           34740                           CA       OURRCBIT                              #  ***********
061801,000247: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
061802,000248: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
061803,000249: 17,2366           12710                           BZF      STILLRCS                              
061804,000250: 17,2367           44743                           CS       BIT9                                  
061805,000251: 17,2370           71262                           MASK     RCSFLAGS                              
061806,000252: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
061807,000253: 17,2372           12374                           TCF      DAMPING                               
061808,000254: 17,2373     4771               40CYCL             =        OCT50                                 
061809,000255: 17,2373     4753               1/10S              =        BIT1                                  
061810,000256: 17,2373           00056        LINRAT             DEC      46         B-14                       
061811,000257:                                                                                                  #  ================================
061812,000258: 17,2374           34755        DAMPING            CA       ZERO                                  
061813,000259: 17,2375           55462                           TS       SAVEHAND                              
061814,000260: 17,2376           55463                           TS       SAVEHAND   +1                         
061815,000261: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
061816,000262: 17,2400           12403                           TCF      +3                                    #   Q,R MANUAL CONTROL  WC = A*(B+|D|)*D
061817,000263: 17,2401           12403                           TCF      +2                                    #  *******************
061818,000264: 17,2402           12403                           TCF      +1                                    
061819,000265: 17,2403           60000                           DOUBLE                                         #    WHERE
061820,000266: 17,2404           60000                           DOUBLE                                         
061821,000267: 17,2405           62373                           AD       LINRAT                                #         WC = COMMANDED ROTATIONAL RATE
061822,000268: 17,2406           00006                           EXTEND                                         #         A  = QUADRATIC SENSITIVITY FACTOR
061823,000269: 17,2407           71462                           MP       SAVEHAND                              #         B  = LINEAR/QUADRATIC SENSITIVITY
061824,000270: 17,2410           30001                           CA       L                                     #         |D|= ABS. VALUE OF DEFLECTION
061825,000271: 17,2411           00006                           EXTEND                                         #         D  = HAND CONTROLLER DEFLECTION
061826,000272: 17,2412           71444                           MP       STIKSENS                              
061827,000273: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
061828,000274: 17,2414           40000                           COM                                            

Page 1435

061830,000276: 17,2415           61455                           AD       QLAST                                 
061831,000277: 17,2416           55740                           TS       DAPTEMP3                              
061832,000278: 17,2417           11463                           CCS      SAVEHAND   +1                         
061833,000279: 17,2420           12423                           TCF      +3                                    
061834,000280: 17,2421           12423                           TCF      +2                                    
061835,000281: 17,2422           12423                           TCF      +1                                    
061836,000282: 17,2423           60000                           DOUBLE                                         
061837,000283: 17,2424           60000                           DOUBLE                                         
061838,000284: 17,2425           62373                           AD       LINRAT                                
061839,000285: 17,2426           00006                           EXTEND                                         
061840,000286: 17,2427           71463                           MP       SAVEHAND   +1                         
061841,000287: 17,2430           30001                           CA       L                                     
061842,000288: 17,2431           00006                           EXTEND                                         
061843,000289: 17,2432           71444                           MP       STIKSENS                              
061844,000290: 17,2433           57456                           XCH      RLAST                                 
061845,000291: 17,2434           40000                           COM                                            
061846,000292: 17,2435           61456                           AD       RLAST                                 
061847,000293: 17,2436           55741                           TS       DAPTEMP4                              
061848,000294: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
061849,000295: 17,2440           61422                           AD       OMEGAQ                                
061850,000296: 17,2441           55436                           TS       QRATEDIF                              
061851,000297: 17,2442           41456                           CS       RLAST                                 
061852,000298: 17,2443           61423                           AD       OMEGAR                                
061853,000299: 17,2444           55437                           TS       RRATEDIF                              
061854,000300: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061855,000301: 17,2446           03200                           TC       ROT-TOUV                              
061856,000302: 17,2447           53427                           DXCH     URATEDIF                              
061857,000303: 17,2450           00004                           INHINT                                         #  SET AUTO DESIRED ATTITUDE TO ACTUAL
061858,000304: 17,2451           04674                           TC       IBNKCALL                              #    ATTITUDE AND ZERO AUTO DESIRED RATE
061859,000305: 17,2452           40154                           FCADR    ZATTEROR                              
061860,000306: 17,2453           00003                           RELINT                                         
061861,000307: 17,2454           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061862,000308: 17,2455           02460                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061863,000309: 17,2456           02460                           TC       +2                                    
061864,000310: 17,2457           02460                           TC       +1                                    
061865,000311: 17,2460           61476                           AD       -RATEDB                               
061866,000312: 17,2461           00006                           EXTEND                                         
061867,000313: 17,2462           62464                           BZMF     +2                                    
061868,000314: 17,2463           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061869,000315: 17,2464           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061870,000316: 17,2465           02470                           TC       +3                                    
061871,000317: 17,2466           02470                           TC       +2                                    
061872,000318: 17,2467           02470                           TC       +1                                    
061873,000319: 17,2470           61476                           AD       -RATEDB                               
061874,000320: 17,2471           00006                           EXTEND                                         
061875,000321: 17,2472           62474                           BZMF     +2                                    
061876,000322: 17,2473           12502                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061877,000323: 17,2474           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061878,000324: 17,2475           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061879,000325: 17,2476           00006                           EXTEND                                         

Page 1436

061881,000327: 17,2477           12501                           BZF      +2                                    
061882,000328: 17,2500           12504                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061883,000329: 17,2501           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061884,000330: 17,2502           34771                           CA       40CYCL                                
061885,000331: 17,2503           55457                           TS       TCQR                                  
061886,000332: 17,2504           34755        ENTERUV            CA       ZERO                                  #  *** DIRECT RATE CONTROL ***
061887,000333: 17,2505           55450                           TS       DYERROR                               
061888,000334: 17,2506           55451                           TS       DYERROR    +1                         
061889,000335: 17,2507           55452                           TS       DZERROR                               
061890,000336: 17,2510           55453                           TS       DZERROR    +1                         
061891,000337: 17,2511           11426                           CCS      URATEDIF                              
061892,000338: 17,2512           12515                           TCF      +3                                    
061893,000339: 17,2513           12515                           TCF      +2                                    
061894,000340: 17,2514           12515                           TCF      +1                                    
061895,000341: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061896,000342: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061897,000343: 17,2517           62533                           BZMF     VDB                                   
061898,000344: 17,2520           11427                           CCS      VRATEDIF                              
061899,000345: 17,2521           12524                           TCF      +3                                    
061900,000346: 17,2522           12524                           TCF      +2                                    
061901,000347: 17,2523           12524                           TCF      +1                                    
061902,000348: 17,2524           61476                           AD       TARGETDB                              
061903,000349: 17,2525           00006                           EXTEND                                         
061904,000350: 17,2526           62530                           BZMF     +2                                    
061905,000351: 17,2527           12544                           TCF      QRTIME                                
061906,000352: 17,2530           34755                           CA       ZERO                                  
061907,000353: 17,2531           55427                           TS       VRATEDIF                              
061908,000354: 17,2532           12544                           TCF      QRTIME                                
061909,000355: 17,2533           11427        VDB                CCS      VRATEDIF                              
061910,000356: 17,2534           02537                           TC       +3                                    
061911,000357: 17,2535           02537                           TC       +2                                    
061912,000358: 17,2536           02537                           TC       +1                                    
061913,000359: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061914,000360: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061915,000361: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061916,000362: 17,2542           34755                           CA       ZERO                                  #  PASS.
061917,000363: 17,2543           55426                           TS       URATEDIF                              
061918,000364: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061919,000365: 17,2545           00006                           EXTEND                                         
061920,000366: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061921,000367: 17,2547           41262                           CS       RCSFLAGS                              
061922,000368: 17,2550           74741                           MASK     QRBIT                                 
061923,000369: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061924,000370: 17,2552           02556                           TC       +4                                    
061925,000371: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
061926,000372: 17,2554           71262                           MASK     RCSFLAGS                              
061927,000373: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061928,000374: 17,2556           32622                           CA       HANDADR                               
061929,000375: 17,2557           55477                           TS       RETJADR                               
061930,000376: 17,2560           34753                           CA       ONE                                   

Page 1437

061932,000378: 17,2561           55505        BACKHAND           TS       AXISCTR                               
061933,000379: 
061934,000380: 17,2562           34751                           CA       FOUR                                  
061935,000381: 17,2563           55742                           TS       NUMBERT                               
061936,000382: 
061937,000383: 17,2564           51505                           INDEX    AXISCTR                               
061938,000384: 17,2565           51534                           INDEX    SKIPU                                 
061939,000385: 17,2566           12567                           TCF      +1                                    
061940,000386: 17,2567           34751                           CA       FOUR                                  
061941,000387: 17,2570           51505                           INDEX    AXISCTR                               
061942,000388: 17,2571           55534                           TS       SKIPU                                 
061943,000389: 17,2572           13034                           TCF      LOOPER                                
061944,000390: 
061945,000391: 17,2573           51505                           INDEX    AXISCTR                               
061946,000392: 17,2574           11426                           CCS      URATEDIF                              #  INDEX  AXIS    QUANITY
061947,000393: 17,2575           34755                           CA       ZERO                                  #    0     -U     1/JETACC-AOSU
061948,000394: 17,2576           12600                           TCF      +2                                    #    1     +U     1/JETACC+AOSU
061949,000395: 17,2577           34753                           CA       ONE                                   #   16     -V     1/JETACC-AOSV
061950,000396: 17,2600           51505                           INDEX    AXISCTR                               #   17     +V     1/JETACC+AOSV
061951,000397: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061952,000398: 
061953,000399: 17,2602           50000                           INDEX    A                                     
061954,000400: 17,2603           41570                           CS       1/ANET2    +1                         
061955,000401: 17,2604           00006                           EXTEND                                         
061956,000402: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061957,000403: 17,2606           71426                           MP       URATEDIF                              #   JET TIME IN A      SCALED 32 SEC
061958,000404: 17,2607           54002                           TS       Q                                     
061959,000405: 17,2610           20001                           DAS      A                                     
061960,000406: 17,2611           60002                           AD       Q                                     
061961,000407: 17,2612           54000                           TS       A                                     #   OVERFLOW SKIP
061962,000408: 17,2613           12615                           TCF      +2                                    
061963,000409: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061964,000410: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
061965,000411: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061966,000412: 17,2617           12756                           TCF      AFTERTJ                               
061967,000413: 
061968,000414: 17,2620           34755        ZEROTJ             CA       ZERO                                  
061969,000415: 17,2621           12615                           TCF      SETTIME                               
061970,000416: 
061971,000417: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
061972,000418: 
061973,000419:                                                                                                  #                                          GTS WILL BE TRIED IF
061974,000420:                                                                                                  #                                             1. USEQRJTS= 0,
061975,000421:                                                                                                  #                                             2. ALLOWGTS POS,
061976,000422:                                                                                                  #                                             3. JETS ARE OFF(Q,R-AXES)
061977,000423: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.        (AS LONG AS
061978,000424: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061979,000425: 17,2625           10000                           CCS      A                                     
061980,000426: 17,2626           12141                           TCF      RCS                                   
061981,000427: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1438

061983,000429: 17,2630           12632                           TCF      +2                                    
061984,000430: 17,2631           12141                           TCF      RCS                                   
061985,000431: 17,2632           00006                           EXTEND                                         
061986,000432: 17,2633           00005                           READ     CHAN5                                 
061987,000433: 17,2634           10000                           CCS      A                                     
061988,000434: 17,2635           12641                           TCF      CHKINGTS                              
061989,000435: 17,2636           00006        GOTOGTS            EXTEND                                         
061990,000436: 17,2637           32654                           DCA      GTSCADR                               
061991,000437: 17,2640           52006                           DTCB                                           
061992,000438: 
061993,000439: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061994,000440: 17,2642           12644                           TCF      +2                                    #    YES.  SET UP A DAMPED NULLING DRIVE.
061995,000441: 17,2643           12141                           TCF      RCS                                   #    NO.  NULLING WAS SET UP BEFORE. DO RCS
061996,000442: 17,2644           00004                           INHINT                                         
061997,000443: 17,2645           04674                           TC       IBNKCALL                              
061998,000444: 17,2646           43105                           CADR     TIMEGMBL                              
061999,000445: 17,2647           00003                           RELINT                                         
062000,000446: 17,2650           34755                           CAF      ZERO                                  
062001,000447: 17,2651           55632                           TS       INGTS                                 
062002,000448: 17,2652           12141                           TCF      RCS                                   
062003,000449: 
062004,000450: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
062005,000451: 17,2653           02654 42106  GTSCADR            2CADR    GTS                                   
062006,000452: 
062007,000453: 

Page 1439

062009,000455:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062010,000456: 
062011,000457: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062012,000458: 17,2656           00006                           EXTEND                                         
062013,000459: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062014,000460: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062015,000461: 17,2661           00006                           EXTEND                                         
062016,000462: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062017,000463: 17,2663           55751                           TS       E                                     
062018,000464: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062019,000465: 17,2665           00006                           EXTEND                                         
062020,000466: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062021,000467: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062022,000468: 17,2670           00006                           EXTEND                                         
062023,000469: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062024,000470: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062025,000471: 17,2673           61751                           AD       E                                     
062026,000472: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062027,000473: 
062028,000474: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062029,000475: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062030,000476: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062031,000477: 17,2700           55751                           TS       E                                     
062032,000478: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062033,000479: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062034,000480: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062035,000481: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062036,000482: 17,2705           61751                           AD       E                                     
062037,000483: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062038,000484: 17,2707           00002                           TC       Q                                     
062039,000485: 

Page 1440

062041,000487:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062042,000488: 
062043,000489: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062044,000490: 
062045,000491: 17,2710           31452        STILLRCS           CA       RERROR                                
062046,000492: 17,2711           22000                           LXCH     A                                     
062047,000493: 17,2712           31450                           CA       QERROR                                
062048,000494: 17,2713           03200                           TC       ROT-TOUV                              
062049,000495: 17,2714           53751                           DXCH     UERROR                                
062050,000496: 
062051,000497:                                                                                                  #                                          PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062052,000498:                                                                                                  #                                          PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062053,000499: 17,2715           33142        TJLAW              CA       TJLAWADR                              
062054,000500: 17,2716           55477                           TS       RETJADR                               
062055,000501: 17,2717           34753                           CA       ONE                                   
062056,000502: 17,2720           55505                           TS       AXISCTR                               
062057,000503: 17,2721           51505                           INDEX    AXISCTR                               
062058,000504: 17,2722           51534                           INDEX    SKIPU                                 
062059,000505: 17,2723           12724                           TCF      +1                                    
062060,000506: 17,2724           34751                           CA       FOUR                                  
062061,000507: 17,2725           51505                           INDEX    AXISCTR                               
062062,000508: 17,2726           55534                           TS       SKIPU                                 
062063,000509: 17,2727           13034                           TCF      LOOPER                                
062064,000510: 17,2730           51505                           INDEX    AXISCTR                               
062065,000511: 17,2731           31750                           CA       UERROR                                
062066,000512: 17,2732           55751                           TS       E                                     
062067,000513: 17,2733           51505                           INDEX    AXISCTR                               
062068,000514: 17,2734           31426                           CA       OMEGAU                                
062069,000515: 17,2735           55427                           TS       EDOT                                  
062070,000516: 17,2736           30111                           CA       DAPBOOLS                              
062071,000517: 17,2737           74737                           MASK     CSMDOCKD                              
062072,000518: 17,2740           10000                           CCS      A                                     
062073,000519: 17,2741           12744                           TCF      +3                                    
062074,000520: 17,2742           03304                           TC       TJETLAW                               
062075,000521: 17,2743           12756                           TCF      AFTERTJ                               
062076,000522: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062077,000523: 17,2745           74736                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
062078,000524: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062079,000525: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062080,000526: 17,2750           00004                           INHINT                                         
062081,000527: 17,2751           04674                           TC       IBNKCALL                              
062082,000528: 17,2752           43514                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062083,000529: 17,2753           00003                           RELINT                                         
062084,000530: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062085,000531: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062086,000532: 
062087,000533:                                                                                                  #                                          Q,R-JET-SELECTION-LOGIC
062088,000534: 
062089,000535:                                                                                                  #                                          INPUT: AXISCTR        0,1 FOR  U,V
062090,000536:                                                                                                  #                                                 SNUFFBIT       ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1441

062092,000538:                                                                                                  #                                                 TJU,TJV        JET TIME SCALED 10.24 SEC.
062093,000539:                                                                                                  #                                                 NUMBERT        INDICATES NUMBER OF JETS AND TYPE OF POLICY
062094,000540:                                                                                                  #                                                 RETJADR        WHERE TO RETURN TO
062095,000541: 
062096,000542:                                                                                                  #                                          OUTPUT:  NO.U(V)JETS  RATE DERIVATION FEEDBACK
062097,000543:                                                                                                  #                                                   CHANNEL 5
062098,000544:                                                                                                  #                                                   SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062099,000545: 
062100,000546:                                                                                                  #                                          NOTES:  IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062101,000547:                                                                                                  #                                                  JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062102,000548:                                                                                                  #                                                  TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062103,000549:                                                                                                  #                                                  IF NONE CAN BE FOUND.
062104,000550: 
062105,000551:                                                                                                  #                                                  TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062106,000552:                                                                                                  #                                                  MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062107,000553: 
062108,000554: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062109,000555: 17,2757           74737                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
062110,000556: 17,2760           00006                           EXTEND                                         
062111,000557: 17,2761           12772                           BZF      DOROTAT                               
062112,000558: 17,2762           40106                           CS       FLGWRD10                              
062113,000559: 17,2763           74737                           MASK     APSFLBIT                              
062114,000560: 17,2764           00006                           EXTEND                                         
062115,000561: 17,2765           12772                           BZF      DOROTAT                               
062116,000562: 17,2766           30111                           CA       DAPBOOLS                              
062117,000563: 17,2767           74744                           MASK     DRIFTBIT                              
062118,000564: 17,2770           00006                           EXTEND                                         
062119,000565: 17,2771           13112                           BZF      XTRANS                                
062120,000566: 
062121,000567: 17,2772           34752        DOROTAT            CAF      TWO                                   
062122,000568: 17,2773           54001                           TS       L                                     
062123,000569: 17,2774           51505                           INDEX    AXISCTR                               
062124,000570: 17,2775           11525                           CCS      TJU                                   
062125,000571: 17,2776           13003                           TCF      +5                                    
062126,000572: 17,2777           13026                           TCF      NOROTAT                               
062127,000573: 17,3000           13002                           TCF      +2                                    
062128,000574: 17,3001           13026                           TCF      NOROTAT                               
062129,000575: 17,3002           22007                           ZL                                             
062130,000576: 17,3003           64753                           AD       ONE                                   
062131,000577: 17,3004           55736                           TS       ABSTJ                                 
062132,000578: 
062133,000579: 17,3005           31505                           CA       AXISCTR                               
062134,000580: 17,3006           60001                           AD       L                                     
062135,000581: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062136,000582: 
062137,000583: 17,3010           31736                           CA       ABSTJ                                 
062138,000584: 17,3011           63137                           AD       -150MS                                
062139,000585: 17,3012           00006                           EXTEND                                         
062140,000586: 17,3013           63037                           BZMF     DOSKIP                                

Page 1442

062142,000588: 17,3014           03225                           TC       SELCTSUB                              
062143,000589: 
062144,000590: 17,3015           51505                           INDEX    AXISCTR                               
062145,000591: 17,3016           33134                           CA       INDEXES                               
062146,000592: 17,3017           54001                           TS       L                                     
062147,000593: 
062148,000594: 17,3020           31740                           CA       POLYTEMP                              
062149,000595: 17,3021           00004                           INHINT                                         
062150,000596: 17,3022           50001                           INDEX    L                                     
062151,000597: 17,3023           05755                           TC       WRITEP                                
062152,000598: 
062153,000599: 17,3024           00003                           RELINT                                         
062154,000600: 17,3025           13100                           TCF      FEEDBACK                              
062155,000601: 
062156,000602: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
062157,000603: 17,3027           33134                           CA       INDEXES                               
062158,000604: 17,3030           00004                           INHINT                                         
062159,000605: 17,3031           50000                           INDEX    A                                     
062160,000606: 17,3032           05754                           TC       WRITEP     -1                         
062161,000607: 
062162,000608: 17,3033           00003                           RELINT                                         
062163,000609: 17,3034           11505        LOOPER             CCS      AXISCTR                               
062164,000610: 17,3035           01477                           TC       RETJADR                               
062165,000611: 17,3036           13270                           TCF      CLOSEOUT                              
062166,000612: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
062167,000613: 17,3040           63136                           AD       +TJMINT6                              #  14MS
062168,000614: 17,3041           00006                           EXTEND                                         
062169,000615: 17,3042           63061                           BZMF     NOTMIN                                
062170,000616: 
062171,000617: 17,3043           27736                           ADS      ABSTJ                                 
062172,000618: 17,3044           51505                           INDEX    AXISCTR                               
062173,000619: 17,3045           11525                           CCS      TJU                                   
062174,000620: 17,3046           33136                           CA       +TJMINT6                              
062175,000621: 17,3047           13051                           TCF      +2                                    
062176,000622: 17,3050           43136                           CS       +TJMINT6                              
062177,000623: 17,3051           51505                           INDEX    AXISCTR                               
062178,000624: 17,3052           55525                           TS       TJU                                   
062179,000625: 
062180,000626: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062181,000627: 17,3054           13060                           TCF      NOTMIN     -1                         
062182,000628: 17,3055           00006                           EXTEND                                         
062183,000629: 17,3056           00004                           READ     LOSCALAR                              
062184,000630: 17,3057           74753                           MASK     ONE                                   
062185,000631: 17,3060           55742                           TS       NUMBERT                               
062186,000632: 
062187,000633: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
062188,000634: 
062189,000635: 17,3062           51505                           INDEX    AXISCTR                               
062190,000636: 17,3063           33134                           CA       INDEXES                               
062191,000637: 17,3064           00004                           INHINT                                         
062192,000638: 

Page 1443

062194,000640: 17,3065           55471                           TS       T6FURTHA   +1                         
062195,000641: 17,3066           31740                           CA       POLYTEMP                              
062196,000642: 17,3067           51471                           INDEX    T6FURTHA   +1                         
062197,000643: 17,3070           05755                           TC       WRITEP                                
062198,000644: 
062199,000645: 17,3071           31736                           CA       ABSTJ                                 
062200,000646: 17,3072           55470                           TS       T6FURTHA                              
062201,000647: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
062202,000648: 
062203,000649: 17,3074           00003                           RELINT                                         
062204,000650: 
062205,000651: 17,3075           34755                           CA       ZERO                                  
062206,000652: 17,3076           51505                           INDEX    AXISCTR                               
062207,000653: 17,3077           55534                           TS       SKIPU                                 
062208,000654: 
062209,000655: 17,3100           46250        FEEDBACK           CS       THREE                                 
062210,000656: 17,3101           61742                           AD       NUMBERT                               
062211,000657: 17,3102           00006                           EXTEND                                         
062212,000658: 17,3103           63106                           BZMF     +3                                    
062213,000659: 
062214,000660: 17,3104           34752                           CA       TWO                                   
062215,000661: 17,3105           13107                           TCF      +2                                    
062216,000662: 17,3106           34753                           CA       ONE                                   
062217,000663: 17,3107           51505                           INDEX    AXISCTR                               
062218,000664: 17,3110           55522                           TS       NO.UJETS                              
062219,000665: 17,3111           13034                           TCF      LOOPER                                
062220,000666: 
062221,000667: 17,3112           34755        XTRANS             CA       ZERO                                  
062222,000668: 17,3113           55525                           TS       TJU                                   
062223,000669: 17,3114           55526                           TS       TJV                                   
062224,000670: 17,3115           34751                           CA       FOUR                                  
062225,000671: 17,3116           00004                           INHINT                                         
062226,000672: 17,3117           57534                           XCH      SKIPU                                 
062227,000673: 17,3120           00006                           EXTEND                                         
062228,000674: 17,3121           13123                           BZF      +2                                    
062229,000675: 17,3122           05760                           TC       WRITEU     -1                         
062230,000676: 17,3123           34751                           CA       FOUR                                  
062231,000677: 17,3124           57535                           XCH      SKIPV                                 
062232,000678: 17,3125           00003                           RELINT                                         
062233,000679: 
062234,000680: 17,3126           00006                           EXTEND                                         
062235,000681: 17,3127           13270                           BZF      CLOSEOUT                              
062236,000682: 17,3130           00004                           INHINT                                         
062237,000683: 17,3131           05771                           TC       WRITEV     -1                         
062238,000684: 17,3132           00003                           RELINT                                         
062239,000685: 
062240,000686: 17,3133           13270                           TCF      CLOSEOUT                              
062241,000687: 17,3134           00004        INDEXES            DEC      4          B-14                       
062242,000688: 17,3135           00015                           DEC      13         B-14                       
062243,000689: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1444

062245,000691: 17,3137           77417        -150MS             DEC      -240       B-14                       
062246,000692: 17,3140           00600        BIT8,9             OCT      00600                                 
062247,000693: 17,3141           00266        SCLNORM            OCT      266                                   
062248,000694: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062249,000695: 
062250,000696:                                                                                                  #                                          THE JET LIST:
062251,000697:                                                                                                  #                                          THIS IS A WAITLIST FOR T6RUPTS.
062252,000698: 
062253,000699:                                                                                                  #                                          CALLED BY:
062254,000700:                                                                                                  #                                                   CA  TJ            TIME WHEN NEXT JETS WILL BE WRITTEN
062255,000701:                                                                                                  #                                                   TS  T6FURTHA
062256,000702:                                                                                                  #                                                   CA  INDEX         AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062257,000703:                                                                                                  #                                                   TS  T6FURTHA +1
062258,000704:                                                                                                  #                                                   TC  JTLST
062259,000705: 
062260,000706:                                                                                                  #                                          EXAMPLE-  U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062261,000707:                                                                                                  #                                          JETS INTO CHANNEL 5.   IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062262,000708:                                                                                                  #                                          150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062263,000709:                                                                                                  #                                          CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062264,000710:                                                                                                  #                                          OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062265,000711: 
062266,000712:                                                                                                  #                                          THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062267,000713:                                                                                                  #                                           THE INPUT IS THE LAST MEMBER OF THE LIST
062268,000714: 
062269,000715:                                                                                                  #                                          RETURNS BY:
062270,000716:                                                                                                  #                                                +  TC  Q
062271,000717: 
062272,000718:                                                                                                  #                                          DEFINITIONS:(OUTPUT)
062273,000719:                                                                                                  #                                          TIME6             TIME OF NEXT RUPT
062274,000720:                                                                                                  #                                          T6NEXT            DELTA TIME TO NEXT RUPT
062275,000721:                                                                                                  #                                          T6FURTHA          DELTA TIME FROM 2ND TO LAST RUPT
062276,000722:                                                                                                  #                                          NXT6ADR           AXIS INDEX       Q - P-AXIS
062277,000723:                                                                                                  #                                          T6NEXT +1         AXIS INDEX       4 - U-AXIS
062278,000724:                                                                                                  #                                          T6FURTHA +1       AXIS INDEX      13 - V-AXIS
062279,000725: 17,3143           41470        JTLST              CS       T6FURTHA                              
062280,000726: 17,3144           60031                           AD       TIME6                                 
062281,000727: 17,3145           00006                           EXTEND                                         
062282,000728: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
062283,000729: 
062284,000730: 17,3147           23465                           LXCH     NXT6ADR                               
062285,000731: 17,3150           53467                           DXCH     T6NEXT                                
062286,000732: 17,3151           53471                           DXCH     T6FURTHA                              
062287,000733: 17,3152           54031                           TS       TIME6                                 
062288,000734: 17,3153           23465                           LXCH     NXT6ADR                               
062289,000735: 
062290,000736: 17,3154           00006        TURNON             EXTEND                                         
062291,000737: 17,3155           23265                           QXCH     C13QSAV                               
062292,000738: 17,3156           06022                           TC       C13STALL                              
062293,000739: 
062294,000740: 17,3157           34735                           CA       BIT15                                 

Page 1445

062296,000742: 17,3160           00006                           EXTEND                                         
062297,000743: 17,3161           05013                           WOR      CHAN13                                
062298,000744: 17,3162           01265                           TC       C13QSAV                               
062299,000745: 
062300,000746: 17,3163           61466        MIDORLST           AD       T6NEXT                                
062301,000747: 17,3164           00006                           EXTEND                                         
062302,000748: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
062303,000749: 
062304,000750: 17,3166           23467                           LXCH     T6NEXT     +1                         
062305,000751: 17,3167           53471                           DXCH     T6FURTHA                              
062306,000752: 17,3170           00006                           EXTEND                                         
062307,000753: 17,3171           60031                           SU       TIME6                                 
062308,000754: 17,3172           53467                           DXCH     T6NEXT                                
062309,000755: 
062310,000756: 17,3173           00002                           TC       Q                                     
062311,000757: 
062312,000758: 17,3174           40000        LASTCHG            CS       A                                     
062313,000759: 17,3175           64754                           AD       NEG0                                  
062314,000760: 17,3176           55470                           TS       T6FURTHA                              
062315,000761: 
062316,000762: 17,3177           00002                           TC       Q                                     
062317,000763: 
062318,000764: 
062319,000765:                                                                                                  #    ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062320,000766:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062321,000767:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062322,000768:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
062323,000769: 
062324,000770: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
062325,000771: 17,3201           00006                           EXTEND                                         
062326,000772: 17,3202           71626                           MP       COEFFQ                                
062327,000773: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062328,000774: 17,3204           00006                           EXTEND                                         
062329,000775: 17,3205           71627                           MP       COEFFR                                
062330,000776: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
062331,000777: 17,3207           61737                           AD       ROTEMP2                               
062332,000778: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062333,000779: 17,3211           13215                           TCF      +4                                    
062334,000780: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062335,000781: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062336,000782: 17,3214           55736                           TS       ROTEMP1                               
062337,000783: 17,3215           41737                           CS       ROTEMP2                               
062338,000784: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062339,000785: 17,3217           54007                           TS       7                                     
062340,000786: 17,3220           13223                           TCF      +3                                    
062341,000787: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062342,000788: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062343,000789: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062344,000790: 17,3224           00002                           TC       Q                                     
062345,000791: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              

Page 1446

062347,000793: 17,3226           33257                           CA       ALLJETS                               
062348,000794: 17,3227           51742                           INDEX    NUMBERT                               
062349,000795: 17,3230           73263                           MASK     TYPEPOLY                              
062350,000796: 17,3231           55740                           TS       POLYTEMP                              
062351,000797: 
062352,000798: 17,3232           71257                           MASK     CH5MASK                               
062353,000799: 17,3233           10000                           CCS      A                                     
062354,000800: 17,3234           13236                           TCF      +2                                    
062355,000801: 
062356,000802: 17,3235           00002                           TC       Q                                     
062357,000803: 
062358,000804: 17,3236           36250                           CA       THREE                                 
062359,000805: 17,3237           55742        FAILOOP            TS       NUMBERT                               
062360,000806: 17,3240           51743                           INDEX    ROTINDEX                              
062361,000807: 17,3241           33257                           CA       ALLJETS                               
062362,000808: 17,3242           51742                           INDEX    NUMBERT                               
062363,000809: 17,3243           73263                           MASK     TYPEPOLY                              
062364,000810: 17,3244           55740                           TS       POLYTEMP                              
062365,000811: 17,3245           71257                           MASK     CH5MASK                               
062366,000812: 17,3246           00006                           EXTEND                                         
062367,000813: 17,3247           13235                           BZF      FAILOOP    -2                         
062368,000814: 17,3250           11742                           CCS      NUMBERT                               
062369,000815: 17,3251           13237                           TCF      FAILOOP                               
062370,000816: 17,3252           51505                           INDEX    AXISCTR                               
062371,000817: 17,3253           55525                           TS       TJU                                   
062372,000818: 17,3254           05600                           TC       ALARM                                 
062373,000819: 17,3255           02004                           OCT      02004                                 
062374,000820: 17,3256           13026                           TCF      NOROTAT                               
062375,000821: 17,3257           00110        ALLJETS            OCT      00110                                 #  -U       6 13
062376,000822: 17,3260           00022                           OCT      00022                                 #  -V       2  9
062377,000823: 17,3261           00204                           OCT      00204                                 #  +U       5 14
062378,000824: 
062379,000825: 17,3262           00041                           OCT      00041                                 #  +V       1 10
062380,000826: 17,3263           00125        TYPEPOLY           OCT      00125                                 #  -X  1 5 9  13
062381,000827: 17,3264           00252                           OCT      00252                                 #  +X 2 6 10 14
062382,000828: 17,3265           00146                           OCT      00146                                 #  A   2 5 10 13
062383,000829: 17,3266           00231                           OCT      00231                                 #  B   1 6 9 14
062384,000830: 17,3267           00377                           OCT      00377                                 #  ALL 1 2 5 6 9 10 13 14
062385,000831: 
062386,000832:                                                                                                  #   THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062387,000833: 
062388,000834: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
062389,000835: 17,3271           07757                           TC       MAKERUPT                              
062390,000836: 
062391,000837: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
062392,000838: 
062393,000839: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
062394,000840: 17,3274           52011                           DXCH     ARUPT                                 
062395,000841: 17,3275           53755                           DXCH     DAPBQRPT                              
062396,000842: 17,3276           56017                           XCH      BRUPT                                 

Page 1447

062398,000844: 17,3277           22002                           LXCH     Q                                     
062399,000845: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062400,000846: 17,3301           53757                           DXCH     DAPZRUPT                              
062401,000847: 17,3302           52016                           DXCH     ZRUPT                                 
062402,000848: 17,3303           15303                           TCF      NOQRSM                                
062403,000849:    7757                                           BLOCK    3                                     
062404,000850:    6000                                           SETLOC   FFTAG6                                
062405,000851:    6000                                           BANK                                           
062406,000852: 
062407,000853:    7757                                           COUNT*   $$/DAP                                
062408,000854: 
062409,000855:    7757           00006        MAKERUPT           EXTEND                                         
062410,000856:    7760           07757                           EDRUPT   MAKERUPT                              

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