Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

061694,000002:                                                                                                  ## Copyright:   Public domain.
061695,000003:                                                                                                  ## Filename:    Q_R-AXIS_RCS_AUTOPILOT.agc
061696,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
061697,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
061698,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
061699,000007:                                                                                                  ## Assembler:   yaYUL
061700,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061701,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
061702,000010:                                                                                                  ## Pages:       1442-1459
061703,000011:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
061704,000012:                                                                                                  ##                              Luminary131 file, using page 
061705,000013:                                                                                                  ##                              images from Luminary 1A.
061706,000014:                                                                                                  ##              2009-06-07 RSB  Corrected "DEC 96.0" to "DEC 96", since
061707,000015:                                                                                                  ##                              the former is not compatible with yaYUL.
061708,000016:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
061709,000017:                                                                                                  ##
061710,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from
061711,000019:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
061712,000020:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
061713,000021:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
061714,000022:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
061715,000023:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
061716,000024:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
061717,000025:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
061718,000026:                                                                                                  ## actually created.
061719,000027:                                                                                                  ##
061720,000028:                                                                                                  ## Notations on the hardcopy document read, in part:
061721,000029:                                                                                                  ##
061722,000030:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
061723,000031:                                                                                                  ##      16:27 JULY 14, 1969 
061724,000032: 

Page 1442

061726,000034: 17,2072                                           BANK     17                                    
061727,000035: 17,2000                                           SETLOC   DAPS2                                 
061728,000036: 17,2000                                           BANK                                           
061729,000037: 
061730,000038: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
061731,000039: 
061732,000040: 17,2072                                           COUNT*   $$/DAPQR                              
061733,000041: 
061734,000042: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
061735,000043: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
061736,000044: 17,2074           02031                           RAND     CHAN31                                
061737,000045: 17,2075           10000                           CCS      A                                     
061738,000046: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
061739,000047: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
061740,000048: 17,2100           74740                           MASK     OURRCBIT                              
061741,000049: 17,2101           00006                           EXTEND                                         
061742,000050: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERROS.
061743,000051: 17,2103           02626                           TC       QERRCALC                              
061744,000052: 
061745,000053: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061746,000054: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
061747,000055: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
061748,000056: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
061749,000057: 17,2110           55631                           TS       COTROLER                              
061750,000058: 
061751,000059: 17,2111           53437                           DXCH     EDOTQ                                 
061752,000060: 17,2112           03146                           TC       ROT-TOUV                              
061753,000061: 17,2113           53427                           DXCH     OMEGAU                                
061754,000062: 
061755,000063:                                                                                                  #  X - TRANSLATION
061756,000064: 
061757,000065:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061758,000066:                                                                                                  #                ULLAGER
061759,000067:                                                                                                  #                APSFLAG, DRIFTBIT
061760,000068:                                                                                                  #                ACC40R2X, ACRBTRAN
061761,000069: 
061762,000070:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
061763,000071:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
061764,000072: 
061765,000073:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
061766,000074:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061767,000075: 
061768,000076: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
061769,000077: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
061770,000078: 17,2116           02031                           RAND     CHAN31                                
061771,000079: 17,2117           00006                           EXTEND                                         
061772,000080: 17,2120           12146                           BZF      +X0RULGE                              

Page 1443

061774,000082: 17,2121           34744                           CA       BIT8                                  
061775,000083: 17,2122           00006                           EXTEND                                         
061776,000084: 17,2123           02031                           RAND     CHAN31                                
061777,000085: 17,2124           00006                           EXTEND                                         
061778,000086: 17,2125           12147                           BZF      -XTRANS                               
061779,000087: 
061780,000088: 17,2126           34746                           CA       ULLAGER                               
061781,000089: 17,2127           70111                           MASK     DAPBOOLS                              
061782,000090: 17,2130           10000                           CCS      A                                     
061783,000091: 17,2131           12146                           TCF      +X0RULGE                              
061784,000092: 
061785,000093: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
061786,000094: 17,2133           55474                           TS       NEXTV                                 
061787,000095: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
061788,000096: 17,2135           74744                           MASK     DRIFTBIT                              
061789,000097: 17,2136           00006                           EXTEND                                         
061790,000098: 17,2137           12144                           BZF      TSENSE                                
061791,000099: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
061792,000100: 17,2141           74737                           MASK     APSFLBIT                              
061793,000101: 17,2142           10000                           CCS      A                                     
061794,000102: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
061795,000103: 17,2144           55500        TSENSE             TS       SENSETYP                              
061796,000104: 17,2145           12200                           TCF      QRCONTRL                              
061797,000105: 
061798,000106: 17,2146           34753        +X0RULGE           CAF      ONE                                   
061799,000107: 17,2147           64751        -XTRANS            AD       FOUR                                  
061800,000108: 17,2150           55744                           TS       ROTINDEX                              
061801,000109: 17,2151           67745                           AD       NEG3                                  
061802,000110: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
061803,000111: 17,2153           30111                           CA       DAPBOOLS                              
061804,000112: 17,2154           74741                           MASK     ACC4OR2X                              
061805,000113: 17,2155           10000                           CCS      A                                     
061806,000114: 17,2156           12321                           TCF      TRANS4                                
061807,000115: 
061808,000116: 17,2157           30111                           CA       DAPBOOLS                              
061809,000117: 17,2160           74742                           MASK     AORBTRAN                              
061810,000118: 17,2161           10000                           CCS      A                                     
061811,000119: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
061812,000120: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
061813,000121: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
061814,000122: 
061815,000123: 17,2165           03173                           TC       SELCTSUB                              
061816,000124: 
061817,000125: 17,2166           11741                           CCS      POLYTEMP                              
061818,000126: 17,2167           12172                           TCF      +3                                    
061819,000127: 17,2170           05567                           TC       ALARM                                 
061820,000128: 17,2171           02002                           OCT      02002                                 
061821,000129: 17,2172           35774                           CA       00314OCT                              
061822,000130: 17,2173           71741                           MASK     POLYTEMP                              
061823,000131: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

061825,000133: 17,2175           45774                           CS       00314OCT                              
061826,000134: 17,2176           71741                           MASK     POLYTEMP                              
061827,000135: 17,2177           55474                           TS       NEXTV                                 
061828,000136: 
061829,000137:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
061830,000138:                                                                                                  #        SWITCHES        INDICATION WHEN SET
061831,000139:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
061832,000140:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
061833,000141:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
061834,000142: 
061835,000143: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
061836,000144: 17,2201           00006                           EXTEND                                         
061837,000145: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
061838,000146: 17,2203           10000                           CCS      A                                     
061839,000147: 17,2204           12661                           TCF      ATTSTEER                              
061840,000148: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
061841,000149: 17,2206           70111                           MASK     DAPBOOLS                              
061842,000150: 17,2207           00006                           EXTEND                                         
061843,000151: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061844,000152: 
061845,000153:                                                                                                  #  MINIMUM IMPULSE MODE
061846,000154: 
061847,000155: 17,2211           00004                           INHINT                                         
061848,000156: 17,2212           04674                           TC       IBNKCALL                              
061849,000157: 17,2213           40153                           CADR     ZATTEROR                              
061850,000158: 17,2214           34755                           CA       ZERO                                  
061851,000159: 17,2215           55450                           TS       QERROR                                
061852,000160: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
061853,000161: 17,2217           00003                           RELINT                                         
061854,000162: 
061855,000163: 17,2220           00006                           EXTEND                                         
061856,000164: 17,2221           00031                           READ     CHAN31                                
061857,000165: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
061858,000166: 17,2223           11461                           CCS      OLDQRMIN                              
061859,000167: 17,2224           12246                           TCF      CHECKIN                               
061860,000168: 
061861,000169: 17,2225           31737        FIREQR             CA       TEMP31                                
061862,000170: 17,2226           74753                           MASK     BIT1                                  
061863,000171: 17,2227           00006                           EXTEND                                         
061864,000172: 17,2230           12252                           BZF      +QMIN                                 
061865,000173: 
061866,000174: 17,2231           31737                           CA       TEMP31                                
061867,000175: 17,2232           74752                           MASK     BIT2                                  
061868,000176: 17,2233           00006                           EXTEND                                         
061869,000177: 17,2234           12256                           BZF      -QMIN                                 
061870,000178: 
061871,000179: 17,2235           31737                           CA       TEMP31                                
061872,000180: 17,2236           74747                           MASK     BIT5                                  

Page 1445

061874,000182: 17,2237           00006                           EXTEND                                         
061875,000183: 17,2240           12262                           BZF      +RMIN                                 
061876,000184: 
061877,000185: 17,2241           31737                           CA       TEMP31                                
061878,000186: 17,2242           74746                           MASK     BIT6                                  
061879,000187: 17,2243           00006                           EXTEND                                         
061880,000188: 17,2244           12264                           BZF      -RMIN                                 
061881,000189: 
061882,000190: 17,2245           13063                           TCF      XTRANS                                
061883,000191: 
061884,000192: 17,2246           41737        CHECKIN            CS       TEMP31                                
061885,000193: 17,2247           72320                           MASK     OCT63                                 
061886,000194: 17,2250           55461                           TS       OLDQRMIN                              
061887,000195: 17,2251           13063                           TCF      XTRANS                                
061888,000196: 
061889,000197: 17,2252           33107        +QMIN              CA       14MS                                  
061890,000198: 17,2253           55525                           TS       TJU                                   
061891,000199: 17,2254           43107                           CS       14MS                                  
061892,000200: 17,2255           12266                           TCF      MINQR                                 
061893,000201: 17,2256           43107        -QMIN              CS       14MS                                  
061894,000202: 17,2257           55525                           TS       TJU                                   
061895,000203: 17,2260           33107                           CA       14MS                                  
061896,000204: 17,2261           12266                           TCF      MINQR                                 
061897,000205: 17,2262           33107        +RMIN              CA       14MS                                  
061898,000206: 17,2263           12265                           TCF      +2                                    
061899,000207: 17,2264           43107        -RMIN              CS       14MS                                  
061900,000208: 17,2265           55525                           TS       TJU                                   
061901,000209: 17,2266           55526        MINQR              TS       TJV                                   
061902,000210: 17,2267           32317                           CA       MINADR                                
061903,000211: 17,2270           55477                           TS       RETJADR                               
061904,000212: 17,2271           34753                           CA       ONE                                   
061905,000213: 17,2272           55461                           TS       OLDQRMIN                              
061906,000214: 17,2273           55505        MINRTN             TS       AXISCTR                               
061907,000215: 17,2274           30111                           CA       DAPBOOLS                              
061908,000216: 17,2275           74737                           MASK     CSMDOCKD                              
061909,000217: 17,2276           00006                           EXTEND                                         
061910,000218: 17,2277           12307                           BZF      MIMRET                                
061911,000219: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
061912,000220: 17,2301           11525                           CCS      TJU                                   
061913,000221: 17,2302           32316                           CA       60MS                                  
061914,000222: 17,2303           12305                           TCF      +2                                    
061915,000223: 17,2304           42316                           CS       60MS                                  
061916,000224: 17,2305           51505                           INDEX    AXISCTR                               
061917,000225: 17,2306           55525                           TS       TJU                                   
061918,000226: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
061919,000227: 17,2310           74742                           MASK     AORBTRAN                              
061920,000228: 17,2311           10000                           CCS      A                                     
061921,000229: 17,2312           34753                           CA       ONE                                   
061922,000230: 17,2313           64752                           AD       TWO                                   
061923,000231: 17,2314           55743                           TS       NUMBERT                               

Page 1446

061925,000233: 17,2315           12727                           TCF      AFTERTJ                               
061926,000234: 
061927,000235: 17,2316           00140        60MS               DEC      96.0                                  
061928,000236: 17,2317           02273        MINADR             GENADR   MINRTN                                
061929,000237: 17,2320           00063        OCT63              OCT      63                                    
061930,000238: 17,2321  17,3107               14MS               =        +TJMINT6                              
061931,000239: 
061932,000240: 17,2321           34751        TRANS4             CA       FOUR                                  
061933,000241: 17,2322           12164                           TCF      TSNUMBRT                              
061934,000242: 
061935,000243:                                                                                                  #  RATE COMMAND MODE:
061936,000244: 
061937,000245:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
061938,000246: 
061939,000247: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
061940,000248: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
061941,000249: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
061942,000250: 17,2326           34735                           CA       BIT15                                 
061943,000251: 17,2327           71443                           MASK     CH31TEMP                              
061944,000252: 17,2330           00006                           EXTEND                                         
061945,000253: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
061946,000254: 17,2332           34740                           CA       OURRCBIT                              #  ***********
061947,000255: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
061948,000256: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
061949,000257: 17,2335           12661                           BZF      STILLRCS                              
061950,000258: 17,2336           44743                           CS       BIT9                                  
061951,000259: 17,2337           71273                           MASK     RCSFLAGS                              
061952,000260: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
061953,000261: 17,2341           12345                           TCF      DAMPING                               
061954,000262: 17,2342           00050        40CYCL             OCT      50                                    
061955,000263: 17,2343           00001        1/10S              OCT      1                                     
061956,000264: 17,2344           00056        LINRAT             DEC      46         B-14                       
061957,000265: 
061958,000266:                                                                                                  #  ===========================================================
061959,000267: 
061960,000268: 17,2345           34755        DAMPING            CA       ZERO                                  
061961,000269: 17,2346           55462                           TS       SAVEHAND                              
061962,000270: 17,2347           55463                           TS       SAVEHAND   +1                         
061963,000271: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  ******************
061964,000272: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
061965,000273: 17,2352           12354                           TCF      +2                                    #  ******************
061966,000274: 17,2353           12354                           TCF      +1                                    
061967,000275: 17,2354           60000                           DOUBLE                                         #  WHERE
061968,000276: 17,2355           60000                           DOUBLE                                         
061969,000277: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
061970,000278: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
061971,000279: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
061972,000280: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
061973,000281: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
061974,000282: 17,2363           71444                           MP       STIKSENS                              
061975,000283: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE, SCALED 45 DEG/SEC
061976,000284: 17,2365           40000                           COM                                            

Page 1447

061978,000286: 17,2366           61455                           AD       QLAST                                 
061979,000287: 17,2367           55741                           TS       DAPTEMP3                              
061980,000288: 17,2370           11463                           CCS      SAVEHAND   +1                         
061981,000289: 17,2371           12374                           TCF      +3                                    
061982,000290: 17,2372           12374                           TCF      +2                                    
061983,000291: 17,2373           12374                           TCF      +1                                    
061984,000292: 17,2374           60000                           DOUBLE                                         
061985,000293: 17,2375           60000                           DOUBLE                                         
061986,000294: 17,2376           62344                           AD       LINRAT                                
061987,000295: 17,2377           00006                           EXTEND                                         
061988,000296: 17,2400           71463                           MP       SAVEHAND   +1                         
061989,000297: 17,2401           30001                           CA       L                                     
061990,000298: 17,2402           00006                           EXTEND                                         
061991,000299: 17,2403           71444                           MP       STIKSENS                              
061992,000300: 17,2404           57456                           XCH      RLAST                                 
061993,000301: 17,2405           40000                           COM                                            
061994,000302: 17,2406           61456                           AD       RLAST                                 
061995,000303: 17,2407           55742                           TS       DAPTEMP4                              
061996,000304: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
061997,000305: 17,2411           61422                           AD       OMEGAQ                                
061998,000306: 17,2412           55436                           TS       QRATEDIF                              
061999,000307: 17,2413           41456                           CS       RLAST                                 
062000,000308: 17,2414           61423                           AD       OMEGAR                                
062001,000309: 17,2415           55437                           TS       RRATEDIF                              
062002,000310: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062003,000311: 17,2417           03146                           TC       ROT-TOUV                              
062004,000312: 17,2420           53427                           DXCH     URATEDIF                              
062005,000313: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062006,000314: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062007,000315: 17,2423           02425                           TC       +2                                    
062008,000316: 17,2424           02425                           TC       +1                                    
062009,000317: 17,2425           61476                           AD       -RATEDB                               
062010,000318: 17,2426           00006                           EXTEND                                         
062011,000319: 17,2427           62431                           BZMF     +2                                    
062012,000320: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062013,000321: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062014,000322: 17,2432           02435                           TC       +3                                    
062015,000323: 17,2433           02435                           TC       +2                                    
062016,000324: 17,2434           02435                           TC       +1                                    
062017,000325: 17,2435           61476                           AD       -RATEDB                               
062018,000326: 17,2436           00006                           EXTEND                                         
062019,000327: 17,2437           62441                           BZMF     +2                                    
062020,000328: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062021,000329: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062022,000330: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062023,000331: 17,2443           00006                           EXTEND                                         
062024,000332: 17,2444           12446                           BZF      +2                                    
062025,000333: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062026,000334: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062027,000335: 17,2447           32342                           CA       40CYCL                                

Page 1448

062029,000337: 17,2450           55457                           TS       TCQR                                  
062030,000338: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL
062031,000339: 17,2452           04674                           TC       IBNKCALL                              
062032,000340: 17,2453           40153                           FCADR    ZATTEROR                              
062033,000341: 17,2454           00003                           RELINT                                         
062034,000342: 17,2455           34755                           CA       ZERO                                  
062035,000343: 17,2456           55450                           TS       DYERROR                               
062036,000344: 17,2457           55451                           TS       DYERROR    +1                         
062037,000345: 17,2460           55452                           TS       DZERROR                               
062038,000346: 17,2461           55453                           TS       DZERROR    +1                         
062039,000347: 17,2462           11426                           CCS      URATEDIF                              
062040,000348: 17,2463           12466                           TCF      +3                                    
062041,000349: 17,2464           12466                           TCF      +2                                    
062042,000350: 17,2465           12466                           TCF      +1                                    
062043,000351: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062044,000352: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062045,000353: 17,2470           62504                           BZMF     VDB                                   
062046,000354: 17,2471           11427                           CCS      VRATEDIF                              
062047,000355: 17,2472           12475                           TCF      +3                                    
062048,000356: 17,2473           12475                           TCF      +2                                    
062049,000357: 17,2474           12475                           TCF      +1                                    
062050,000358: 17,2475           61476                           AD       TARGETDB                              
062051,000359: 17,2476           00006                           EXTEND                                         
062052,000360: 17,2477           62501                           BZMF     +2                                    
062053,000361: 17,2500           12515                           TCF      QRTIME                                
062054,000362: 17,2501           34755                           CA       ZERO                                  
062055,000363: 17,2502           55427                           TS       VRATEDIF                              
062056,000364: 17,2503           12515                           TCF      QRTIME                                
062057,000365: 17,2504           11427        VDB                CCS      VRATEDIF                              
062058,000366: 17,2505           02510                           TC       +3                                    
062059,000367: 17,2506           02510                           TC       +2                                    
062060,000368: 17,2507           02510                           TC       +1                                    
062061,000369: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062062,000370: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062063,000371: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062064,000372: 17,2513           34755                           CA       ZERO                                  #  PASS.
062065,000373: 17,2514           55426                           TS       URATEDIF                              
062066,000374: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062067,000375: 17,2516           00006                           EXTEND                                         
062068,000376: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062069,000377: 17,2520           41273                           CS       RCSFLAGS                              
062070,000378: 17,2521           74741                           MASK     QRBIT                                 
062071,000379: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062072,000380: 17,2523           02527                           TC       +4                                    
062073,000381: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
062074,000382: 17,2525           71273                           MASK     RCSFLAGS                              
062075,000383: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062076,000384: 17,2527           32573                           CA       HANDADR                               
062077,000385: 17,2530           55477                           TS       RETJADR                               
062078,000386: 17,2531           34753                           CA       ONE                                   
062079,000387: 

Page 1449

062081,000389: 17,2532           55505        BACKHAND           TS       AXISCTR                               
062082,000390: 
062083,000391: 17,2533           34751                           CA       FOUR                                  
062084,000392: 17,2534           55743                           TS       NUMBERT                               
062085,000393: 
062086,000394: 17,2535           51505                           INDEX    AXISCTR                               
062087,000395: 17,2536           51535                           INDEX    SKIPU                                 
062088,000396: 17,2537           12540                           TCF      +1                                    
062089,000397: 17,2540           34751                           CA       FOUR                                  
062090,000398: 17,2541           51505                           INDEX    AXISCTR                               
062091,000399: 17,2542           55535                           TS       SKIPU                                 
062092,000400: 17,2543           13005                           TCF      LOOPER                                
062093,000401: 
062094,000402: 17,2544           51505                           INDEX    AXISCTR                               
062095,000403: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANTITY
062096,000404: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
062097,000405: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
062098,000406: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
062099,000407: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
062100,000408: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062101,000409: 
062102,000410: 17,2553           50000                           INDEX    A                                     
062103,000411: 17,2554           41571                           CS       1/ANET2    +1                         
062104,000412: 17,2555           00006                           EXTEND                                         
062105,000413: 17,2556           51505                           INDEX    AXISCTR                               #  UPRATEDIF IS SCALED AT PI/4 RAD/SEC
062106,000414: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A, SCALED 32 SEC
062107,000415: 17,2560           54002                           TS       Q                                     
062108,000416: 17,2561           20001                           DAS      A                                     
062109,000417: 17,2562           60002                           AD       Q                                     
062110,000418: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
062111,000419: 17,2564           12566                           TCF      +2                                    
062112,000420: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062113,000421: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
062114,000422: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062115,000423: 17,2570           12727                           TCF      AFTERTJ                               
062116,000424: 
062117,000425: 17,2571           34755        ZEROTJ             CA       ZERO                                  
062118,000426: 17,2572           12566                           TCF      SETTIME                               
062119,000427: 
062120,000428: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
062121,000429: 
062122,000430:                                                                                                  #  GTS WILL BE TRIED IF
062123,000431:                                                                                                  #        1. USEQRJTS = 0,
062124,000432:                                                                                                  #        2. ALLOWGTS POS,
062125,000433:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
062126,000434: 
062127,000435: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
062128,000436: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
062129,000437: 17,2576           10000                           CCS      A                                     
062130,000438: 17,2577           12107                           TCF      RCS                                   
062131,000439: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

062133,000441: 17,2601           12603                           TCF      +2                                    
062134,000442: 17,2602           12107                           TCF      RCS                                   
062135,000443: 17,2603           00006                           EXTEND                                         
062136,000444: 17,2604           00005                           READ     CHAN5                                 
062137,000445: 17,2605           10000                           CCS      A                                     
062138,000446: 17,2606           12612                           TCF      CHKINGTS                              
062139,000447: 17,2607           00006        GOTOGTS            EXTEND                                         
062140,000448: 17,2610           32625                           DCA      GTSCADR                               
062141,000449: 17,2611           52006                           DTCB                                           
062142,000450: 
062143,000451: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062144,000452: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
062145,000453: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS.
062146,000454: 17,2615           00004                           INHINT                                         
062147,000455: 17,2616           04674                           TC       IBNKCALL                              
062148,000456: 17,2617           43330                           CADR     TIMEGMBL                              
062149,000457: 17,2620           00003                           RELINT                                         
062150,000458: 17,2621           34755                           CAF      ZERO                                  
062151,000459: 17,2622           55633                           TS       INGTS                                 
062152,000460: 17,2623           12107                           TCF      RCS                                   
062153,000461: 
062154,000462: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
062155,000463: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
062156,000464: 

Page 1451

062158,000466:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062159,000467: 
062160,000468: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062161,000469: 17,2627           00006                           EXTEND                                         
062162,000470: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
062163,000471: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062164,000472: 17,2632           00006                           EXTEND                                         
062165,000473: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062166,000474: 17,2634           55752                           TS       E                                     
062167,000475: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062168,000476: 17,2636           00006                           EXTEND                                         
062169,000477: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062170,000478: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062171,000479: 17,2641           00006                           EXTEND                                         
062172,000480: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062173,000481: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062174,000482: 17,2644           61752                           AD       E                                     
062175,000483: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062176,000484: 
062177,000485: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062178,000486: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062179,000487: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062180,000488: 17,2651           55752                           TS       E                                     
062181,000489: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062182,000490: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062183,000491: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062184,000492: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062185,000493: 17,2656           61752                           AD       E                                     
062186,000494: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062187,000495: 17,2660           00002                           TC       Q                                     
062188,000496: 

Page 1452

062190,000498:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062191,000499: 
062192,000500: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062193,000501: 
062194,000502: 17,2661           31452        STILLRCS           CA       RERROR                                
062195,000503: 17,2662           22000                           LXCH     A                                     
062196,000504: 17,2663           31450                           CA       QERROR                                
062197,000505: 17,2664           03146                           TC       ROT-TOUV                              
062198,000506: 17,2665           53752                           DXCH     UERROR                                
062199,000507: 
062200,000508:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062201,000509:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062202,000510: 
062203,000511: 17,2666           33113        TJLAW              CA       TJLAWADR                              
062204,000512: 17,2667           55477                           TS       RETJADR                               
062205,000513: 17,2670           34753                           CA       ONE                                   
062206,000514: 17,2671           55505                           TS       AXISCTR                               
062207,000515: 17,2672           51505                           INDEX    AXISCTR                               
062208,000516: 17,2673           51535                           INDEX    SKIPU                                 
062209,000517: 17,2674           12675                           TCF      +1                                    
062210,000518: 17,2675           34751                           CA       FOUR                                  
062211,000519: 17,2676           51505                           INDEX    AXISCTR                               
062212,000520: 17,2677           55535                           TS       SKIPU                                 
062213,000521: 17,2700           13005                           TCF      LOOPER                                
062214,000522: 17,2701           51505                           INDEX    AXISCTR                               
062215,000523: 17,2702           31751                           CA       UERROR                                
062216,000524: 17,2703           55752                           TS       E                                     
062217,000525: 17,2704           51505                           INDEX    AXISCTR                               
062218,000526: 17,2705           31426                           CA       OMEGAU                                
062219,000527: 17,2706           55427                           TS       EDOT                                  
062220,000528: 17,2707           30111                           CA       DAPBOOLS                              
062221,000529: 17,2710           74737                           MASK     CSMDOCKD                              
062222,000530: 17,2711           10000                           CCS      A                                     
062223,000531: 17,2712           12715                           TCF      +3                                    
062224,000532: 17,2713           03252                           TC       TJETLAW                               
062225,000533: 17,2714           12727                           TCF      AFTERTJ                               
062226,000534: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062227,000535: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
062228,000536: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062229,000537: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062230,000538: 17,2721           00004                           INHINT                                         
062231,000539: 17,2722           04674                           TC       IBNKCALL                              
062232,000540: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062233,000541: 17,2724           00003                           RELINT                                         
062234,000542: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062235,000543: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SLECTION, ETC.
062236,000544: 
062237,000545:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
062238,000546: 
062239,000547:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
062240,000548:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

062242,000550:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
062243,000551:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
062244,000552:                                                                                                  #                RETJADR         WHERE TO RETURN TO
062245,000553: 
062246,000554:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
062247,000555:                                                                                                  #                CHANNEL 5
062248,000556:                                                                                                  #                SKIPU,SKIPV     FOR LESS THAN 150MS FIRING
062249,000557: 
062250,000558:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062251,000559:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
062252,000560:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
062253,000561:                                                                                                  #                IF NONE CAN BE FOUND.
062254,000562: 
062255,000563:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062256,000564:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062257,000565: 
062258,000566: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062259,000567: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
062260,000568: 17,2731           00006                           EXTEND                                         
062261,000569: 17,2732           12743                           BZF      DOROTAT                               
062262,000570: 17,2733           40106                           CS       FLGWRD10                              
062263,000571: 17,2734           74737                           MASK     APSFLBIT                              
062264,000572: 17,2735           00006                           EXTEND                                         
062265,000573: 17,2736           12743                           BZF      DOROTAT                               
062266,000574: 17,2737           30111                           CA       DAPBOOLS                              
062267,000575: 17,2740           74744                           MASK     DRIFTBIT                              
062268,000576: 17,2741           00006                           EXTEND                                         
062269,000577: 17,2742           13063                           BZF      XTRANS                                
062270,000578: 
062271,000579: 17,2743           34752        DOROTAT            CAF      TWO                                   
062272,000580: 17,2744           54001                           TS       L                                     
062273,000581: 17,2745           51505                           INDEX    AXISCTR                               
062274,000582: 17,2746           11525                           CCS      TJU                                   
062275,000583: 17,2747           12754                           TCF      +5                                    
062276,000584: 17,2750           12777                           TCF      NOROTAT                               
062277,000585: 17,2751           12753                           TCF      +2                                    
062278,000586: 17,2752           12777                           TCF      NOROTAT                               
062279,000587: 17,2753           22007                           ZL                                             
062280,000588: 17,2754           64753                           AD       ONE                                   
062281,000589: 17,2755           55737                           TS       ABSTJ                                 
062282,000590: 
062283,000591: 17,2756           31505                           CA       AXISCTR                               
062284,000592: 17,2757           60001                           AD       L                                     
062285,000593: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V +U +V
062286,000594: 
062287,000595: 17,2761           31737                           CA       ABSTJ                                 
062288,000596: 17,2762           63110                           AD       -150MS                                
062289,000597: 17,2763           00006                           EXTEND                                         
062290,000598: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

062292,000600: 17,2765           03173                           TC       SELCTSUB                              
062293,000601: 
062294,000602: 17,2766           51505                           INDEX    AXISCTR                               
062295,000603: 17,2767           33105                           CA       INDEXES                               
062296,000604: 17,2770           54001                           TS       L                                     
062297,000605: 
062298,000606: 17,2771           31741                           CA       POLYTEMP                              
062299,000607: 17,2772           00004                           INHINT                                         
062300,000608: 17,2773           50001                           INDEX    L                                     
062301,000609: 17,2774           05754                           TC       WRITEP                                
062302,000610: 
062303,000611: 17,2775           00003                           RELINT                                         
062304,000612: 17,2776           13051                           TCF      FEEDBACK                              
062305,000613: 
062306,000614: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
062307,000615: 17,3000           33105                           CA       INDEXES                               
062308,000616: 17,3001           00004                           INHINT                                         
062309,000617: 17,3002           50000                           INDEX    A                                     
062310,000618: 17,3003           05753                           TC       WRITEP     -1                         
062311,000619: 
062312,000620: 17,3004           00003                           RELINT                                         
062313,000621: 17,3005           11505        LOOPER             CCS      AXISCTR                               
062314,000622: 17,3006           01477                           TC       RETJADR                               
062315,000623: 17,3007           13236                           TCF      CLOSEOUT                              
062316,000624: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
062317,000625: 17,3011           63107                           AD       +TJMINT6                              #  14MS
062318,000626: 17,3012           00006                           EXTEND                                         
062319,000627: 17,3013           63032                           BZMF     NOTMIN                                
062320,000628: 
062321,000629: 17,3014           27737                           ADS      ABSTJ                                 
062322,000630: 17,3015           51505                           INDEX    AXISCTR                               
062323,000631: 17,3016           11525                           CCS      TJU                                   
062324,000632: 17,3017           33107                           CA       +TJMINT6                              
062325,000633: 17,3020           13022                           TCF      +2                                    
062326,000634: 17,3021           43107                           CS       +TJMINT6                              
062327,000635: 17,3022           51505                           INDEX    AXISCTR                               
062328,000636: 17,3023           55525                           TS       TJU                                   
062329,000637: 
062330,000638: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062331,000639: 17,3025           13031                           TCF      NOTMIN     -1                         
062332,000640: 17,3026           00006                           EXTEND                                         
062333,000641: 17,3027           00004                           READ     LOSCALAR                              
062334,000642: 17,3030           74753                           MASK     ONE                                   
062335,000643: 17,3031           55743                           TS       NUMBERT                               
062336,000644: 
062337,000645: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
062338,000646: 
062339,000647: 17,3033           51505                           INDEX    AXISCTR                               
062340,000648: 17,3034           33105                           CA       INDEXES                               
062341,000649: 17,3035           00004                           INHINT                                         

Page 1455

062343,000651: 17,3036           55471                           TS       T6FURTHA   +1                         
062344,000652: 17,3037           31741                           CA       POLYTEMP                              
062345,000653: 17,3040           51471                           INDEX    T6FURTHA   +1                         
062346,000654: 17,3041           05754                           TC       WRITEP                                
062347,000655: 
062348,000656: 17,3042           31737                           CA       ABSTJ                                 
062349,000657: 17,3043           55470                           TS       T6FURTHA                              
062350,000658: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
062351,000659: 
062352,000660: 17,3045           00003                           RELINT                                         
062353,000661: 
062354,000662: 17,3046           34755                           CA       ZERO                                  
062355,000663: 17,3047           51505                           INDEX    AXISCTR                               
062356,000664: 17,3050           55535                           TS       SKIPU                                 
062357,000665: 
062358,000666: 17,3051           46245        FEEDBACK           CS       THREE                                 
062359,000667: 17,3052           61743                           AD       NUMBERT                               
062360,000668: 17,3053           00006                           EXTEND                                         
062361,000669: 17,3054           63057                           BZMF     +3                                    
062362,000670: 
062363,000671: 17,3055           34752                           CA       TWO                                   
062364,000672: 17,3056           13060                           TCF      +2                                    
062365,000673: 17,3057           34753                           CA       ONE                                   
062366,000674: 17,3060           51505                           INDEX    AXISCTR                               
062367,000675: 17,3061           55522                           TS       NO.UJETS                              
062368,000676: 17,3062           13005                           TCF      LOOPER                                
062369,000677: 
062370,000678: 17,3063           34755        XTRANS             CA       ZERO                                  
062371,000679: 17,3064           55525                           TS       TJU                                   
062372,000680: 17,3065           55526                           TS       TJV                                   
062373,000681: 17,3066           34751                           CA       FOUR                                  
062374,000682: 17,3067           00004                           INHINT                                         
062375,000683: 17,3070           57535                           XCH      SKIPU                                 
062376,000684: 17,3071           00006                           EXTEND                                         
062377,000685: 17,3072           13074                           BZF      +2                                    
062378,000686: 17,3073           05757                           TC       WRITEU     -1                         
062379,000687: 17,3074           34751                           CA       FOUR                                  
062380,000688: 17,3075           57536                           XCH      SKIPV                                 
062381,000689: 17,3076           00003                           RELINT                                         
062382,000690: 
062383,000691: 17,3077           00006                           EXTEND                                         
062384,000692: 17,3100           13236                           BZF      CLOSEOUT                              
062385,000693: 17,3101           00004                           INHINT                                         
062386,000694: 17,3102           05770                           TC       WRITEV     -1                         
062387,000695: 17,3103           00003                           RELINT                                         
062388,000696: 
062389,000697: 17,3104           13236                           TCF      CLOSEOUT                              
062390,000698: 17,3105           00004        INDEXES            DEC      4          B-14                       
062391,000699: 17,3106           00015                           DEC      13         B-14                       
062392,000700: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

062394,000702: 17,3110           77417        -150MS             DEC      -240       B-14                       
062395,000703: 17,3111           00600        BIT8,9             OCT      00600                                 
062396,000704: 17,3112           00266        SCLNORM            OCT      266                                   
062397,000705: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062398,000706: 
062399,000707:                                                                                                  #  THE JET LIST:
062400,000708:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
062401,000709: 
062402,000710:                                                                                                  #  CALLED BY:
062403,000711:                                                                                                  #                CA      TJ              # TIME WHEN NEXT JETS WILL BE WRITTEN
062404,000712:                                                                                                  #                TS      T6FURTHA
062405,000713:                                                                                                  #                CA      INDEX           # AXIS TO BE WRITTEN AT TJ (FROM NOW)
062406,000714:                                                                                                  #                TS      T6FURTHA +1
062407,000715:                                                                                                  #                TC      JTLST
062408,000716: 
062409,000717:                                                                                                  #  EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062410,000718:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062411,000719:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062412,000720:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062413,000721:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062414,000722: 
062415,000723:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
062416,000724:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST.
062417,000725: 
062418,000726:                                                                                                  #  RETURNS BY:
062419,000727:                                                                                                  #        +       TC      Q
062420,000728: 
062421,000729:                                                                                                  #  DEFINITIONS:  (OUTPUT)
062422,000730:                                                                                                  #        TIME6           TIME OF NEXT RUPT
062423,000731:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
062424,000732:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
062425,000733:                                                                                                  #        NXT6ADR         AXIS INDEX      0 -- P-AXIS
062426,000734:                                                                                                  #        T6NEXT +1       AXIS INDEX      4 -- U-AXIS
062427,000735:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 -- V-AXIS
062428,000736: 
062429,000737: 17,3114           41470        JTLST              CS       T6FURTHA                              
062430,000738: 17,3115           60031                           AD       TIME6                                 
062431,000739: 17,3116           00006                           EXTEND                                         
062432,000740: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 -- TI IS IN A
062433,000741: 
062434,000742: 17,3120           23465                           LXCH     NXT6ADR                               
062435,000743: 17,3121           53467                           DXCH     T6NEXT                                
062436,000744: 17,3122           53471                           DXCH     T6FURTHA                              
062437,000745: 17,3123           54031                           TS       TIME6                                 
062438,000746: 17,3124           23465                           LXCH     NXT6ADR                               
062439,000747: 
062440,000748: 17,3125           34735        TURNON             CA       BIT15                                 
062441,000749: 17,3126           00006                           EXTEND                                         
062442,000750: 17,3127           05013                           WOR      CHAN13                                
062443,000751: 17,3130           00002                           TC       Q                                     
062444,000752: 

Page 1457

062446,000754: 17,3131           61466        MIDORLST           AD       T6NEXT                                
062447,000755: 17,3132           00006                           EXTEND                                         
062448,000756: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
062449,000757: 
062450,000758: 17,3134           23467                           LXCH     T6NEXT     +1                         
062451,000759: 17,3135           53471                           DXCH     T6FURTHA                              
062452,000760: 17,3136           00006                           EXTEND                                         
062453,000761: 17,3137           60031                           SU       TIME6                                 
062454,000762: 17,3140           53467                           DXCH     T6NEXT                                
062455,000763: 
062456,000764: 17,3141           00002                           TC       Q                                     
062457,000765: 
062458,000766: 17,3142           40000        LASTCHG            CS       A                                     
062459,000767: 17,3143           64754                           AD       NEG0                                  
062460,000768: 17,3144           55470                           TS       T6FURTHA                              
062461,000769: 
062462,000770: 17,3145           00002                           TC       Q                                     
062463,000771: 
062464,000772:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062465,000773:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
062466,000774:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062467,000775:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
062468,000776: 
062469,000777: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
062470,000778: 17,3147           00006                           EXTEND                                         
062471,000779: 17,3150           71627                           MP       COEFFQ                                
062472,000780: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062473,000781: 17,3152           00006                           EXTEND                                         
062474,000782: 17,3153           71630                           MP       COEFFR                                
062475,000783: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
062476,000784: 17,3155           61740                           AD       ROTEMP2                               
062477,000785: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062478,000786: 17,3157           13163                           TCF      +4                                    
062479,000787: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062480,000788: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062481,000789: 17,3162           55737                           TS       ROTEMP1                               
062482,000790: 17,3163           41740                           CS       ROTEMP2                               
062483,000791: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062484,000792: 17,3165           54007                           TS       7                                     
062485,000793: 17,3166           13171                           TCF      +3                                    
062486,000794: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062487,000795: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062488,000796: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062489,000797: 17,3172           00002                           TC       Q                                     
062490,000798: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
062491,000799: 17,3174           33225                           CA       ALLJETS                               
062492,000800: 17,3175           51743                           INDEX    NUMBERT                               
062493,000801: 17,3176           73231                           MASK     TYPEPOLY                              
062494,000802: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

062496,000804: 17,3200           71262                           MASK     CH5MASK                               
062497,000805: 17,3201           10000                           CCS      A                                     
062498,000806: 17,3202           13204                           TCF      +2                                    
062499,000807: 
062500,000808: 17,3203           00002                           TC       Q                                     
062501,000809: 
062502,000810: 17,3204           36245                           CA       THREE                                 
062503,000811: 17,3205           55743        FAILOOP            TS       NUMBERT                               
062504,000812: 17,3206           51744                           INDEX    ROTINDEX                              
062505,000813: 17,3207           33225                           CA       ALLJETS                               
062506,000814: 17,3210           51743                           INDEX    NUMBERT                               
062507,000815: 17,3211           73231                           MASK     TYPEPOLY                              
062508,000816: 17,3212           55741                           TS       POLYTEMP                              
062509,000817: 17,3213           71262                           MASK     CH5MASK                               
062510,000818: 17,3214           00006                           EXTEND                                         
062511,000819: 17,3215           13203                           BZF      FAILOOP    -2                         
062512,000820: 17,3216           11743                           CCS      NUMBERT                               
062513,000821: 17,3217           13205                           TCF      FAILOOP                               
062514,000822: 17,3220           51505                           INDEX    AXISCTR                               
062515,000823: 17,3221           55525                           TS       TJU                                   
062516,000824: 17,3222           05567                           TC       ALARM                                 
062517,000825: 17,3223           02004                           OCT      02004                                 
062518,000826: 17,3224           12777                           TCF      NOROTAT                               
062519,000827: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
062520,000828: 17,3226           00022                           OCT      00022                                 #        -V      2 9
062521,000829: 17,3227           00204                           OCT      00204                                 #        +U      5 14
062522,000830: 17,3230           00041                           OCT      00041                                 #        +V      1 10
062523,000831: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
062524,000832: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
062525,000833: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
062526,000834: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
062527,000835: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
062528,000836: 
062529,000837:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062530,000838: 
062531,000839: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
062532,000840: 17,3237           07754                           TC       MAKERUPT                              
062533,000841: 
062534,000842: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
062535,000843: 
062536,000844: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
062537,000845: 17,3242           52011                           DXCH     ARUPT                                 
062538,000846: 17,3243           53756                           DXCH     DAPBQRPT                              
062539,000847: 17,3244           56017                           XCH      BRUPT                                 
062540,000848: 17,3245           22002                           LXCH     Q                                     
062541,000849: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062542,000850: 17,3247           53760                           DXCH     DAPZRUPT                              
062543,000851: 17,3250           52016                           DXCH     ZRUPT                                 
062544,000852: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

062546,000854:    7754                                           BLOCK    3                                     
062547,000855:    6000                                           SETLOC   FFTAG6                                
062548,000856:    6000                                           BANK                                           
062549,000857: 
062550,000858:    7754                                           COUNT*   $$/DAP                                
062551,000859: 
062552,000860:    7754           00006        MAKERUPT           EXTEND                                         
062553,000861:    7755           07754                           EDRUPT   MAKERUPT                              
062554,000862: 

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