Esoteric?
If you mean non-mainstream languages, I've used a few, but they aren't too far off the beaten path.
Some I have used:
IFTRAN, a preprocessor that adds structured programming concepts to Fortran. I used it back during the 1970's on a CDC 6600 mainframe. Same concept as RATFOR, I presume.
FORMAC, for FORmula MAnipulation Compiler, is an extension of FORTRAN. It was developed by Jean E. Sammet. (There's also a PL/I version for the IBM mainframes)
The additional capabilities of FORMAC permit direct computation, manipulation, and use of functions of advanced mathematics which can only be done indirectly and approximately in FORTRAN.
Macsyma -- I remember using it at NASA back in about 1975, over a teletype link to MIT.
http://en.wikipedia.org/wiki/MacsymaGOAL - Ground Oriented Aerospace Language (used on Spacelab and other NASA/ESA projects)
GOAL, a standard language for test and ground aerospace operations specified by a team of Kennedy Space Center Civil Service software engineers defined in March, 1973.
HAL/S - Higher-Order Algorithmic Language/Shuttle.
Computers in Spaceflight: The NASA Experience – By George Tomayko (Appendix II: "HAL/S, A Real-Time Language for Spaceflight")
HAL/S Documents, including the language specification, programmer's guide, and compiler manuals
http://en.wikipedia.org/wiki/HAL/SHAL/S is a real-time aerospace programming language, best known for its use in the Space Shuttle program. It was designed by Intermetrics in the 1970s for NASA. HAL/S is written in XPL, a dialect of PL/I.
The three key factors in writing the language were reliability, efficiency, and machine-independence. The language is designed to allow aerospace-related tasks (such as vector/matrix arithmetic) to be accomplished in a way that is easily understandable to people with spaceflight knowledge (and not necessarily with computer programming proficiency.)
HAL/S is designed without certain functions (such as "GOTO" in BASIC) that are known to be the cause of many errors. There are no abbreviations for keywords, and keywords are all reserved so that they cannot also be used as variables. Considerations such as this are designed to reduce the chances of errors occurring, and also make it easy for others to read and understand the programs produced (self-documenting code).
HAL is not an acronym. On the Preface page of the HAL/S Specification[1], it says,
"....Intermetrics wishes to acknowledge the fundamental contribution to the concept .....made by Dr. J. Halcombe Laning of the MIT's Draper Laboratory."
"HAL" was suggested as the name of the new language by Ed Copps, a founding director of Intermetrics, to honor Hal Laning, a colleague at MIT.
One particularly interesting feature of HAL is that it supports a three-line input format in which three source code lines are used for each statement, with the first and third lines usable for superscripts (exponents) and subscripts (indices). This was designed to be similar to mathematical notation.