Source Code

These source-code files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology". It is believed that the original listing was preserved by AGC developer Don Eyles, copied/reduced by AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig, scanned by Gary Neff, and then passed to the Dibner Institute where unfortunately the high-quality scans were reduced in legibility as part of the online-presentation process, and the original scans discarded. The source code was transcribed from those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not the discarded original high-quality scans, though with a few high-quality replacement scans provided directly by Gary Neff, are now available at the Virtual AGC project website. Report any conversion errors to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date of the printout, not the date of the program revision.

060016,000002:                                                                                                  ## Copyright:   Public domain.
060017,000003:                                                                                                  ## Filename:    Q_R-AXIS_RCS_AUTOPILOT.agc
060018,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
060019,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
060020,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
060021,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
060022,000008:                                                                                                  ##              that the code format has been changed to conform to the
060023,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
060024,000010:                                                                                                  ##              original YUL assembler.
060025,000011:                                                                                                  ## Reference:   pp. 1439-1456 of 1729.pdf.
060026,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060027,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060028,000014:                                                                                                  ## Mod history: 06/07/03 RSB.   Began transcribing.
060029,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
060030,000016:                                                                                                  ##              2010-10-25 JL   Indentation fixes.
060031,000017: 

Page 1439

060033,000019: 17,2124                                           BANK     17                                    
060034,000020: 17,2000                                           SETLOC   DAPS2                                 
060035,000021: 17,2000                                           BANK                                           
060036,000022: 
060037,000023: 17,2124  E6,1634                                  EBANK=   CDUXD                                 
060038,000024: 
060039,000025: 17,2124                                           COUNT*   $$/DAPQR                              
060040,000026: 
060041,000027: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
060042,000028: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
060043,000029: 17,2126           02031                           RAND     CHAN31                                
060044,000030: 17,2127           10000                           CCS      A                                     
060045,000031: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
060046,000032: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
060047,000033: 17,2132           74740                           MASK     OURRCBIT                              
060048,000034: 17,2133           00006                           EXTEND                                         
060049,000035: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERROS.
060050,000036: 17,2135           02655                           TC       QERRCALC                              
060051,000037: 
060052,000038: 17,2136           11630        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060053,000039: 17,2137           12636                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
060054,000040: 17,2140           12623                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
060055,000041: 17,2141           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
060056,000042: 17,2142           55630                           TS       COTROLER                              
060057,000043: 
060058,000044: 17,2143           53437                           DXCH     EDOTQ                                 
060059,000045: 17,2144           03200                           TC       ROT-TOUV                              
060060,000046: 17,2145           53427                           DXCH     OMEGAU                                
060061,000047: 
060062,000048:                                                                                                  #  X - TRANSLATION
060063,000049: 
060064,000050:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060065,000051:                                                                                                  #                ULLAGER
060066,000052:                                                                                                  #                APSFLAG, DRIFTBIT
060067,000053:                                                                                                  #                ACC40R2X, ACRBTRAN
060068,000054: 
060069,000055:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
060070,000056:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
060071,000057: 
060072,000058:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
060073,000059:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060074,000060: 
060075,000061: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
060076,000062: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
060077,000063: 17,2150           02031                           RAND     CHAN31                                
060078,000064: 17,2151           00006                           EXTEND                                         
060079,000065: 17,2152           12200                           BZF      +X0RULGE                              

Page 1440

060081,000067: 17,2153           34744                           CA       BIT8                                  
060082,000068: 17,2154           00006                           EXTEND                                         
060083,000069: 17,2155           02031                           RAND     CHAN31                                
060084,000070: 17,2156           00006                           EXTEND                                         
060085,000071: 17,2157           12201                           BZF      -XTRANS                               
060086,000072: 
060087,000073: 17,2160           34746                           CA       ULLAGER                               
060088,000074: 17,2161           70111                           MASK     DAPBOOLS                              
060089,000075: 17,2162           10000                           CCS      A                                     
060090,000076: 17,2163           12200                           TCF      +X0RULGE                              
060091,000077: 
060092,000078: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
060093,000079: 17,2165           55474                           TS       NEXTV                                 
060094,000080: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
060095,000081: 17,2167           74744                           MASK     DRIFTBIT                              
060096,000082: 17,2170           00006                           EXTEND                                         
060097,000083: 17,2171           12176                           BZF      TSENSE                                
060098,000084: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
060099,000085: 17,2173           74737                           MASK     APSFLBIT                              
060100,000086: 17,2174           10000                           CCS      A                                     
060101,000087: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
060102,000088: 17,2176           55500        TSENSE             TS       SENSETYP                              
060103,000089: 17,2177           12232                           TCF      QRCONTRL                              
060104,000090: 
060105,000091: 17,2200           34753        +X0RULGE           CAF      ONE                                   
060106,000092: 17,2201           64751        -XTRANS            AD       FOUR                                  
060107,000093: 17,2202           55743                           TS       ROTINDEX                              
060108,000094: 17,2203           67750                           AD       NEG3                                  
060109,000095: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
060110,000096: 17,2205           30111                           CA       DAPBOOLS                              
060111,000097: 17,2206           74741                           MASK     ACC4OR2X                              
060112,000098: 17,2207           10000                           CCS      A                                     
060113,000099: 17,2210           12352                           TCF      TRANS4                                
060114,000100: 
060115,000101: 17,2211           30111                           CA       DAPBOOLS                              
060116,000102: 17,2212           74742                           MASK     AORBTRAN                              
060117,000103: 17,2213           10000                           CCS      A                                     
060118,000104: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
060119,000105: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
060120,000106: 17,2216           55742        TSNUMBRT           TS       NUMBERT                               
060121,000107: 
060122,000108: 17,2217           03225                           TC       SELCTSUB                              
060123,000109: 
060124,000110: 17,2220           11740                           CCS      POLYTEMP                              
060125,000111: 17,2221           12224                           TCF      +3                                    
060126,000112: 17,2222           05567                           TC       ALARM                                 
060127,000113: 17,2223           02002                           OCT      02002                                 
060128,000114: 17,2224           35764                           CA       00314OCT                              
060129,000115: 17,2225           71740                           MASK     POLYTEMP                              
060130,000116: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1441

060132,000118: 17,2227           45764                           CS       00314OCT                              
060133,000119: 17,2230           71740                           MASK     POLYTEMP                              
060134,000120: 17,2231           55474                           TS       NEXTV                                 
060135,000121: 
060136,000122:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
060137,000123:                                                                                                  #        SWITCHES        INDICATION WHEN SET
060138,000124:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
060139,000125:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
060140,000126:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
060141,000127: 
060142,000128: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
060143,000129: 17,2233           00006                           EXTEND                                         
060144,000130: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
060145,000131: 17,2235           10000                           CCS      A                                     
060146,000132: 17,2236           12710                           TCF      ATTSTEER                              
060147,000133: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
060148,000134: 17,2240           70111                           MASK     DAPBOOLS                              
060149,000135: 17,2241           00006                           EXTEND                                         
060150,000136: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060151,000137: 
060152,000138:                                                                                                  #  MINIMUM IMPULSE MODE
060153,000139: 
060154,000140: 17,2243           00004                           INHINT                                         
060155,000141: 17,2244           04674                           TC       IBNKCALL                              
060156,000142: 17,2245           40154                           CADR     ZATTEROR                              
060157,000143: 17,2246           34755                           CA       ZERO                                  
060158,000144: 17,2247           55450                           TS       QERROR                                
060159,000145: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
060160,000146: 17,2251           00003                           RELINT                                         
060161,000147: 
060162,000148: 17,2252           00006                           EXTEND                                         
060163,000149: 17,2253           00031                           READ     CHAN31                                
060164,000150: 17,2254           55736                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
060165,000151: 17,2255           11461                           CCS      OLDQRMIN                              
060166,000152: 17,2256           12300                           TCF      CHECKIN                               
060167,000153: 
060168,000154: 17,2257           31736        FIREQR             CA       TEMP31                                
060169,000155: 17,2260           74753                           MASK     BIT1                                  
060170,000156: 17,2261           00006                           EXTEND                                         
060171,000157: 17,2262           12304                           BZF      +QMIN                                 
060172,000158: 
060173,000159: 17,2263           31736                           CA       TEMP31                                
060174,000160: 17,2264           74752                           MASK     BIT2                                  
060175,000161: 17,2265           00006                           EXTEND                                         
060176,000162: 17,2266           12310                           BZF      -QMIN                                 
060177,000163: 
060178,000164: 17,2267           31736                           CA       TEMP31                                
060179,000165: 17,2270           74747                           MASK     BIT5                                  

Page 1442

060181,000167: 17,2271           00006                           EXTEND                                         
060182,000168: 17,2272           12314                           BZF      +RMIN                                 
060183,000169: 
060184,000170: 17,2273           31736                           CA       TEMP31                                
060185,000171: 17,2274           74746                           MASK     BIT6                                  
060186,000172: 17,2275           00006                           EXTEND                                         
060187,000173: 17,2276           12316                           BZF      -RMIN                                 
060188,000174: 
060189,000175: 17,2277           13112                           TCF      XTRANS                                
060190,000176: 
060191,000177: 17,2300           41736        CHECKIN            CS       TEMP31                                
060192,000178: 17,2301           72351                           MASK     OCT63                                 
060193,000179: 17,2302           55461                           TS       OLDQRMIN                              
060194,000180: 17,2303           13112                           TCF      XTRANS                                
060195,000181: 
060196,000182: 17,2304           33136        +QMIN              CA       14MS                                  
060197,000183: 17,2305           55525                           TS       TJU                                   
060198,000184: 17,2306           43136                           CS       14MS                                  
060199,000185: 17,2307           12320                           TCF      MINQR                                 
060200,000186: 17,2310           43136        -QMIN              CS       14MS                                  
060201,000187: 17,2311           55525                           TS       TJU                                   
060202,000188: 17,2312           33136                           CA       14MS                                  
060203,000189: 17,2313           12320                           TCF      MINQR                                 
060204,000190: 17,2314           33136        +RMIN              CA       14MS                                  
060205,000191: 17,2315           12317                           TCF      +2                                    
060206,000192: 17,2316           43136        -RMIN              CS       14MS                                  
060207,000193: 17,2317           55525                           TS       TJU                                   
060208,000194: 17,2320           55526        MINQR              TS       TJV                                   
060209,000195: 17,2321           32350                           CA       MINADR                                
060210,000196: 17,2322           55477                           TS       RETJADR                               
060211,000197: 17,2323           34753                           CA       ONE                                   
060212,000198: 17,2324           55461                           TS       OLDQRMIN                              
060213,000199: 17,2325           55505        MINRTN             TS       AXISCTR                               
060214,000200: 17,2326           30111                           CA       DAPBOOLS                              
060215,000201: 17,2327           74737                           MASK     CSMDOCKD                              
060216,000202: 17,2330           00006                           EXTEND                                         
060217,000203: 17,2331           12341                           BZF      MIMRET                                
060218,000204: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
060219,000205: 17,2333           11525                           CCS      TJU                                   
060220,000206: 17,2334           34776                           CA       60MS                                  
060221,000207: 17,2335           12337                           TCF      +2                                    
060222,000208: 17,2336           44776                           CS       60MS                                  
060223,000209: 17,2337           51505                           INDEX    AXISCTR                               
060224,000210: 17,2340           55525                           TS       TJU                                   
060225,000211: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
060226,000212: 17,2342           74742                           MASK     AORBTRAN                              
060227,000213: 17,2343           10000                           CCS      A                                     
060228,000214: 17,2344           34753                           CA       ONE                                   
060229,000215: 17,2345           64752                           AD       TWO                                   
060230,000216: 17,2346           55742                           TS       NUMBERT                               

Page 1443

060232,000218: 17,2347           12756                           TCF      AFTERTJ                               
060233,000219: 
060234,000220: 17,2350     4776               60MS               =        OCT140                                
060235,000221: 17,2350           02325        MINADR             GENADR   MINRTN                                
060236,000222: 17,2351           00063        OCT63              OCT      63                                    
060237,000223: 17,2352  17,3136               14MS               =        +TJMINT6                              
060238,000224: 
060239,000225: 17,2352           34751        TRANS4             CA       FOUR                                  
060240,000226: 17,2353           12216                           TCF      TSNUMBRT                              
060241,000227: 
060242,000228:                                                                                                  #  RATE COMMAND MODE:
060243,000229: 
060244,000230:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
060245,000231: 
060246,000232: 17,2354           55632        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
060247,000233: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
060248,000234: 17,2356           55630                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
060249,000235: 17,2357           34735                           CA       BIT15                                 
060250,000236: 17,2360           71443                           MASK     CH31TEMP                              
060251,000237: 17,2361           00006                           EXTEND                                         
060252,000238: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
060253,000239: 17,2363           34740                           CA       OURRCBIT                              #  ***********
060254,000240: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
060255,000241: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
060256,000242: 17,2366           12710                           BZF      STILLRCS                              
060257,000243: 17,2367           44743                           CS       BIT9                                  
060258,000244: 17,2370           71262                           MASK     RCSFLAGS                              
060259,000245: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
060260,000246: 17,2372           12374                           TCF      DAMPING                               
060261,000247: 17,2373     4771               40CYCL             =        OCT50                                 
060262,000248: 17,2373     4753               1/10S              =        BIT1                                  
060263,000249: 17,2373           00056        LINRAT             DEC      46         B-14                       
060264,000250: 
060265,000251:                                                                                                  #  ===========================================================
060266,000252: 
060267,000253: 17,2374           34755        DAMPING            CA       ZERO                                  
060268,000254: 17,2375           55462                           TS       SAVEHAND                              
060269,000255: 17,2376           55463                           TS       SAVEHAND   +1                         
060270,000256: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  ******************
060271,000257: 17,2400           12403                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
060272,000258: 17,2401           12403                           TCF      +2                                    #  ******************
060273,000259: 17,2402           12403                           TCF      +1                                    
060274,000260: 17,2403           60000                           DOUBLE                                         #  WHERE
060275,000261: 17,2404           60000                           DOUBLE                                         
060276,000262: 17,2405           62373                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
060277,000263: 17,2406           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
060278,000264: 17,2407           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
060279,000265: 17,2410           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
060280,000266: 17,2411           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
060281,000267: 17,2412           71444                           MP       STIKSENS                              
060282,000268: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE, SCALED 45 DEG/SEC
060283,000269: 17,2414           40000                           COM                                            

Page 1444

060285,000271: 17,2415           61455                           AD       QLAST                                 
060286,000272: 17,2416           55740                           TS       DAPTEMP3                              
060287,000273: 17,2417           11463                           CCS      SAVEHAND   +1                         
060288,000274: 17,2420           12423                           TCF      +3                                    
060289,000275: 17,2421           12423                           TCF      +2                                    
060290,000276: 17,2422           12423                           TCF      +1                                    
060291,000277: 17,2423           60000                           DOUBLE                                         
060292,000278: 17,2424           60000                           DOUBLE                                         
060293,000279: 17,2425           62373                           AD       LINRAT                                
060294,000280: 17,2426           00006                           EXTEND                                         
060295,000281: 17,2427           71463                           MP       SAVEHAND   +1                         
060296,000282: 17,2430           30001                           CA       L                                     
060297,000283: 17,2431           00006                           EXTEND                                         
060298,000284: 17,2432           71444                           MP       STIKSENS                              
060299,000285: 17,2433           57456                           XCH      RLAST                                 
060300,000286: 17,2434           40000                           COM                                            
060301,000287: 17,2435           61456                           AD       RLAST                                 
060302,000288: 17,2436           55741                           TS       DAPTEMP4                              
060303,000289: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
060304,000290: 17,2440           61422                           AD       OMEGAQ                                
060305,000291: 17,2441           55436                           TS       QRATEDIF                              
060306,000292: 17,2442           41456                           CS       RLAST                                 
060307,000293: 17,2443           61423                           AD       OMEGAR                                
060308,000294: 17,2444           55437                           TS       RRATEDIF                              
060309,000295: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
060310,000296: 17,2446           03200                           TC       ROT-TOUV                              
060311,000297: 17,2447           53427                           DXCH     URATEDIF                              
060312,000298: 17,2450           11740                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
060313,000299: 17,2451           02454                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
060314,000300: 17,2452           02454                           TC       +2                                    
060315,000301: 17,2453           02454                           TC       +1                                    
060316,000302: 17,2454           61476                           AD       -RATEDB                               
060317,000303: 17,2455           00006                           EXTEND                                         
060318,000304: 17,2456           62460                           BZMF     +2                                    
060319,000305: 17,2457           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
060320,000306: 17,2460           11741                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
060321,000307: 17,2461           02464                           TC       +3                                    
060322,000308: 17,2462           02464                           TC       +2                                    
060323,000309: 17,2463           02464                           TC       +1                                    
060324,000310: 17,2464           61476                           AD       -RATEDB                               
060325,000311: 17,2465           00006                           EXTEND                                         
060326,000312: 17,2466           62470                           BZMF     +2                                    
060327,000313: 17,2467           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
060328,000314: 17,2470           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
060329,000315: 17,2471           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
060330,000316: 17,2472           00006                           EXTEND                                         
060331,000317: 17,2473           12475                           BZF      +2                                    
060332,000318: 17,2474           12500                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
060333,000319: 17,2475           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
060334,000320: 17,2476           34771                           CA       40CYCL                                

Page 1445

060336,000322: 17,2477           55457                           TS       TCQR                                  
060337,000323: 17,2500           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL
060338,000324: 17,2501           04674                           TC       IBNKCALL                              
060339,000325: 17,2502           40154                           FCADR    ZATTEROR                              
060340,000326: 17,2503           00003                           RELINT                                         
060341,000327: 17,2504           34755                           CA       ZERO                                  
060342,000328: 17,2505           55450                           TS       DYERROR                               
060343,000329: 17,2506           55451                           TS       DYERROR    +1                         
060344,000330: 17,2507           55452                           TS       DZERROR                               
060345,000331: 17,2510           55453                           TS       DZERROR    +1                         
060346,000332: 17,2511           11426                           CCS      URATEDIF                              
060347,000333: 17,2512           12515                           TCF      +3                                    
060348,000334: 17,2513           12515                           TCF      +2                                    
060349,000335: 17,2514           12515                           TCF      +1                                    
060350,000336: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
060351,000337: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
060352,000338: 17,2517           62533                           BZMF     VDB                                   
060353,000339: 17,2520           11427                           CCS      VRATEDIF                              
060354,000340: 17,2521           12524                           TCF      +3                                    
060355,000341: 17,2522           12524                           TCF      +2                                    
060356,000342: 17,2523           12524                           TCF      +1                                    
060357,000343: 17,2524           61476                           AD       TARGETDB                              
060358,000344: 17,2525           00006                           EXTEND                                         
060359,000345: 17,2526           62530                           BZMF     +2                                    
060360,000346: 17,2527           12544                           TCF      QRTIME                                
060361,000347: 17,2530           34755                           CA       ZERO                                  
060362,000348: 17,2531           55427                           TS       VRATEDIF                              
060363,000349: 17,2532           12544                           TCF      QRTIME                                
060364,000350: 17,2533           11427        VDB                CCS      VRATEDIF                              
060365,000351: 17,2534           02537                           TC       +3                                    
060366,000352: 17,2535           02537                           TC       +2                                    
060367,000353: 17,2536           02537                           TC       +1                                    
060368,000354: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
060369,000355: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
060370,000356: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
060371,000357: 17,2542           34755                           CA       ZERO                                  #  PASS.
060372,000358: 17,2543           55426                           TS       URATEDIF                              
060373,000359: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
060374,000360: 17,2545           00006                           EXTEND                                         
060375,000361: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
060376,000362: 17,2547           41262                           CS       RCSFLAGS                              
060377,000363: 17,2550           74741                           MASK     QRBIT                                 
060378,000364: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
060379,000365: 17,2552           02556                           TC       +4                                    
060380,000366: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
060381,000367: 17,2554           71262                           MASK     RCSFLAGS                              
060382,000368: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
060383,000369: 17,2556           32622                           CA       HANDADR                               
060384,000370: 17,2557           55477                           TS       RETJADR                               
060385,000371: 17,2560           34753                           CA       ONE                                   
060386,000372: 

Page 1446

060388,000374: 17,2561           55505        BACKHAND           TS       AXISCTR                               
060389,000375: 
060390,000376: 17,2562           34751                           CA       FOUR                                  
060391,000377: 17,2563           55742                           TS       NUMBERT                               
060392,000378: 
060393,000379: 17,2564           51505                           INDEX    AXISCTR                               
060394,000380: 17,2565           51534                           INDEX    SKIPU                                 
060395,000381: 17,2566           12567                           TCF      +1                                    
060396,000382: 17,2567           34751                           CA       FOUR                                  
060397,000383: 17,2570           51505                           INDEX    AXISCTR                               
060398,000384: 17,2571           55534                           TS       SKIPU                                 
060399,000385: 17,2572           13034                           TCF      LOOPER                                
060400,000386: 
060401,000387: 17,2573           51505                           INDEX    AXISCTR                               
060402,000388: 17,2574           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANTITY
060403,000389: 17,2575           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
060404,000390: 17,2576           12600                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
060405,000391: 17,2577           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
060406,000392: 17,2600           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
060407,000393: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
060408,000394: 
060409,000395: 17,2602           50000                           INDEX    A                                     
060410,000396: 17,2603           41570                           CS       1/ANET2    +1                         
060411,000397: 17,2604           00006                           EXTEND                                         
060412,000398: 17,2605           51505                           INDEX    AXISCTR                               #  UPRATEDIF IS SCALED AT PI/4 RAD/SEC
060413,000399: 17,2606           71426                           MP       URATEDIF                              #  JET TIME IN A, SCALED 32 SEC
060414,000400: 17,2607           54002                           TS       Q                                     
060415,000401: 17,2610           20001                           DAS      A                                     
060416,000402: 17,2611           60002                           AD       Q                                     
060417,000403: 17,2612           54000                           TS       A                                     #  OVERFLOW SKIP
060418,000404: 17,2613           12615                           TCF      +2                                    
060419,000405: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
060420,000406: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
060421,000407: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
060422,000408: 17,2617           12756                           TCF      AFTERTJ                               
060423,000409: 
060424,000410: 17,2620           34755        ZEROTJ             CA       ZERO                                  
060425,000411: 17,2621           12615                           TCF      SETTIME                               
060426,000412: 
060427,000413: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
060428,000414: 
060429,000415:                                                                                                  #  GTS WILL BE TRIED IF
060430,000416:                                                                                                  #        1. USEQRJTS = 0,
060431,000417:                                                                                                  #        2. ALLOWGTS POS,
060432,000418:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
060433,000419: 
060434,000420: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
060435,000421: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
060436,000422: 17,2625           10000                           CCS      A                                     
060437,000423: 17,2626           12141                           TCF      RCS                                   
060438,000424: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK CK CONTROL FOR GTS?

Page 1447

060440,000426: 17,2630           12632                           TCF      +2                                    
060441,000427: 17,2631           12141                           TCF      RCS                                   
060442,000428: 17,2632           00006                           EXTEND                                         
060443,000429: 17,2633           00005                           READ     CHAN5                                 
060444,000430: 17,2634           10000                           CCS      A                                     
060445,000431: 17,2635           12641                           TCF      CHKINGTS                              
060446,000432: 17,2636           00006        GOTOGTS            EXTEND                                         
060447,000433: 17,2637           32654                           DCA      GTSCADR                               
060448,000434: 17,2640           52006                           DTCB                                           
060449,000435: 
060450,000436: 17,2641           11632        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
060451,000437: 17,2642           12644                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
060452,000438: 17,2643           12141                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS.
060453,000439: 17,2644           00004                           INHINT                                         
060454,000440: 17,2645           04674                           TC       IBNKCALL                              
060455,000441: 17,2646           43327                           CADR     TIMEGMBL                              
060456,000442: 17,2647           00003                           RELINT                                         
060457,000443: 17,2650           34755                           CAF      ZERO                                  
060458,000444: 17,2651           55632                           TS       INGTS                                 
060459,000445: 17,2652           12141                           TCF      RCS                                   
060460,000446: 
060461,000447: 17,2653  E6,1634                                  EBANK=   CDUXD                                 
060462,000448: 17,2653           03076 42106  GTSCADR            2CADR    GTS                                   
060463,000449: 

Page 1448

060465,000451:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
060466,000452: 
060467,000453: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
060468,000454: 17,2656           00006                           EXTEND                                         
060469,000455: 17,2657           21635                           MSU      CDUYD                                 #  CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
060470,000456: 17,2660           55736                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
060471,000457: 17,2661           00006                           EXTEND                                         
060472,000458: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
060473,000459: 17,2663           55751                           TS       E                                     
060474,000460: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
060475,000461: 17,2665           00006                           EXTEND                                         
060476,000462: 17,2666           21636                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
060477,000463: 17,2667           55737                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
060478,000464: 17,2670           00006                           EXTEND                                         
060479,000465: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
060480,000466: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
060481,000467: 17,2673           61751                           AD       E                                     
060482,000468: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
060483,000469: 
060484,000470: 17,2675           31736        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
060485,000471: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
060486,000472: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
060487,000473: 17,2700           55751                           TS       E                                     
060488,000474: 17,2701           31737                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
060489,000475: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
060490,000476: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
060491,000477: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
060492,000478: 17,2705           61751                           AD       E                                     
060493,000479: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
060494,000480: 17,2707           00002                           TC       Q                                     
060495,000481: 

Page 1449

060497,000483:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
060498,000484: 
060499,000485: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
060500,000486: 
060501,000487: 17,2710           31452        STILLRCS           CA       RERROR                                
060502,000488: 17,2711           22000                           LXCH     A                                     
060503,000489: 17,2712           31450                           CA       QERROR                                
060504,000490: 17,2713           03200                           TC       ROT-TOUV                              
060505,000491: 17,2714           53751                           DXCH     UERROR                                
060506,000492: 
060507,000493:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
060508,000494:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
060509,000495: 
060510,000496: 17,2715           33142        TJLAW              CA       TJLAWADR                              
060511,000497: 17,2716           55477                           TS       RETJADR                               
060512,000498: 17,2717           34753                           CA       ONE                                   
060513,000499: 17,2720           55505                           TS       AXISCTR                               
060514,000500: 17,2721           51505                           INDEX    AXISCTR                               
060515,000501: 17,2722           51534                           INDEX    SKIPU                                 
060516,000502: 17,2723           12724                           TCF      +1                                    
060517,000503: 17,2724           34751                           CA       FOUR                                  
060518,000504: 17,2725           51505                           INDEX    AXISCTR                               
060519,000505: 17,2726           55534                           TS       SKIPU                                 
060520,000506: 17,2727           13034                           TCF      LOOPER                                
060521,000507: 17,2730           51505                           INDEX    AXISCTR                               
060522,000508: 17,2731           31750                           CA       UERROR                                
060523,000509: 17,2732           55751                           TS       E                                     
060524,000510: 17,2733           51505                           INDEX    AXISCTR                               
060525,000511: 17,2734           31426                           CA       OMEGAU                                
060526,000512: 17,2735           55427                           TS       EDOT                                  
060527,000513: 17,2736           30111                           CA       DAPBOOLS                              
060528,000514: 17,2737           74737                           MASK     CSMDOCKD                              
060529,000515: 17,2740           10000                           CCS      A                                     
060530,000516: 17,2741           12744                           TCF      +3                                    
060531,000517: 17,2742           03304                           TC       TJETLAW                               
060532,000518: 17,2743           12756                           TCF      AFTERTJ                               
060533,000519: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
060534,000520: 17,2745           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
060535,000521: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
060536,000522: 17,2747           55630                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
060537,000523: 17,2750           00004                           INHINT                                         
060538,000524: 17,2751           04674                           TC       IBNKCALL                              
060539,000525: 17,2752           43736                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
060540,000526: 17,2753           00003                           RELINT                                         
060541,000527: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
060542,000528: 17,2755           55742                           TS       NUMBERT                               #  FALL THROUGH TO JET SLECTION, ETC.
060543,000529: 
060544,000530:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
060545,000531: 
060546,000532:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
060547,000533:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1450

060549,000535:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
060550,000536:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
060551,000537:                                                                                                  #                RETJADR         WHERE TO RETURN TO
060552,000538: 
060553,000539:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
060554,000540:                                                                                                  #                CHANNEL 5
060555,000541:                                                                                                  #                SKIPU,SKIPV     FOR LESS THAN 150MS FIRING
060556,000542: 
060557,000543:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
060558,000544:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
060559,000545:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
060560,000546:                                                                                                  #                IF NONE CAN BE FOUND.
060561,000547: 
060562,000548:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
060563,000549:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
060564,000550: 
060565,000551: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
060566,000552: 17,2757           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
060567,000553: 17,2760           00006                           EXTEND                                         
060568,000554: 17,2761           12772                           BZF      DOROTAT                               
060569,000555: 17,2762           40106                           CS       FLGWRD10                              
060570,000556: 17,2763           74737                           MASK     APSFLBIT                              
060571,000557: 17,2764           00006                           EXTEND                                         
060572,000558: 17,2765           12772                           BZF      DOROTAT                               
060573,000559: 17,2766           30111                           CA       DAPBOOLS                              
060574,000560: 17,2767           74744                           MASK     DRIFTBIT                              
060575,000561: 17,2770           00006                           EXTEND                                         
060576,000562: 17,2771           13112                           BZF      XTRANS                                
060577,000563: 
060578,000564: 17,2772           34752        DOROTAT            CAF      TWO                                   
060579,000565: 17,2773           54001                           TS       L                                     
060580,000566: 17,2774           51505                           INDEX    AXISCTR                               
060581,000567: 17,2775           11525                           CCS      TJU                                   
060582,000568: 17,2776           13003                           TCF      +5                                    
060583,000569: 17,2777           13026                           TCF      NOROTAT                               
060584,000570: 17,3000           13002                           TCF      +2                                    
060585,000571: 17,3001           13026                           TCF      NOROTAT                               
060586,000572: 17,3002           22007                           ZL                                             
060587,000573: 17,3003           64753                           AD       ONE                                   
060588,000574: 17,3004           55736                           TS       ABSTJ                                 
060589,000575: 
060590,000576: 17,3005           31505                           CA       AXISCTR                               
060591,000577: 17,3006           60001                           AD       L                                     
060592,000578: 17,3007           55743                           TS       ROTINDEX                              #  0 1 2 3 = -U -V +U +V
060593,000579: 
060594,000580: 17,3010           31736                           CA       ABSTJ                                 
060595,000581: 17,3011           63137                           AD       -150MS                                
060596,000582: 17,3012           00006                           EXTEND                                         
060597,000583: 17,3013           63037                           BZMF     DOSKIP                                

Page 1451

060599,000585: 17,3014           03225                           TC       SELCTSUB                              
060600,000586: 
060601,000587: 17,3015           51505                           INDEX    AXISCTR                               
060602,000588: 17,3016           33134                           CA       INDEXES                               
060603,000589: 17,3017           54001                           TS       L                                     
060604,000590: 
060605,000591: 17,3020           31740                           CA       POLYTEMP                              
060606,000592: 17,3021           00004                           INHINT                                         
060607,000593: 17,3022           50001                           INDEX    L                                     
060608,000594: 17,3023           05744                           TC       WRITEP                                
060609,000595: 
060610,000596: 17,3024           00003                           RELINT                                         
060611,000597: 17,3025           13100                           TCF      FEEDBACK                              
060612,000598: 
060613,000599: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
060614,000600: 17,3027           33134                           CA       INDEXES                               
060615,000601: 17,3030           00004                           INHINT                                         
060616,000602: 17,3031           50000                           INDEX    A                                     
060617,000603: 17,3032           05743                           TC       WRITEP     -1                         
060618,000604: 
060619,000605: 17,3033           00003                           RELINT                                         
060620,000606: 17,3034           11505        LOOPER             CCS      AXISCTR                               
060621,000607: 17,3035           01477                           TC       RETJADR                               
060622,000608: 17,3036           13270                           TCF      CLOSEOUT                              
060623,000609: 17,3037           41736        DOSKIP             CS       ABSTJ                                 
060624,000610: 17,3040           63136                           AD       +TJMINT6                              #  14MS
060625,000611: 17,3041           00006                           EXTEND                                         
060626,000612: 17,3042           63061                           BZMF     NOTMIN                                
060627,000613: 
060628,000614: 17,3043           27736                           ADS      ABSTJ                                 
060629,000615: 17,3044           51505                           INDEX    AXISCTR                               
060630,000616: 17,3045           11525                           CCS      TJU                                   
060631,000617: 17,3046           33136                           CA       +TJMINT6                              
060632,000618: 17,3047           13051                           TCF      +2                                    
060633,000619: 17,3050           43136                           CS       +TJMINT6                              
060634,000620: 17,3051           51505                           INDEX    AXISCTR                               
060635,000621: 17,3052           55525                           TS       TJU                                   
060636,000622: 
060637,000623: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
060638,000624: 17,3054           13060                           TCF      NOTMIN     -1                         
060639,000625: 17,3055           00006                           EXTEND                                         
060640,000626: 17,3056           00004                           READ     LOSCALAR                              
060641,000627: 17,3057           74753                           MASK     ONE                                   
060642,000628: 17,3060           55742                           TS       NUMBERT                               
060643,000629: 
060644,000630: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
060645,000631: 
060646,000632: 17,3062           51505                           INDEX    AXISCTR                               
060647,000633: 17,3063           33134                           CA       INDEXES                               
060648,000634: 17,3064           00004                           INHINT                                         

Page 1452

060650,000636: 17,3065           55471                           TS       T6FURTHA   +1                         
060651,000637: 17,3066           31740                           CA       POLYTEMP                              
060652,000638: 17,3067           51471                           INDEX    T6FURTHA   +1                         
060653,000639: 17,3070           05744                           TC       WRITEP                                
060654,000640: 
060655,000641: 17,3071           31736                           CA       ABSTJ                                 
060656,000642: 17,3072           55470                           TS       T6FURTHA                              
060657,000643: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
060658,000644: 
060659,000645: 17,3074           00003                           RELINT                                         
060660,000646: 
060661,000647: 17,3075           34755                           CA       ZERO                                  
060662,000648: 17,3076           51505                           INDEX    AXISCTR                               
060663,000649: 17,3077           55534                           TS       SKIPU                                 
060664,000650: 
060665,000651: 17,3100           46250        FEEDBACK           CS       THREE                                 
060666,000652: 17,3101           61742                           AD       NUMBERT                               
060667,000653: 17,3102           00006                           EXTEND                                         
060668,000654: 17,3103           63106                           BZMF     +3                                    
060669,000655: 
060670,000656: 17,3104           34752                           CA       TWO                                   
060671,000657: 17,3105           13107                           TCF      +2                                    
060672,000658: 17,3106           34753                           CA       ONE                                   
060673,000659: 17,3107           51505                           INDEX    AXISCTR                               
060674,000660: 17,3110           55522                           TS       NO.UJETS                              
060675,000661: 17,3111           13034                           TCF      LOOPER                                
060676,000662: 
060677,000663: 17,3112           34755        XTRANS             CA       ZERO                                  
060678,000664: 17,3113           55525                           TS       TJU                                   
060679,000665: 17,3114           55526                           TS       TJV                                   
060680,000666: 17,3115           34751                           CA       FOUR                                  
060681,000667: 17,3116           00004                           INHINT                                         
060682,000668: 17,3117           57534                           XCH      SKIPU                                 
060683,000669: 17,3120           00006                           EXTEND                                         
060684,000670: 17,3121           13123                           BZF      +2                                    
060685,000671: 17,3122           05747                           TC       WRITEU     -1                         
060686,000672: 17,3123           34751                           CA       FOUR                                  
060687,000673: 17,3124           57535                           XCH      SKIPV                                 
060688,000674: 17,3125           00003                           RELINT                                         
060689,000675: 
060690,000676: 17,3126           00006                           EXTEND                                         
060691,000677: 17,3127           13270                           BZF      CLOSEOUT                              
060692,000678: 17,3130           00004                           INHINT                                         
060693,000679: 17,3131           05760                           TC       WRITEV     -1                         
060694,000680: 17,3132           00003                           RELINT                                         
060695,000681: 
060696,000682: 17,3133           13270                           TCF      CLOSEOUT                              
060697,000683: 17,3134           00004        INDEXES            DEC      4          B-14                       
060698,000684: 17,3135           00015                           DEC      13         B-14                       
060699,000685: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1453

060701,000687: 17,3137           77417        -150MS             DEC      -240       B-14                       
060702,000688: 17,3140           00600        BIT8,9             OCT      00600                                 
060703,000689: 17,3141           00266        SCLNORM            OCT      266                                   
060704,000690: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
060705,000691: 
060706,000692:                                                                                                  #  THE JET LIST:
060707,000693:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
060708,000694: 
060709,000695:                                                                                                  #  CALLED BY:
060710,000696:                                                                                                  #                CA      TJ              # TIME WHEN NEXT JETS WILL BE WRITTEN
060711,000697:                                                                                                  #                TS      T6FURTHA
060712,000698:                                                                                                  #                CA      INDEX           # AXIS TO BE WRITTEN AT TJ (FROM NOW)
060713,000699:                                                                                                  #                TS      T6FURTHA +1
060714,000700:                                                                                                  #                TC      JTLST
060715,000701: 
060716,000702:                                                                                                  #  EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
060717,000703:                                                                                                  #  JETS INTO CHANNEL 5.  IT IT DESIRES TO TURN OFF THIS POLICY WITHIN
060718,000704:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
060719,000705:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
060720,000706:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
060721,000707: 
060722,000708:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
060723,000709:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST.
060724,000710: 
060725,000711:                                                                                                  #  RETURNS BY:
060726,000712:                                                                                                  #        +       TC      Q
060727,000713: 
060728,000714:                                                                                                  #  DEFINITIONS:  (OUTPUT)
060729,000715:                                                                                                  #        TIME6           TIME OF NEXT RUPT
060730,000716:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
060731,000717:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
060732,000718:                                                                                                  #        NXT6ADR         AXIS INDEX      0 -- P-AXIS
060733,000719:                                                                                                  #        T6NEXT +1       AXIS INDEX      4 -- U-AXIS
060734,000720:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 -- V-AXIS
060735,000721: 
060736,000722: 17,3143           41470        JTLST              CS       T6FURTHA                              
060737,000723: 17,3144           60031                           AD       TIME6                                 
060738,000724: 17,3145           00006                           EXTEND                                         
060739,000725: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 -- TI IS IN A
060740,000726: 
060741,000727: 17,3147           23465                           LXCH     NXT6ADR                               
060742,000728: 17,3150           53467                           DXCH     T6NEXT                                
060743,000729: 17,3151           53471                           DXCH     T6FURTHA                              
060744,000730: 17,3152           54031                           TS       TIME6                                 
060745,000731: 17,3153           23465                           LXCH     NXT6ADR                               
060746,000732: 
060747,000733: 17,3154           00006        TURNON             EXTEND                                         
060748,000734: 17,3155           23265                           QXCH     C13QSAV                               
060749,000735: 17,3156           06022                           TC       C13STALL                              
060750,000736: 
060751,000737: 17,3157           34735                           CA       BIT15                                 

Page 1454

060753,000739: 17,3160           00006                           EXTEND                                         
060754,000740: 17,3161           05013                           WOR      CHAN13                                
060755,000741: 17,3162           01265                           TC       C13QSAV                               
060756,000742: 
060757,000743: 17,3163           61466        MIDORLST           AD       T6NEXT                                
060758,000744: 17,3164           00006                           EXTEND                                         
060759,000745: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT -- T IS IN A
060760,000746: 
060761,000747: 17,3166           23467                           LXCH     T6NEXT     +1                         
060762,000748: 17,3167           53471                           DXCH     T6FURTHA                              
060763,000749: 17,3170           00006                           EXTEND                                         
060764,000750: 17,3171           60031                           SU       TIME6                                 
060765,000751: 17,3172           53467                           DXCH     T6NEXT                                
060766,000752: 
060767,000753: 17,3173           00002                           TC       Q                                     
060768,000754: 
060769,000755: 17,3174           40000        LASTCHG            CS       A                                     
060770,000756: 17,3175           64754                           AD       NEG0                                  
060771,000757: 17,3176           55470                           TS       T6FURTHA                              
060772,000758: 
060773,000759: 17,3177           00002                           TC       Q                                     
060774,000760: 
060775,000761:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
060776,000762:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
060777,000763:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
060778,000764:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
060779,000765: 
060780,000766: 17,3200           23737        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
060781,000767: 17,3201           00006                           EXTEND                                         
060782,000768: 17,3202           71626                           MP       COEFFQ                                
060783,000769: 17,3203           57737                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
060784,000770: 17,3204           00006                           EXTEND                                         
060785,000771: 17,3205           71627                           MP       COEFFR                                
060786,000772: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
060787,000773: 17,3207           61737                           AD       ROTEMP2                               
060788,000774: 17,3210           55736                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
060789,000775: 17,3211           13215                           TCF      +4                                    
060790,000776: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
060791,000777: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
060792,000778: 17,3214           55736                           TS       ROTEMP1                               
060793,000779: 17,3215           41737                           CS       ROTEMP2                               
060794,000780: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
060795,000781: 17,3217           54007                           TS       7                                     
060796,000782: 17,3220           13223                           TCF      +3                                    
060797,000783: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
060798,000784: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
060799,000785: 17,3223           23736                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
060800,000786: 17,3224           00002                           TC       Q                                     
060801,000787: 17,3225           51743        SELCTSUB           INDEX    ROTINDEX                              

Page 1455

060803,000789: 17,3226           33257                           CA       ALLJETS                               
060804,000790: 17,3227           51742                           INDEX    NUMBERT                               
060805,000791: 17,3230           73263                           MASK     TYPEPOLY                              
060806,000792: 17,3231           55740                           TS       POLYTEMP                              
060807,000793: 
060808,000794: 17,3232           71257                           MASK     CH5MASK                               
060809,000795: 17,3233           10000                           CCS      A                                     
060810,000796: 17,3234           13236                           TCF      +2                                    
060811,000797: 
060812,000798: 17,3235           00002                           TC       Q                                     
060813,000799: 
060814,000800: 17,3236           36250                           CA       THREE                                 
060815,000801: 17,3237           55742        FAILOOP            TS       NUMBERT                               
060816,000802: 17,3240           51743                           INDEX    ROTINDEX                              
060817,000803: 17,3241           33257                           CA       ALLJETS                               
060818,000804: 17,3242           51742                           INDEX    NUMBERT                               
060819,000805: 17,3243           73263                           MASK     TYPEPOLY                              
060820,000806: 17,3244           55740                           TS       POLYTEMP                              
060821,000807: 17,3245           71257                           MASK     CH5MASK                               
060822,000808: 17,3246           00006                           EXTEND                                         
060823,000809: 17,3247           13235                           BZF      FAILOOP    -2                         
060824,000810: 17,3250           11742                           CCS      NUMBERT                               
060825,000811: 17,3251           13237                           TCF      FAILOOP                               
060826,000812: 17,3252           51505                           INDEX    AXISCTR                               
060827,000813: 17,3253           55525                           TS       TJU                                   
060828,000814: 17,3254           05567                           TC       ALARM                                 
060829,000815: 17,3255           02004                           OCT      02004                                 
060830,000816: 17,3256           13026                           TCF      NOROTAT                               
060831,000817: 17,3257           00110        ALLJETS            OCT      00110                                 #        -U      6 13
060832,000818: 17,3260           00022                           OCT      00022                                 #        -V      2 9
060833,000819: 17,3261           00204                           OCT      00204                                 #        +U      5 14
060834,000820: 17,3262           00041                           OCT      00041                                 #        +V      1 10
060835,000821: 17,3263           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
060836,000822: 17,3264           00252                           OCT      00252                                 #        +X      2 6 10 14
060837,000823: 17,3265           00146                           OCT      00146                                 #        A       2 5 9 14
060838,000824: 17,3266           00231                           OCT      00231                                 #        B       1 6 9 14
060839,000825: 17,3267           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
060840,000826: 
060841,000827:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
060842,000828: 
060843,000829: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
060844,000830: 17,3271           07757                           TC       MAKERUPT                              
060845,000831: 
060846,000832: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
060847,000833: 
060848,000834: 17,3273           53753        ENDJASK            DXCH     DAPARUPT                              
060849,000835: 17,3274           52011                           DXCH     ARUPT                                 
060850,000836: 17,3275           53755                           DXCH     DAPBQRPT                              
060851,000837: 17,3276           56017                           XCH      BRUPT                                 

Page 1456

060853,000839: 17,3277           22002                           LXCH     Q                                     
060854,000840: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
060855,000841: 17,3301           53757                           DXCH     DAPZRUPT                              
060856,000842: 17,3302           52016                           DXCH     ZRUPT                                 
060857,000843: 17,3303           15272                           TCF      NOQRSM                                
060858,000844:    7757                                           BLOCK    3                                     
060859,000845:    6000                                           SETLOC   FFTAG6                                
060860,000846:    6000                                           BANK                                           
060861,000847: 
060862,000848:    7757                                           COUNT*   $$/DAP                                
060863,000849: 
060864,000850:    7757           00006        MAKERUPT           EXTEND                                         
060865,000851:    7760           07757                           EDRUPT   MAKERUPT                              
060866,000852: 

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