Source Code

These source-code files are part of a reconstructed copy of Comanche 51, the initial release (though not the final mission release) of the Apollo 11 Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final release was Comanche 55. The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 51, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 55, whose original source code is available. Comanche 55 source code was then modified by undoing changes known to have been made between revisions 51 and 55. The most-significant steps involved reverting changes related to the R-2 lunar potential model, the details of which were known from the previous, separate, independent reconstruction of the Apollo 10 Lunar Module software Luminary 69/2. The now-reconstructed Comanche 51 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code match those on the Comanche 55 or Luminary 69 printouts, although the source code would likely have different page numbers in a contemporary Comanche 51 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 55. Here's a guide to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is a short writeup about the reconstruction process in our software repository that may be helpful in understanding it from a different perspective. There's also a handy table that lists what the number of memory-words should be for each routine in Comanche 51, which could make a nice double-check; however, we've not performed that double-check ourselves.

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

041994,000002:                                                                                                  ## Copyright:   Public domain.
041995,000003:                                                                                                  ## Filename:    TVCDAPS.agc
041996,000004:                                                                                                  ## Purpose:     A section of Comanche revision 051.
041997,000005:                                                                                                  ##              It is part of the reconstructed source code for the
041998,000006:                                                                                                  ##              original release of the flight software for the Command
041999,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
042000,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
042001,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
042002,000010:                                                                                                  ##              exactly match those specified for Comanche 51 in NASA drawing
042003,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
042004,000012:                                                                                                  ##              reconstruction is correct.
042005,000013:                                                                                                  ## Reference:   pp. 961-978
042006,000014:                                                                                                  ## Assembler:   yaYUL
042007,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
042008,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042009,000017:                                                                                                  ## Mod history: 2019-07-30 MAS  Created from Comanche 55.
042010,000018: 

Page 961

042012,000020:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042013,000021:                                                                                                  #  LOG SECTION...TVCDAPS                 SUBROUTINE...DAPCSM
042014,000022:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
042015,000023: 
042016,000024:                                                                                                  #  FUNCTIONAL DESCRIPTION....
042017,000025: 
042018,000026:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042019,000027:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042020,000028:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042021,000029:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042022,000030:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042023,000031: 
042024,000032:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042025,000033:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042026,000034:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042027,000035:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
042028,000036:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
042029,000037:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042030,000038: 
042031,000039:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042032,000040:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
042033,000041:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042034,000042:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042035,000043:                                                                                                  #        MODING.
042036,000044: 
042037,000045:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
042038,000046: 
042039,000047:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042040,000048:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042041,000049:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
042042,000050:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
042043,000051:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
042044,000052:                                                                                                  #                ETC.
042045,000053:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
042046,000054: 
042047,000055:                                                                                                  #  NORMAL EXIT MODE....RESUME
042048,000056: 
042049,000057:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
042050,000058: 
042051,000059:                                                                                                  #  SUBROUTINES CALLED....
042052,000060: 
042053,000061:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042054,000062:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042055,000063:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042056,000064:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042057,000065:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042058,000066:                                                                                                  #                YAW DAPS
042059,000067:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042060,000068:                                                                                                  #                OUTPUTS AND STORAGE VALUES
042061,000069:                                                                                                  #        RESUME
042062,000070: 

Page 962

042064,000072:                                                                                                  #  OTHER INTERFACES....
042065,000073: 
042066,000074:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
042067,000075:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042068,000076:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042069,000077:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042070,000078: 
042071,000079:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
042072,000080: 
042073,000081:                                                                                                  #        PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
042074,000082:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
042075,000083:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
042076,000084:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
042077,000085:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042078,000086:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042079,000087:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
042080,000088:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUZ AS PREPARED BY QUICTRIG (WITH
042081,000089:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
042082,000090:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042083,000091:                                                                                                  #                UNLESS BENCH-TESTING.
042084,000092: 
042085,000093:                                                                                                  #  OUTPUT....
042086,000094: 
042087,000095:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
042088,000096:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042089,000097:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042090,000098:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042091,000099: 
042092,000100:                                                                                                  #  DEBRIS....
042093,000101: 
042094,000102:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042095,000103: 
042096,000104: 17,2552                                           BANK     17                                    
042097,000105: 20,2000                                           SETLOC   DAPS2                                 
042098,000106: 20,2000                                           BANK                                           
042099,000107: 
042100,000108: 20,2530  E6,1702                                  EBANK=   BZERO                                 
042101,000109: 
042102,000110: 20,2530                                           COUNT*   $$/DAPS                               
042103,000111: 

Page 963

042105,000113:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042106,000114: 
042107,000115: 20,2530           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
042108,000116: 20,2531           00006                           EXTEND                                         
042109,000117: 20,2532           22012                           QXCH     QRUPT                                 
042110,000118: 
042111,000119: 20,2533           33475                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042112,000120: 20,2534           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042113,000121: 20,2535           31625                           CAE      T5TVCDT                               
042114,000122: 20,2536           54030                           TS       TIME5                                 
042115,000123: 
042116,000124: 20,2537           11574        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
042117,000125: 20,2540           03533                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
042118,000126: 20,2541           12543                           TCF      +2                                    #  NO-TEST
042119,000127: 20,2542           03533                           TC       HACK                                  #  TEST-IN-PROGRESS
042120,000128: 
042121,000129: 20,2543           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT (USED BY PITCH AND YAW)
042122,000130: 20,2544           57645                           XCH      PCDUYPST                              
042123,000131: 20,2545           00006                           EXTEND                                         
042124,000132: 20,2546           21645                           MSU      PCDUYPST                              
042125,000133: 20,2547           02560                           TCR      RLIMTEST                              #        RATE TEST
042126,000134: 20,2550           55647                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042127,000135: 
042128,000136: 20,2551           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT (USED BY PITCH AND YAW)
042129,000137: 20,2552           57646                           XCH      PCDUZPST                              
042130,000138: 20,2553           00006                           EXTEND                                         
042131,000139: 20,2554           21646                           MSU      PCDUZPST                              
042132,000140: 20,2555           02560                           TCR      RLIMTEST                              #        RATE TEST
042133,000141: 20,2556           55650                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042134,000142: 20,2557           12571                           TCF      PINTEGRL                              
042135,000143: 
042136,000144: 20,2560           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
042137,000145: 20,2561           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
042138,000146: 20,2562           73476                           MP       1/RTLIM                               
042139,000147: 20,2563           00006                           EXTEND                                         
042140,000148: 20,2564           12567                           BZF      +3                                    
042141,000149: 20,2565           35021                           CAF      ZERO                                  
042142,000150: 20,2566           55611                           TS       TTMP1                                 
042143,000151: 20,2567           31611                           CAE      TTMP1                                 
042144,000152: 20,2570           00002                           TC       Q                                     
042145,000153: 
042146,000154: 20,2571           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042147,000155: 20,2572           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
042148,000156: 20,2573           53703                           DXCH     ERRBTMP                               
042149,000157: 
042150,000158: 20,2574           00006                           EXTEND                                         
042151,000159: 20,2575           31530                           DCA      OMEGAYC                               
042152,000160: 20,2576           21703                           DAS      ERRBTMP                               
042153,000161: 

Page 964

042155,000163: 20,2577           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042156,000164: 20,2600           00006                           EXTEND                                         
042157,000165: 20,2601           70750                           MP       COSCDUX                               
042158,000166: 20,2602           20001                           DDOUBL                                         
042159,000167: 20,2603           00006                           EXTEND                                         
042160,000168: 20,2604           71647                           MP       MCDUYDOT                              
042161,000169: 20,2605           20001                           DDOUBL                                         
042162,000170: 20,2606           53536                           DXCH     OMEGAYB                               
042163,000171: 
042164,000172: 20,2607           41650                           CS       MCDUZDOT                              
042165,000173: 20,2610           00006                           EXTEND                                         
042166,000174: 20,2611           70742                           MP       SINCDUX                               
042167,000175: 20,2612           20001                           DDOUBL                                         
042168,000176: 20,2613           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
042169,000177: 
042170,000178: 20,2614           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042171,000179: 20,2615           41536                           DCS      OMEGAYB                               
042172,000180: 20,2616           21703                           DAS      ERRBTMP                               
042173,000181: 
042174,000182: 20,2617           03124        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
042175,000183: 
042176,000184: 20,2620           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042177,000185: 20,2621           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
042178,000186: 20,2622           53707                           DXCH     TMP1                                  
042179,000187: 20,2623           00006                           EXTEND                                         
042180,000188: 20,2624           31546                           DCA      PTMP3                                 
042181,000189: 20,2625           53713                           DXCH     TMP3                                  
042182,000190: 20,2626           00006                           EXTEND                                         
042183,000191: 20,2627           31552                           DCA      PTMP5                                 
042184,000192: 20,2630           53717                           DXCH     TMP5                                  
042185,000193: 
042186,000194: 20,2631           03156                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042187,000195:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042188,000196: 
042189,000197: 20,2632           00006        POFFSET            EXTEND                                         
042190,000198: 20,2633           31606                           DCA      PDELOFF                               
042191,000199: 20,2634           21705                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042192,000200: 
042193,000201: 20,2635           03137        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042194,000202: 
042195,000203: 20,2636           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
042196,000204: 20,2637           61704                           AD       CMDTMP                                
042197,000205: 20,2640           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
042198,000206:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042199,000207: 
042200,000208: 20,2641           35005                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
042201,000209: 20,2642           00006                           EXTEND                                         
042202,000210: 20,2643           05014                           WOR      CHAN14                                
042203,000211: 
042204,000212: 20,2644           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH

Page 965

042206,000214: 20,2645           31544                           DCA      PTMP2                                 
042207,000215: 20,2646           53711                           DXCH     TMP2                                  
042208,000216: 20,2647           00006                           EXTEND                                         
042209,000217: 20,2650           31550                           DCA      PTMP4                                 
042210,000218: 20,2651           53715                           DXCH     TMP4                                  
042211,000219: 20,2652           00006                           EXTEND                                         
042212,000220: 20,2653           31554                           DCA      PTMP6                                 
042213,000221: 20,2654           53721                           DXCH     TMP6                                  
042214,000222: 
042215,000223: 20,2655           03247                           TCR      PRECOMP                               #      TO THE FILTER FOR PRECOMPUTATION
042216,000224: 
042217,000225: 20,2656           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
042218,000226: 20,2657           00006                           EXTEND                                         
042219,000227: 20,2660           73500                           MP       E(-AT)                                
042220,000228: 20,2661           55701                           TS       DELBRTMP   +1                         
042221,000229: 20,2662           31601                           CAE      DELPBAR                               
042222,000230: 20,2663           00006                           EXTEND                                         
042223,000231: 20,2664           73500                           MP       E(-AT)                                
042224,000232: 20,2665           21701                           DAS      DELBRTMP                              
042225,000233: 20,2666           31704                           CAE      CMDTMP                                
042226,000234: 20,2667           00006                           EXTEND                                         
042227,000235: 20,2670           73477                           MP       1-E(-AT)                              
042228,000236: 20,2671           21701                           DAS      DELBRTMP                              
042229,000237: 
042230,000238: 20,2672           02674        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
042231,000239: 
042232,000240: 20,2673           15333        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED

Page 966

042234,000242:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042235,000243: 
042236,000244: 20,2674           25644        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
042237,000245:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042238,000246:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042239,000247:                                                                                                  #        DURING PITCH COPYCYCLE.
042240,000248: 
042241,000249: 20,2675           00006                           EXTEND                                         
042242,000250: 20,2676           31707                           DCA      TMP1                                  
042243,000251: 20,2677           53542                           DXCH     PTMP1                                 
042244,000252: 20,2700           00006                           EXTEND                                         
042245,000253: 20,2701           31711                           DCA      TMP2                                  
042246,000254: 20,2702           53544                           DXCH     PTMP2                                 
042247,000255: 20,2703           00006                           EXTEND                                         
042248,000256: 20,2704           31713                           DCA      TMP3                                  
042249,000257: 20,2705           53546                           DXCH     PTMP3                                 
042250,000258: 20,2706           00006                           EXTEND                                         
042251,000259: 20,2707           31715                           DCA      TMP4                                  
042252,000260: 20,2710           53550                           DXCH     PTMP4                                 
042253,000261: 20,2711           00006                           EXTEND                                         
042254,000262: 20,2712           31717                           DCA      TMP5                                  
042255,000263: 20,2713           53552                           DXCH     PTMP5                                 
042256,000264: 20,2714           00006                           EXTEND                                         
042257,000265: 20,2715           31721                           DCA      TMP6                                  
042258,000266: 20,2716           53554                           DXCH     PTMP6                                 
042259,000267: 
042260,000268: 20,2717           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
042261,000269: 20,2720           31703                           DCA      ERRBTMP                               
042262,000270: 20,2721           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
042263,000271: 20,2722           53576                           DXCH     PERRB                                 
042264,000272: 
042265,000273: 20,2723           31704                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
042266,000274: 20,2724           55623                           TS       PCMD                                  
042267,000275: 
042268,000276: 20,2725           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
042269,000277: 20,2726           31701                           DCA      DELBRTMP                              
042270,000278: 20,2727           53602                           DXCH     DELPBAR                               
042271,000279: 
042272,000280: 20,2730           25644                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
042273,000281: 
042274,000282: 20,2731           00002                           TC       Q                                     
042275,000283: 

Page 967

042277,000285:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042278,000286: 
042279,000287: 20,2732           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
042280,000288: 20,2733           00006                           EXTEND                                         
042281,000289: 20,2734           22012                           QXCH     QRUPT                                 
042282,000290: 
042283,000291: 20,2735           33473                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042284,000292: 20,2736           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042285,000293: 20,2737           31625                           CAE      T5TVCDT                               
042286,000294: 20,2740           54030                           TS       TIME5                                 
042287,000295: 
042288,000296: 20,2741           11574        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
042289,000297: 20,2742           03533                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
042290,000298: 20,2743           12745                           TCF      +2                                    #  NO-TEST
042291,000299: 20,2744           03533                           TC       HACK                                  #  TEST-IN-PROGRESS
042292,000300: 
042293,000301:                                                                                                  #  USE BODY RATES FROM PITCHDAP (PCDUDOTS)
042294,000302: 
042295,000303: 20,2745           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
042296,000304: 20,2746           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
042297,000305: 20,2747           53703                           DXCH     ERRBTMP                               
042298,000306: 
042299,000307: 20,2750           00006                           EXTEND                                         
042300,000308: 20,2751           31532                           DCA      OMEGAZC                               
042301,000309: 20,2752           21703                           DAS      ERRBTMP                               
042302,000310: 
042303,000311: 20,2753           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
042304,000312: 20,2754           00006                           EXTEND                                         
042305,000313: 20,2755           70742                           MP       SINCDUX                               
042306,000314: 20,2756           20001                           DDOUBL                                         
042307,000315: 20,2757           00006                           EXTEND                                         
042308,000316: 20,2760           71647                           MP       MCDUYDOT                              
042309,000317: 20,2761           20001                           DDOUBL                                         
042310,000318: 20,2762           53540                           DXCH     OMEGAZB                               
042311,000319: 
042312,000320: 20,2763           41650                           CS       MCDUZDOT                              
042313,000321: 20,2764           00006                           EXTEND                                         
042314,000322: 20,2765           70750                           MP       COSCDUX                               
042315,000323: 20,2766           20001                           DDOUBL                                         
042316,000324: 20,2767           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
042317,000325: 
042318,000326: 20,2770           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
042319,000327: 20,2771           41540                           DCS      OMEGAZB                               
042320,000328: 20,2772           21703                           DAS      ERRBTMP                               
042321,000329: 
042322,000330: 20,2773           03124        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
042323,000331: 
042324,000332: 20,2774           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042325,000333: 20,2775           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL

Page 968

042327,000335: 20,2776           53707                           DXCH     TMP1                                  
042328,000336: 20,2777           00006                           EXTEND                                         
042329,000337: 20,3000           31562                           DCA      YTMP3                                 
042330,000338: 20,3001           53713                           DXCH     TMP3                                  
042331,000339: 20,3002           00006                           EXTEND                                         
042332,000340: 20,3003           31566                           DCA      YTMP5                                 
042333,000341: 20,3004           53717                           DXCH     TMP5                                  
042334,000342: 
042335,000343: 20,3005           03156                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042336,000344:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042337,000345: 
042338,000346: 20,3006           00006        YOFFSET            EXTEND                                         
042339,000347: 20,3007           31610                           DCA      YDELOFF                               
042340,000348: 20,3010           21705                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042341,000349: 
042342,000350: 20,3011           03137        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
042343,000351: 
042344,000352: 20,3012           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
042345,000353: 20,3013           61704                           AD       CMDTMP                                
042346,000354: 20,3014           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
042347,000355:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042348,000356: 
042349,000357: 20,3015           35004                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
042350,000358: 20,3016           00006                           EXTEND                                         
042351,000359: 20,3017           05014                           WOR      CHAN14                                
042352,000360: 
042353,000361: 20,3020           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
042354,000362: 20,3021           31560                           DCA      YTMP2                                 
042355,000363: 20,3022           53711                           DXCH     TMP2                                  
042356,000364: 20,3023           00006                           EXTEND                                         
042357,000365: 20,3024           31564                           DCA      YTMP4                                 
042358,000366: 20,3025           53715                           DXCH     TMP4                                  
042359,000367: 20,3026           00006                           EXTEND                                         
042360,000368: 20,3027           31570                           DCA      YTMP6                                 
042361,000369: 20,3030           53721                           DXCH     TMP6                                  
042362,000370: 
042363,000371: 20,3031           03247                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042364,000372: 
042365,000373: 20,3032           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW OFFSET-TRACKER-FILTER
042366,000374: 20,3033           00006                           EXTEND                                         
042367,000375: 20,3034           73500                           MP       E(-AT)                                
042368,000376: 20,3035           55701                           TS       DELBRTMP   +1                         
042369,000377: 20,3036           31603                           CAE      DELYBAR                               
042370,000378: 20,3037           00006                           EXTEND                                         
042371,000379: 20,3040           73500                           MP       E(-AT)                                
042372,000380: 20,3041           21701                           DAS      DELBRTMP                              
042373,000381: 20,3042           31704                           CAE      CMDTMP                                
042374,000382: 20,3043           00006                           EXTEND                                         
042375,000383: 20,3044           73477                           MP       1-E(-AT)                              
042376,000384: 20,3045           21701                           DAS      DELBRTMP                              
042377,000385: 

Page 969

042379,000387: 20,3046           03050        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
042380,000388: 
042381,000389: 20,3047           15333        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
042382,000390: 

Page 970

042384,000392:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
042385,000393: 
042386,000394: 20,3050           25644        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
042387,000395:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042388,000396:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042389,000397:                                                                                                  #        DURING YAW   COPYCYCLE.
042390,000398: 
042391,000399: 20,3051           00006                           EXTEND                                         
042392,000400: 20,3052           31707                           DCA      TMP1                                  
042393,000401: 20,3053           53556                           DXCH     YTMP1                                 
042394,000402: 20,3054           00006                           EXTEND                                         
042395,000403: 20,3055           31711                           DCA      TMP2                                  
042396,000404: 20,3056           53560                           DXCH     YTMP2                                 
042397,000405: 20,3057           00006                           EXTEND                                         
042398,000406: 20,3060           31713                           DCA      TMP3                                  
042399,000407: 20,3061           53562                           DXCH     YTMP3                                 
042400,000408: 20,3062           00006                           EXTEND                                         
042401,000409: 20,3063           31715                           DCA      TMP4                                  
042402,000410: 20,3064           53564                           DXCH     YTMP4                                 
042403,000411: 20,3065           00006                           EXTEND                                         
042404,000412: 20,3066           31717                           DCA      TMP5                                  
042405,000413: 20,3067           53566                           DXCH     YTMP5                                 
042406,000414: 20,3070           00006                           EXTEND                                         
042407,000415: 20,3071           31721                           DCA      TMP6                                  
042408,000416: 20,3072           53570                           DXCH     YTMP6                                 
042409,000417: 
042410,000418: 20,3073           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
042411,000419: 20,3074           31703                           DCA      ERRBTMP                               
042412,000420: 20,3075           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
042413,000421: 20,3076           53600                           DXCH     YERRB                                 
042414,000422: 
042415,000423: 20,3077           31704                           CAE      CMDTMP                                
042416,000424: 20,3100           55624                           TS       YCMD                                  
042417,000425: 
042418,000426: 20,3101           00006                           EXTEND                                         
042419,000427: 20,3102           31701                           DCA      DELBRTMP                              
042420,000428: 20,3103           53604                           DXCH     DELYBAR                               
042421,000429: 
042422,000430: 20,3104           35021                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
042423,000431: 20,3105           55644                           TS       TVCPHASE                              #        RESET TVCPHASE
042424,000432: 
042425,000433: 20,3106           00002                           TC       Q                                     
042426,000434: 

Page 971

042428,000436:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
042429,000437: 
042430,000438:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
042431,000439: 
042432,000440: 20,3107           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
042433,000441: 
042434,000442: 20,3110           37716                           CAF      NEGONE                                #        SET UP
042435,000443: 20,3111           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
042436,000444: 20,3112           65001                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
042437,000445: 20,3113           61625                           AD       T5TVCDT                               
042438,000446: 20,3114           54030                           TS       TIME5                                 
042439,000447: 20,3115           33473                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
042440,000448: 20,3116           55312                           TS       T5LOC                                 
042441,000449: 
042442,000450: 20,3117           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
042443,000451: 20,3120           55645                           TS       PCDUYPST                              #        PAST-VALUES
042444,000452: 20,3121           30034                           CAE      CDUZ                                  
042445,000453: 20,3122           55646                           TS       PCDUZPST                              
042446,000454: 
042447,000455: 20,3123           15335                           TCF      NOQRSM                                
042448,000456: 
042449,000457:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
042450,000458: 
042451,000459: 20,3124           31702        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
042452,000460: 20,3125           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
042453,000461: 20,3126           75015                           MP       1/ERRLIM                              
042454,000462: 20,3127           00006                           EXTEND                                         
042455,000463: 20,3130           13136                           BZF      +6                                    
042456,000464: 20,3131           11702                           CCS      ERRBTMP                               
042457,000465: 20,3132           35003                           CAF      ERRLIM                                
042458,000466: 20,3133           13135                           TCF      +2                                    
042459,000467: 20,3134           45003                           CS       ERRLIM                                
042460,000468: 20,3135           55702                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
042461,000469: 
042462,000470: 20,3136           00002                           TC       Q                                     
042463,000471: 
042464,000472:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
042465,000473: 
042466,000474: 20,3137           31705        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
042467,000475: 20,3140           60000                           DOUBLE                                         
042468,000476: 20,3141           54001                           TS       L                                     
042469,000477: 20,3142           35021                           CAF      ZERO                                  
042470,000478: 20,3143           61704                           AD       CMDTMP                                
042471,000479: 
042472,000480: 20,3144           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
042473,000481: 20,3145           73472                           MP       1/ACTSAT                              
042474,000482: 20,3146           00006                           EXTEND                                         

Page 972

042476,000484: 20,3147           13155                           BZF      +6                                    
042477,000485: 20,3150           11704                           CCS      CMDTMP                                #  APPLY LIMITS
042478,000486: 20,3151           33471                           CAF      ACTSAT                                
042479,000487: 20,3152           13154                           TCF      +2                                    
042480,000488: 20,3153           43471                           CS       ACTSAT                                
042481,000489: 20,3154           55704                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
042482,000490: 
042483,000491: 20,3155           00002                           TC       Q                                     
042484,000492: 
042485,000493:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
042486,000494: 
042487,000495: 20,3156           35021        FWDFLTR            CAF      ZERO                                  
042488,000496: 20,3157           55615                           TS       DAP1                                  
042489,000497: 20,3160           55617                           TS       DAP2                                  
042490,000498: 20,3161           55621                           TS       DAP3                                  
042491,000499: 20,3162           55704                           TS       CMDTMP                                
042492,000500: 
042493,000501: 20,3163           55700                           TS       DELBRTMP                              
042494,000502: 
042495,000503: 20,3164           31703        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
042496,000504: 20,3165           00006                           EXTEND                                         
042497,000505: 20,3166           71723                           MP       N10                                   #        N10
042498,000506: 20,3167           55616                           TS       DAP1       +1                         
042499,000507: 20,3170           31702                           CA       ERRBTMP                               
042500,000508: 20,3171           00006                           EXTEND                                         
042501,000509: 20,3172           71723                           MP       N10                                   #        N10
042502,000510: 20,3173           21616                           DAS      DAP1                                  
042503,000511: 20,3174           53707                           DXCH     TMP1                                  
042504,000512: 20,3175           21616                           DAS      DAP1                                  
042505,000513: 
042506,000514: 20,3176           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
042507,000515: 20,3177           00006                           EXTEND                                         
042508,000516: 20,3200           71730                           MP       N10        +5                         #        N20
042509,000517: 20,3201           55620                           TS       DAP2       +1                         
042510,000518: 20,3202           31615                           CA       DAP1                                  
042511,000519: 20,3203           00006                           EXTEND                                         
042512,000520: 20,3204           71730                           MP       N10        +5                         #        N20
042513,000521: 20,3205           21620                           DAS      DAP2                                  
042514,000522: 20,3206           53713                           DXCH     TMP3                                  
042515,000523: 20,3207           21620                           DAS      DAP2                                  
042516,000524: 
042517,000525: 20,3210           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
042518,000526: 20,3211           75002                           MASK     BIT14                                 
042519,000527: 20,3212           10000                           CCS      A                                     
042520,000528: 20,3213           13220                           TCF      3DAPCAS                               #  LEM ON
042521,000529: 20,3214           00006                           EXTEND                                         #  LEM OFF
042522,000530: 20,3215           31620                           DCA      DAP2                                  
042523,000531: 20,3216           53622                           DXCH     DAP3                                  
042524,000532: 20,3217           13232                           TCF      OPTVARK                               
042525,000533: 

Page 973

042527,000535: 20,3220           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
042528,000536: 20,3221           00006                           EXTEND                                         
042529,000537: 20,3222           71735                           MP       N10        +10D                       #        N30
042530,000538: 20,3223           55622                           TS       DAP3       +1                         
042531,000539: 20,3224           31617                           CA       DAP2                                  
042532,000540: 20,3225           00006                           EXTEND                                         
042533,000541: 20,3226           71735                           MP       N10        +10D                       #        N30
042534,000542: 20,3227           21622                           DAS      DAP3                                  
042535,000543: 20,3230           53717                           DXCH     TMP5                                  
042536,000544: 20,3231           21622                           DAS      DAP3                                  
042537,000545: 
042538,000546: 20,3232           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
042539,000547: 20,3233           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
042540,000548: 20,3234           71641                           MP       VARK                                  #  SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
042541,000549: 20,3235           55705                           TS       CMDTMP     +1                         
042542,000550: 20,3236           41621                           CS       DAP3                                  
042543,000551: 20,3237           00006                           EXTEND                                         
042544,000552: 20,3240           71641                           MP       VARK                                  
042545,000553: 20,3241           21705                           DAS      CMDTMP                                
042546,000554: 
042547,000555: 20,3242           53705                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+3 ASCREVS
042548,000556: 20,3243           20001                           DDOUBL                                         
042549,000557: 20,3244           20001                           DDOUBL                                         
042550,000558: 20,3245           53705                           DXCH     CMDTMP                                #                 - SCALED B+1 ASCREVS
042551,000559:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
042552,000560:                                                                                                  #  (B+1 ASCREVS) ON THE OUTPUT DACS.
042553,000561: 
042554,000562: 20,3246           00002                           TC       Q                                     
042555,000563: 
042556,000564:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
042557,000565: 
042558,000566: 20,3247           35021        PRECOMP            CAF      ZERO                                  #  ***** FIRST CASCADE FILTER **********
042559,000567: 20,3250           55611                           TS       TTMP1                                 
042560,000568: 20,3251           55613                           TS       TTMP2                                 
042561,000569: 
042562,000570: 20,3252           31703                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
042563,000571: 20,3253           00006                           EXTEND                                         
042564,000572: 20,3254           71724                           MP       N10        +1                         #        N11/2
042565,000573: 20,3255           55612                           TS       TTMP1      +1                         
042566,000574: 20,3256           31702                           CA       ERRBTMP                               
042567,000575: 20,3257           00006                           EXTEND                                         
042568,000576: 20,3260           71724                           MP       N10        +1                         #        N11/2
042569,000577: 20,3261           21612                           DAS      TTMP1                                 
042570,000578: 
042571,000579: 20,3262           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
042572,000580: 20,3263           00006                           EXTEND                                         
042573,000581: 20,3264           71726                           MP       N10        +3                         #        D11/2
042574,000582: 20,3265           55614                           TS       TTMP2      +1                         
042575,000583: 20,3266           41615                           CS       DAP1                                  
042576,000584: 

Page 974

042578,000586: 20,3267           00006                           EXTEND                                         
042579,000587: 20,3270           71726                           MP       N10        +3                         #        D11/2
042580,000588: 20,3271           21614                           DAS      TTMP2                                 
042581,000589: 
042582,000590: 20,3272           53614                           DXCH     TTMP2                                 
042583,000591: 20,3273           21612                           DAS      TTMP1                                 
042584,000592: 20,3274           53612                           DXCH     TTMP1                                 
042585,000593: 20,3275           20001                           DDOUBL                                         
042586,000594: 20,3276           21711                           DAS      TMP2                                  
042587,000595: 
042588,000596: 20,3277           53711                           DXCH     TMP2                                  
042589,000597: 20,3300           53707                           DXCH     TMP1                                  
042590,000598: 
042591,000599: 20,3301           35021                           CAF      ZERO                                  
042592,000600: 20,3302           55611                           TS       TTMP1                                 
042593,000601: 20,3303           55710                           TS       TMP2                                  
042594,000602: 
042595,000603: 20,3304           31703                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
042596,000604: 20,3305           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
042597,000605: 20,3306           71725                           MP       N10        +2                         #        N12
042598,000606: 20,3307           55612                           TS       TTMP1      +1                         
042599,000607: 20,3310           31702                           CA       ERRBTMP                               
042600,000608: 20,3311           00006                           EXTEND                                         
042601,000609: 20,3312           71725                           MP       N10        +2                         #        N12
042602,000610: 20,3313           21612                           DAS      TTMP1                                 
042603,000611: 
042604,000612: 20,3314           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
042605,000613: 20,3315           00006                           EXTEND                                         
042606,000614: 20,3316           71727                           MP       N10        +4                         #        D12
042607,000615: 20,3317           55711                           TS       TMP2       +1                         
042608,000616: 20,3320           41615                           CS       DAP1                                  
042609,000617: 20,3321           00006                           EXTEND                                         
042610,000618: 20,3322           71727                           MP       N10        +4                         #        D12
042611,000619: 20,3323           21711                           DAS      TMP2                                  
042612,000620: 
042613,000621: 20,3324           53612                           DXCH     TTMP1                                 
042614,000622: 20,3325           21711                           DAS      TMP2                                  
042615,000623: 
042616,000624: 20,3326           35021        2CASFLTR           CAF      ZERO                                  #  ***** SECOND CASCADE FILTER *****
042617,000625: 20,3327           55611                           TS       TTMP1                                 
042618,000626: 20,3330           55613                           TS       TTMP2                                 
042619,000627: 
042620,000628: 20,3331           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
042621,000629: 20,3332           00006                           EXTEND                                         
042622,000630: 20,3333           71731                           MP       N10        +6                         #        N21/2
042623,000631: 20,3334           55612                           TS       TTMP1      +1                         
042624,000632: 20,3335           31615                           CA       DAP1                                  
042625,000633: 20,3336           00006                           EXTEND                                         
042626,000634: 20,3337           71731                           MP       N10        +6                         #        N21/2

Page 975

042628,000636: 20,3340           21612                           DAS      TTMP1                                 
042629,000637: 
042630,000638: 20,3341           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
042631,000639: 20,3342           00006                           EXTEND                                         
042632,000640: 20,3343           71733                           MP       N10        +8D                        #        D21/2
042633,000641: 20,3344           55614                           TS       TTMP2      +1                         
042634,000642: 20,3345           41617                           CS       DAP2                                  
042635,000643: 20,3346           00006                           EXTEND                                         
042636,000644: 20,3347           71733                           MP       N10        +8D                        #        D21/2
042637,000645: 20,3350           21614                           DAS      TTMP2                                 
042638,000646: 
042639,000647: 20,3351           53614                           DXCH     TTMP2                                 
042640,000648: 20,3352           21612                           DAS      TTMP1                                 
042641,000649: 20,3353           53612                           DXCH     TTMP1                                 
042642,000650: 20,3354           20001                           DDOUBL                                         
042643,000651: 20,3355           21715                           DAS      TMP4                                  
042644,000652: 
042645,000653: 20,3356           53715                           DXCH     TMP4                                  
042646,000654: 20,3357           53713                           DXCH     TMP3                                  
042647,000655: 
042648,000656: 20,3360           35021                           CAF      ZERO                                  
042649,000657: 20,3361           55611                           TS       TTMP1                                 
042650,000658: 20,3362           55714                           TS       TMP4                                  
042651,000659: 
042652,000660: 20,3363           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
042653,000661: 20,3364           00006                           EXTEND                                         
042654,000662: 20,3365           71732                           MP       N10        +7                         #        N22
042655,000663: 20,3366           55612                           TS       TTMP1      +1                         
042656,000664: 20,3367           31615                           CA       DAP1                                  
042657,000665: 20,3370           00006                           EXTEND                                         
042658,000666: 20,3371           71732                           MP       N10        +7                         #        N22
042659,000667: 20,3372           21612                           DAS      TTMP1                                 
042660,000668: 
042661,000669: 20,3373           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
042662,000670: 20,3374           00006                           EXTEND                                         
042663,000671: 20,3375           71734                           MP       N10        +9D                        #        D22
042664,000672: 20,3376           55715                           TS       TMP4       +1                         
042665,000673: 20,3377           41617                           CS       DAP2                                  
042666,000674: 20,3400           00006                           EXTEND                                         
042667,000675: 20,3401           71734                           MP       N10        +9D                        #        D22
042668,000676: 20,3402           21715                           DAS      TMP4                                  
042669,000677: 
042670,000678: 20,3403           53612                           DXCH     TTMP1                                 
042671,000679: 20,3404           21715                           DAS      TMP4                                  
042672,000680: 
042673,000681: 20,3405           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
042674,000682: 20,3406           75003                           MASK     BIT13                                 
042675,000683: 20,3407           10000                           CCS      A                                     
042676,000684: 20,3410           00002                           TC       Q                                     #  EXIT IF LEM OFF
042677,000685: 

Page 976

042679,000687: 20,3411           35021        3CASFLTR           CAF      ZERO                                  #  ***** THIRD CASCADE FILTER *****
042680,000688: 20,3412           55611                           TS       TTMP1                                 
042681,000689: 20,3413           55613                           TS       TTMP2                                 
042682,000690: 
042683,000691: 20,3414           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY (1/2)
042684,000692: 20,3415           00006                           EXTEND                                         
042685,000693: 20,3416           71736                           MP       N10        +11D                       #        N31/2
042686,000694: 20,3417           55612                           TS       TTMP1      +1                         
042687,000695: 20,3420           31617                           CA       DAP2                                  
042688,000696: 20,3421           00006                           EXTEND                                         
042689,000697: 20,3422           71736                           MP       N10        +11D                       #        N31/2
042690,000698: 20,3423           21612                           DAS      TTMP1                                 
042691,000699: 
042692,000700: 20,3424           41622                           CS       DAP3       +1                         
042693,000701: 20,3425           00006                           EXTEND                                         
042694,000702: 20,3426           71740                           MP       N10        +13D                       #        D31/2
042695,000703: 20,3427           55614                           TS       TTMP2      +1                         
042696,000704: 20,3430           41621                           CS       DAP3                                  
042697,000705: 20,3431           00006                           EXTEND                                         
042698,000706: 20,3432           71740                           MP       N10        +13D                       #        D31/2
042699,000707: 20,3433           21614                           DAS      TTMP2                                 
042700,000708: 
042701,000709: 20,3434           53614                           DXCH     TTMP2                                 
042702,000710: 20,3435           21612                           DAS      TTMP1                                 
042703,000711: 20,3436           53612                           DXCH     TTMP1                                 
042704,000712: 20,3437           20001                           DDOUBL                                         
042705,000713: 20,3440           21721                           DAS      TMP6                                  
042706,000714: 
042707,000715: 20,3441           53721                           DXCH     TMP6                                  
042708,000716: 20,3442           53717                           DXCH     TMP5                                  
042709,000717: 
042710,000718: 20,3443           35021                           CAF      ZERO                                  
042711,000719: 20,3444           55611                           TS       TTMP1                                 
042712,000720: 20,3445           55720                           TS       TMP6                                  
042713,000721: 
042714,000722: 20,3446           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY
042715,000723: 20,3447           00006                           EXTEND                                         
042716,000724: 20,3450           71737                           MP       N10        +12D                       #        N32
042717,000725: 20,3451           55612                           TS       TTMP1      +1                         
042718,000726: 20,3452           31617                           CA       DAP2                                  
042719,000727: 20,3453           00006                           EXTEND                                         
042720,000728: 20,3454           71737                           MP       N10        +12D                       #        N32
042721,000729: 20,3455           21612                           DAS      TTMP1                                 
042722,000730: 
042723,000731: 20,3456           41622                           CS       DAP3       +1                         
042724,000732: 20,3457           00006                           EXTEND                                         
042725,000733: 20,3460           71741                           MP       N10        +14D                       #        D32
042726,000734: 20,3461           55721                           TS       TMP6       +1                         
042727,000735: 20,3462           41621                           CS       DAP3                                  
042728,000736: 20,3463           00006                           EXTEND                                         

Page 977

042730,000738: 20,3464           71741                           MP       N10        +14D                       #        D32
042731,000739: 20,3465           21721                           DAS      TMP6                                  
042732,000740: 
042733,000741: 20,3466           53612                           DXCH     TTMP1                                 
042734,000742: 20,3467           21721                           DAS      TMP6                                  
042735,000743: 
042736,000744: 20,3470           00002                           TC       Q                                     
042737,000745: 

Page 978

042739,000747:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
042740,000748: 
042741,000749:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
042742,000750:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
042743,000751: 
042744,000752: 20,3471           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
042745,000753: 20,3472           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
042746,000754: 
042747,000755: 20,3473     5003               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
042748,000756: 20,3473     5015               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
042749,000757: 
042750,000758: 20,3473           02530        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
042751,000759: 20,3474           03107        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
042752,000760: 20,3475           02732        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
042753,000761: 
042754,000762: 20,3476           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
042755,000763: 20,3477           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
042756,000764: 20,3500           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
042757,000765: 

End of include-file TVCDAPS.agc.  Parent file is MAIN.agc