Source Code

These source-code files are part of a reconstructed copy of Comanche 67, the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.

They have been adapted from sources files for Comanche 55, and updated via disassembly of binary dumps of original core rope memory modules, part numbers 2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.

Since only binary dumps (rather than listings) of Comanche 67 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

041016,000002:                                                                                                  ## Copyright:   Public domain.
041017,000003:                                                                                                  ## Filename:    TVCDAPS.agc
041018,000004:                                                                                                  ## Purpose:     A section of Comanche revision 067.
041019,000005:                                                                                                  ##              It is part of the reconstructed source code for the flight
041020,000006:                                                                                                  ##              software for the Command Module's (CM) Apollo Guidance Computer
041021,000007:                                                                                                  ##              (AGC) for Apollo 12. No original listings of this program are
041022,000008:                                                                                                  ##              available; instead, this file was created via dissassembly of
041023,000009:                                                                                                  ##              dumps of Comanche 067 core rope modules and comparison with
041024,000010:                                                                                                  ##              other AGC programs.
041025,000011:                                                                                                  ## Assembler:   yaYUL
041026,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041027,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
041028,000014:                                                                                                  ## Mod history: 2023-08-16 MAS  Created from Comanche 055.
041029,000015:                                                                                                  ##              2024-05-13 MAS  Updated for Comanche 067.
041030,000016: 
041031,000017:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
041032,000018:                                                                                                  #  LOG SECTION...TVCDAPS                 SUBROUTINE...DAPCSM
041033,000019:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
041034,000020: 
041035,000021:                                                                                                  #  FUNCTIONAL DESCRIPTION....
041036,000022: 
041037,000023:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
041038,000024:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
041039,000025:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
041040,000026:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
041041,000027:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
041042,000028: 
041043,000029:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
041044,000030:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
041045,000031:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
041046,000032:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
041047,000033:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
041048,000034:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
041049,000035: 
041050,000036:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
041051,000037:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
041052,000038:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
041053,000039:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
041054,000040:                                                                                                  #        MODING.
041055,000041: 
041056,000042:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
041057,000043: 
041058,000044:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
041059,000045:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
041060,000046:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
041061,000047:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
041062,000048:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
041063,000049:                                                                                                  #                ETC.
041064,000050:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
041065,000051: 
041066,000052:                                                                                                  #  NORMAL EXIT MODE....RESUME
041067,000053: 
041068,000054:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
041069,000055: 
041070,000056:                                                                                                  #  SUBROUTINES CALLED....
041071,000057: 
041072,000058:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
041073,000059:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
041074,000060:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
041075,000061:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
041076,000062:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
041077,000063:                                                                                                  #                YAW DAPS
041078,000064:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
041079,000065:                                                                                                  #                OUTPUTS AND STORAGE VALUES
041080,000066:                                                                                                  #        RESUME
041081,000067: 
041082,000068:                                                                                                  #  OTHER INTERFACES....
041083,000069: 
041084,000070:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
041085,000071:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
041086,000072:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
041087,000073:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
041088,000074: 
041089,000075:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
041090,000076: 
041091,000077:                                                                                                  #        PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
041092,000078:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
041093,000079:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
041094,000080:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
041095,000081:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
041096,000082:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
041097,000083:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
041098,000084:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUZ AS PREPARED BY QUICTRIG (WITH
041099,000085:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
041100,000086:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
041101,000087:                                                                                                  #                UNLESS BENCH-TESTING.
041102,000088: 
041103,000089:                                                                                                  #  OUTPUT....
041104,000090: 
041105,000091:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
041106,000092:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
041107,000093:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
041108,000094:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
041109,000095: 
041110,000096:                                                                                                  #  DEBRIS....
041111,000097: 
041112,000098:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041113,000099: 
041114,000100: 17,2610                                           BANK     17                                    
041115,000101: 20,2000                                           SETLOC   DAPS2                                 
041116,000102: 20,2000                                           BANK                                           
041117,000103: 
041118,000104: 20,2547  E6,1704                                  EBANK=   BZERO                                 
041119,000105: 
041120,000106: 20,2547                                           COUNT*   $$/DAPS                               
041121,000107: 
041122,000108:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041123,000109: 
041124,000110: 20,2547           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
041125,000111: 20,2550           00006                           EXTEND                                         
041126,000112: 20,2551           22012                           QXCH     QRUPT                                 
041127,000113: 
041128,000114: 20,2552           33534                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
041129,000115: 20,2553           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041130,000116: 20,2554           31625                           CAE      T5TVCDT                               
041131,000117: 20,2555           54030                           TS       TIME5                                 
041132,000118: 
041133,000119: 20,2556           11574        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041134,000120: 20,2557           03572                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041135,000121: 20,2560           12562                           TCF      +2                                    #  NO-TEST
041136,000122: 20,2561           03572                           TC       HACK                                  #  TEST-IN-PROGRESS
041137,000123: 
041138,000124: 20,2562           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT (USED BY PITCH AND YAW)
041139,000125: 20,2563           57645                           XCH      PCDUYPST                              
041140,000126: 20,2564           00006                           EXTEND                                         
041141,000127: 20,2565           21645                           MSU      PCDUYPST                              
041142,000128: 20,2566           02577                           TCR      RLIMTEST                              #        RATE TEST
041143,000129: 20,2567           55651                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041144,000130: 
041145,000131: 20,2570           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT (USED BY PITCH AND YAW)
041146,000132: 20,2571           57646                           XCH      PCDUZPST                              
041147,000133: 20,2572           00006                           EXTEND                                         
041148,000134: 20,2573           21646                           MSU      PCDUZPST                              
041149,000135: 20,2574           02577                           TCR      RLIMTEST                              #        RATE TEST
041150,000136: 20,2575           55652                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041151,000137: 20,2576           12610                           TCF      PINTEGRL                              
041152,000138: 
041153,000139: 20,2577           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
041154,000140: 20,2600           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
041155,000141: 20,2601           73535                           MP       1/RTLIM                               
041156,000142: 20,2602           00006                           EXTEND                                         
041157,000143: 20,2603           12606                           BZF      +3                                    
041158,000144: 20,2604           35035                           CAF      ZERO                                  
041159,000145: 20,2605           55611                           TS       TTMP1                                 
041160,000146: 20,2606           31611                           CAE      TTMP1                                 
041161,000147: 20,2607           00002                           TC       Q                                     
041162,000148: 
041163,000149: 20,2610           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
041164,000150: 20,2611           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
041165,000151: 20,2612           53705                           DXCH     ERRBTMP                               
041166,000152: 
041167,000153: 20,2613           00006                           EXTEND                                         
041168,000154: 20,2614           31530                           DCA      OMEGAYC                               
041169,000155: 20,2615           21705                           DAS      ERRBTMP                               
041170,000156: 
041171,000157: 20,2616           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
041172,000158: 20,2617           00006                           EXTEND                                         
041173,000159: 20,2620           70750                           MP       COSCDUX                               
041174,000160: 20,2621           20001                           DDOUBL                                         
041175,000161: 20,2622           00006                           EXTEND                                         
041176,000162: 20,2623           71651                           MP       MCDUYDOT                              
041177,000163: 20,2624           20001                           DDOUBL                                         
041178,000164: 20,2625           53536                           DXCH     OMEGAYB                               
041179,000165: 
041180,000166: 20,2626           41652                           CS       MCDUZDOT                              
041181,000167: 20,2627           00006                           EXTEND                                         
041182,000168: 20,2630           70742                           MP       SINCDUX                               
041183,000169: 20,2631           20001                           DDOUBL                                         
041184,000170: 20,2632           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
041185,000171: 
041186,000172: 20,2633           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
041187,000173: 20,2634           41536                           DCS      OMEGAYB                               
041188,000174: 20,2635           21705                           DAS      ERRBTMP                               
041189,000175: 
041190,000176: 20,2636           03161        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
041191,000177: 
041192,000178: 20,2637           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
041193,000179: 20,2640           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
041194,000180: 20,2641           53711                           DXCH     TMP1                                  
041195,000181: 20,2642           00006                           EXTEND                                         
041196,000182: 20,2643           31546                           DCA      PTMP3                                 
041197,000183: 20,2644           53715                           DXCH     TMP3                                  
041198,000184: 20,2645           00006                           EXTEND                                         
041199,000185: 20,2646           31552                           DCA      PTMP5                                 
041200,000186: 20,2647           53721                           DXCH     TMP5                                  
041201,000187: 
041202,000188: 20,2650           03213                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
041203,000189:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
041204,000190: 
041205,000191: 20,2651           00006        POFFSET            EXTEND                                         
041206,000192: 20,2652           31606                           DCA      PDELOFF                               
041207,000193: 20,2653           21707                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
041208,000194: 
041209,000195: 20,2654           03174        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
041210,000196: 
041211,000197: 20,2655           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
041212,000198: 20,2656           61706                           AD       CMDTMP                                
041213,000199: 20,2657           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
041214,000200:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041215,000201: 
041216,000202: 20,2660           35021                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
041217,000203: 20,2661           00006                           EXTEND                                         
041218,000204: 20,2662           05014                           WOR      CHAN14                                
041219,000205: 
041220,000206: 20,2663           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH
041221,000207: 20,2664           31544                           DCA      PTMP2                                 
041222,000208: 20,2665           53713                           DXCH     TMP2                                  
041223,000209: 20,2666           00006                           EXTEND                                         
041224,000210: 20,2667           31550                           DCA      PTMP4                                 
041225,000211: 20,2670           53717                           DXCH     TMP4                                  
041226,000212: 20,2671           00006                           EXTEND                                         
041227,000213: 20,2672           31554                           DCA      PTMP6                                 
041228,000214: 20,2673           53723                           DXCH     TMP6                                  
041229,000215: 
041230,000216: 20,2674           03306                           TCR      PRECOMP                               #      TO THE FILTER FOR PRECOMPUTATION
041231,000217: 
041232,000218: 20,2675           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
041233,000219: 20,2676           00006                           EXTEND                                         
041234,000220: 20,2677           73537                           MP       E(-AT)                                
041235,000221: 20,2700           55703                           TS       DELBRTMP   +1                         
041236,000222: 20,2701           31601                           CAE      DELPBAR                               
041237,000223: 20,2702           00006                           EXTEND                                         
041238,000224: 20,2703           73537                           MP       E(-AT)                                
041239,000225: 20,2704           21703                           DAS      DELBRTMP                              
041240,000226: 20,2705           31706                           CAE      CMDTMP                                
041241,000227: 20,2706           00006                           EXTEND                                         
041242,000228: 20,2707           73536                           MP       1-E(-AT)                              
041243,000229: 20,2710           21703                           DAS      DELBRTMP                              
041244,000230: 
041245,000231: 20,2711           02713        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
041246,000232: 
041247,000233: 20,2712           15347        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
041248,000234:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041249,000235: 
041250,000236: 20,2713           25644        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
041251,000237:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041252,000238:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041253,000239:                                                                                                  #        DURING PITCH COPYCYCLE.
041254,000240: 
041255,000241: 20,2714           00006                           EXTEND                                         
041256,000242: 20,2715           31711                           DCA      TMP1                                  
041257,000243: 20,2716           53542                           DXCH     PTMP1                                 
041258,000244: 20,2717           00006                           EXTEND                                         
041259,000245: 20,2720           31713                           DCA      TMP2                                  
041260,000246: 20,2721           53544                           DXCH     PTMP2                                 
041261,000247: 20,2722           00006                           EXTEND                                         
041262,000248: 20,2723           31715                           DCA      TMP3                                  
041263,000249: 20,2724           53546                           DXCH     PTMP3                                 
041264,000250: 20,2725           00006                           EXTEND                                         
041265,000251: 20,2726           31717                           DCA      TMP4                                  
041266,000252: 20,2727           53550                           DXCH     PTMP4                                 
041267,000253: 20,2730           00006                           EXTEND                                         
041268,000254: 20,2731           31721                           DCA      TMP5                                  
041269,000255: 20,2732           53552                           DXCH     PTMP5                                 
041270,000256: 20,2733           00006                           EXTEND                                         
041271,000257: 20,2734           31723                           DCA      TMP6                                  
041272,000258: 20,2735           53554                           DXCH     PTMP6                                 
041273,000259: 
041274,000260: 20,2736           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
041275,000261: 20,2737           31705                           DCA      ERRBTMP                               
041276,000262: 20,2740           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
041277,000263: 20,2741           53576                           DXCH     PERRB                                 
041278,000264: 
041279,000265: 20,2742           31706                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
041280,000266: 20,2743           55623                           TS       PCMD                                  
041281,000267: 
041282,000268: 20,2744           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
041283,000269: 20,2745           31703                           DCA      DELBRTMP                              
041284,000270: 20,2746           53602                           DXCH     DELPBAR                               
041285,000271: 
041286,000272: 20,2747           25644                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
041287,000273: 
041288,000274: 20,2750           00002                           TC       Q                                     
041289,000275: 
041290,000276:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041291,000277: 
041292,000278: 20,2751           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
041293,000279: 20,2752           00006                           EXTEND                                         
041294,000280: 20,2753           22012                           QXCH     QRUPT                                 
041295,000281: 
041296,000282: 20,2754           33532                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041297,000283: 20,2755           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041298,000284: 20,2756           31625                           CAE      T5TVCDT                               
041299,000285: 20,2757           54030                           TS       TIME5                                 
041300,000286: 
041301,000287: 20,2760           11574        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041302,000288: 20,2761           03572                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041303,000289: 20,2762           12764                           TCF      +2                                    #  NO-TEST
041304,000290: 20,2763           03572                           TC       HACK                                  #  TEST-IN-PROGRESS
041305,000291: 
041306,000292: 20,2764           30033        YCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
041307,000293: 20,2765           57647                           XCH      YCDUYPST                              
041308,000294: 20,2766           00006                           EXTEND                                         
041309,000295: 20,2767           21647                           MSU      YCDUYPST                              
041310,000296: 20,2770           02577                           TCR      RLIMTEST                              #        RATE TEST
041311,000297: 20,2771           55651                           TS       MCDUYDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
041312,000298: 
041313,000299: 20,2772           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
041314,000300: 20,2773           57650                           XCH      YCDUZPST                              
041315,000301: 20,2774           00006                           EXTEND                                         
041316,000302: 20,2775           21650                           MSU      YCDUZPST                              
041317,000303: 20,2776           02577                           TCR      RLIMTEST                              #        RATE TEST
041318,000304: 20,2777           55652                           TS       MCDUZDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
041319,000305: 
041320,000306: 20,3000           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041321,000307: 20,3001           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
041322,000308: 20,3002           53705                           DXCH     ERRBTMP                               
041323,000309: 
041324,000310: 20,3003           00006                           EXTEND                                         
041325,000311: 20,3004           31532                           DCA      OMEGAZC                               
041326,000312: 20,3005           21705                           DAS      ERRBTMP                               
041327,000313: 
041328,000314: 20,3006           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041329,000315: 20,3007           00006                           EXTEND                                         
041330,000316: 20,3010           70742                           MP       SINCDUX                               
041331,000317: 20,3011           20001                           DDOUBL                                         
041332,000318: 20,3012           00006                           EXTEND                                         
041333,000319: 20,3013           71651                           MP       MCDUYDOT                              
041334,000320: 20,3014           20001                           DDOUBL                                         
041335,000321: 20,3015           53540                           DXCH     OMEGAZB                               
041336,000322: 
041337,000323: 20,3016           41652                           CS       MCDUZDOT                              
041338,000324: 20,3017           00006                           EXTEND                                         
041339,000325: 20,3020           70750                           MP       COSCDUX                               
041340,000326: 20,3021           20001                           DDOUBL                                         
041341,000327: 20,3022           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041342,000328: 
041343,000329: 20,3023           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041344,000330: 20,3024           41540                           DCS      OMEGAZB                               
041345,000331: 20,3025           21705                           DAS      ERRBTMP                               
041346,000332: 
041347,000333: 20,3026           03161        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
041348,000334: 
041349,000335: 20,3027           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
041350,000336: 20,3030           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL
041351,000337: 20,3031           53711                           DXCH     TMP1                                  
041352,000338: 20,3032           00006                           EXTEND                                         
041353,000339: 20,3033           31562                           DCA      YTMP3                                 
041354,000340: 20,3034           53715                           DXCH     TMP3                                  
041355,000341: 20,3035           00006                           EXTEND                                         
041356,000342: 20,3036           31566                           DCA      YTMP5                                 
041357,000343: 20,3037           53721                           DXCH     TMP5                                  
041358,000344: 
041359,000345: 20,3040           03213                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
041360,000346:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
041361,000347: 
041362,000348: 20,3041           00006        YOFFSET            EXTEND                                         
041363,000349: 20,3042           31610                           DCA      YDELOFF                               
041364,000350: 20,3043           21707                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
041365,000351: 
041366,000352: 20,3044           03174        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
041367,000353: 
041368,000354: 20,3045           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
041369,000355: 20,3046           61706                           AD       CMDTMP                                
041370,000356: 20,3047           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
041371,000357:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041372,000358: 
041373,000359: 20,3050           35020                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
041374,000360: 20,3051           00006                           EXTEND                                         
041375,000361: 20,3052           05014                           WOR      CHAN14                                
041376,000362: 
041377,000363: 20,3053           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
041378,000364: 20,3054           31560                           DCA      YTMP2                                 
041379,000365: 20,3055           53713                           DXCH     TMP2                                  
041380,000366: 20,3056           00006                           EXTEND                                         
041381,000367: 20,3057           31564                           DCA      YTMP4                                 
041382,000368: 20,3060           53717                           DXCH     TMP4                                  
041383,000369: 20,3061           00006                           EXTEND                                         
041384,000370: 20,3062           31570                           DCA      YTMP6                                 
041385,000371: 20,3063           53723                           DXCH     TMP6                                  
041386,000372: 
041387,000373: 20,3064           03306                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
041388,000374: 
041389,000375: 20,3065           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW OFFSET-TRACKER-FILTER
041390,000376: 20,3066           00006                           EXTEND                                         
041391,000377: 20,3067           73537                           MP       E(-AT)                                
041392,000378: 20,3070           55703                           TS       DELBRTMP   +1                         
041393,000379: 20,3071           31603                           CAE      DELYBAR                               
041394,000380: 20,3072           00006                           EXTEND                                         
041395,000381: 20,3073           73537                           MP       E(-AT)                                
041396,000382: 20,3074           21703                           DAS      DELBRTMP                              
041397,000383: 20,3075           31706                           CAE      CMDTMP                                
041398,000384: 20,3076           00006                           EXTEND                                         
041399,000385: 20,3077           73536                           MP       1-E(-AT)                              
041400,000386: 20,3100           21703                           DAS      DELBRTMP                              
041401,000387: 
041402,000388: 20,3101           03103        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
041403,000389: 
041404,000390: 20,3102           15347        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
041405,000391: 
041406,000392:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
041407,000393: 
041408,000394: 20,3103           25644        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
041409,000395:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041410,000396:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041411,000397:                                                                                                  #        DURING YAW   COPYCYCLE.
041412,000398: 
041413,000399: 20,3104           00006                           EXTEND                                         
041414,000400: 20,3105           31711                           DCA      TMP1                                  
041415,000401: 20,3106           53556                           DXCH     YTMP1                                 
041416,000402: 20,3107           00006                           EXTEND                                         
041417,000403: 20,3110           31713                           DCA      TMP2                                  
041418,000404: 20,3111           53560                           DXCH     YTMP2                                 
041419,000405: 20,3112           00006                           EXTEND                                         
041420,000406: 20,3113           31715                           DCA      TMP3                                  
041421,000407: 20,3114           53562                           DXCH     YTMP3                                 
041422,000408: 20,3115           00006                           EXTEND                                         
041423,000409: 20,3116           31717                           DCA      TMP4                                  
041424,000410: 20,3117           53564                           DXCH     YTMP4                                 
041425,000411: 20,3120           00006                           EXTEND                                         
041426,000412: 20,3121           31721                           DCA      TMP5                                  
041427,000413: 20,3122           53566                           DXCH     YTMP5                                 
041428,000414: 20,3123           00006                           EXTEND                                         
041429,000415: 20,3124           31723                           DCA      TMP6                                  
041430,000416: 20,3125           53570                           DXCH     YTMP6                                 
041431,000417: 
041432,000418: 20,3126           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
041433,000419: 20,3127           31705                           DCA      ERRBTMP                               
041434,000420: 20,3130           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
041435,000421: 20,3131           53600                           DXCH     YERRB                                 
041436,000422: 
041437,000423: 20,3132           31706                           CAE      CMDTMP                                
041438,000424: 20,3133           55624                           TS       YCMD                                  
041439,000425: 
041440,000426: 20,3134           00006                           EXTEND                                         
041441,000427: 20,3135           31703                           DCA      DELBRTMP                              
041442,000428: 20,3136           53604                           DXCH     DELYBAR                               
041443,000429: 
041444,000430: 20,3137           35035                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
041445,000431: 20,3140           55644                           TS       TVCPHASE                              #        RESET TVCPHASE
041446,000432: 
041447,000433: 20,3141           00002                           TC       Q                                     
041448,000434: 
041449,000435:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041450,000436: 
041451,000437:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
041452,000438: 
041453,000439: 20,3142           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
041454,000440: 
041455,000441: 20,3143           37716                           CAF      NEGONE                                #        SET UP
041456,000442: 20,3144           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
041457,000443: 20,3145           65015                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
041458,000444: 20,3146           61625                           AD       T5TVCDT                               
041459,000445: 20,3147           54030                           TS       TIME5                                 
041460,000446: 20,3150           33532                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
041461,000447: 20,3151           55312                           TS       T5LOC                                 
041462,000448: 
041463,000449: 20,3152           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
041464,000450: 20,3153           55645                           TS       PCDUYPST                              #        PAST-VALUES
041465,000451: 20,3154           55647                           TS       YCDUYPST                              
041466,000452: 20,3155           30034                           CAE      CDUZ                                  
041467,000453: 20,3156           55646                           TS       PCDUZPST                              
041468,000454: 20,3157           55650                           TS       YCDUZPST                              
041469,000455: 
041470,000456: 20,3160           15351                           TCF      NOQRSM                                
041471,000457: 
041472,000458:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
041473,000459: 
041474,000460: 20,3161           31704        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
041475,000461: 20,3162           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
041476,000462: 20,3163           75031                           MP       1/ERRLIM                              
041477,000463: 20,3164           00006                           EXTEND                                         
041478,000464: 20,3165           13173                           BZF      +6                                    
041479,000465: 20,3166           11704                           CCS      ERRBTMP                               
041480,000466: 20,3167           35017                           CAF      ERRLIM                                
041481,000467: 20,3170           13172                           TCF      +2                                    
041482,000468: 20,3171           45017                           CS       ERRLIM                                
041483,000469: 20,3172           55704                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
041484,000470: 
041485,000471: 20,3173           00002                           TC       Q                                     
041486,000472: 
041487,000473:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
041488,000474: 
041489,000475: 20,3174           31707        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041490,000476: 20,3175           60000                           DOUBLE                                         
041491,000477: 20,3176           54001                           TS       L                                     
041492,000478: 20,3177           35035                           CAF      ZERO                                  
041493,000479: 20,3200           61706                           AD       CMDTMP                                
041494,000480: 
041495,000481: 20,3201           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
041496,000482: 20,3202           73531                           MP       1/ACTSAT                              
041497,000483: 20,3203           00006                           EXTEND                                         
041498,000484: 20,3204           13212                           BZF      +6                                    
041499,000485: 20,3205           11706                           CCS      CMDTMP                                #  APPLY LIMITS
041500,000486: 20,3206           33530                           CAF      ACTSAT                                
041501,000487: 20,3207           13211                           TCF      +2                                    
041502,000488: 20,3210           43530                           CS       ACTSAT                                
041503,000489: 20,3211           55706                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
041504,000490: 
041505,000491: 20,3212           00002                           TC       Q                                     
041506,000492: 
041507,000493:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
041508,000494: 
041509,000495: 20,3213           35035        FWDFLTR            CAF      ZERO                                  
041510,000496: 20,3214           55615                           TS       DAP1                                  
041511,000497: 20,3215           55617                           TS       DAP2                                  
041512,000498: 20,3216           55621                           TS       DAP3                                  
041513,000499: 20,3217           55706                           TS       CMDTMP                                
041514,000500: 
041515,000501: 20,3220           55702                           TS       DELBRTMP                              
041516,000502: 
041517,000503: 20,3221           31705        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
041518,000504: 20,3222           00006                           EXTEND                                         
041519,000505: 20,3223           71725                           MP       N10                                   #        N10
041520,000506: 20,3224           55616                           TS       DAP1       +1                         
041521,000507: 20,3225           31704                           CA       ERRBTMP                               
041522,000508: 20,3226           00006                           EXTEND                                         
041523,000509: 20,3227           71725                           MP       N10                                   #        N10
041524,000510: 20,3230           21616                           DAS      DAP1                                  
041525,000511: 20,3231           53711                           DXCH     TMP1                                  
041526,000512: 20,3232           21616                           DAS      DAP1                                  
041527,000513: 
041528,000514: 20,3233           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
041529,000515: 20,3234           00006                           EXTEND                                         
041530,000516: 20,3235           71732                           MP       N10        +5                         #        N20
041531,000517: 20,3236           55620                           TS       DAP2       +1                         
041532,000518: 20,3237           31615                           CA       DAP1                                  
041533,000519: 20,3240           00006                           EXTEND                                         
041534,000520: 20,3241           71732                           MP       N10        +5                         #        N20
041535,000521: 20,3242           21620                           DAS      DAP2                                  
041536,000522: 20,3243           53715                           DXCH     TMP3                                  
041537,000523: 20,3244           21620                           DAS      DAP2                                  
041538,000524: 
041539,000525: 20,3245           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
041540,000526: 20,3246           75016                           MASK     BIT14                                 
041541,000527: 20,3247           10000                           CCS      A                                     
041542,000528: 20,3250           13257                           TCF      3DAPCAS                               #  LEM ON
041543,000529: 20,3251           00006                           EXTEND                                         #  LEM OFF
041544,000530: 20,3252           31620                           DCA      DAP2                                  
041545,000531: 20,3253           20001                           DDOUBL                                         
041546,000532: 20,3254           20001                           DDOUBL                                         
041547,000533: 20,3255           53622                           DXCH     DAP3                                  
041548,000534: 20,3256           13271                           TCF      OPTVARK                               
041549,000535: 
041550,000536: 20,3257           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
041551,000537: 20,3260           00006                           EXTEND                                         
041552,000538: 20,3261           71737                           MP       N10        +10D                       #        N30
041553,000539: 20,3262           55622                           TS       DAP3       +1                         
041554,000540: 20,3263           31617                           CA       DAP2                                  
041555,000541: 20,3264           00006                           EXTEND                                         
041556,000542: 20,3265           71737                           MP       N10        +10D                       #        N30
041557,000543: 20,3266           21622                           DAS      DAP3                                  
041558,000544: 20,3267           53721                           DXCH     TMP5                                  
041559,000545: 20,3270           21622                           DAS      DAP3                                  
041560,000546: 
041561,000547: 20,3271           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
041562,000548: 20,3272           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
041563,000549: 20,3273           71641                           MP       VARK                                  #        SCALED (1.08 B+2)   CSM/LM
041564,000550: 20,3274           55707                           TS       CMDTMP     +1                         #               (  "  B+4)   CSM
041565,000551: 20,3275           55707                           TS       CMDTMP     +1                         
041566,000552: 20,3276           41621                           CS       DAP3                                  
041567,000553: 20,3277           00006                           EXTEND                                         
041568,000554: 20,3300           71641                           MP       VARK                                  
041569,000555: 20,3301           21707                           DAS      CMDTMP                                
041570,000556: 
041571,000557: 20,3302           53707                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+3 ASCREVS
041572,000558: 20,3303           20001                           DDOUBL                                         
041573,000559: 20,3304           53707                           DXCH     CMDTMP                                #                 - SCALED B+1 ASCREVS
041574,000560:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
041575,000561:                                                                                                  #  (B+1 ASCREVS) ON THE OUTPUT DACS.
041576,000562: 
041577,000563: 20,3305           00002                           TC       Q                                     
041578,000564: 
041579,000565:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
041580,000566: 
041581,000567: 20,3306           35035        PRECOMP            CAF      ZERO                                  #  ***** FIRST CASCADE FILTER **********
041582,000568: 20,3307           55611                           TS       TTMP1                                 
041583,000569: 20,3310           55613                           TS       TTMP2                                 
041584,000570: 
041585,000571: 20,3311           31705                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
041586,000572: 20,3312           00006                           EXTEND                                         
041587,000573: 20,3313           71726                           MP       N10        +1                         #        N11/2
041588,000574: 20,3314           55612                           TS       TTMP1      +1                         
041589,000575: 20,3315           31704                           CA       ERRBTMP                               
041590,000576: 20,3316           00006                           EXTEND                                         
041591,000577: 20,3317           71726                           MP       N10        +1                         #        N11/2
041592,000578: 20,3320           21612                           DAS      TTMP1                                 
041593,000579: 
041594,000580: 20,3321           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
041595,000581: 20,3322           00006                           EXTEND                                         
041596,000582: 20,3323           71730                           MP       N10        +3                         #        D11/2
041597,000583: 20,3324           55614                           TS       TTMP2      +1                         
041598,000584: 20,3325           41615                           CS       DAP1                                  
041599,000585: 
041600,000586: 20,3326           00006                           EXTEND                                         
041601,000587: 20,3327           71730                           MP       N10        +3                         #        D11/2
041602,000588: 20,3330           21614                           DAS      TTMP2                                 
041603,000589: 
041604,000590: 20,3331           53614                           DXCH     TTMP2                                 
041605,000591: 20,3332           21612                           DAS      TTMP1                                 
041606,000592: 20,3333           53612                           DXCH     TTMP1                                 
041607,000593: 20,3334           20001                           DDOUBL                                         
041608,000594: 20,3335           21713                           DAS      TMP2                                  
041609,000595: 
041610,000596: 20,3336           53713                           DXCH     TMP2                                  
041611,000597: 20,3337           53711                           DXCH     TMP1                                  
041612,000598: 
041613,000599: 20,3340           35035                           CAF      ZERO                                  
041614,000600: 20,3341           55611                           TS       TTMP1                                 
041615,000601: 20,3342           55712                           TS       TMP2                                  
041616,000602: 
041617,000603: 20,3343           31705                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
041618,000604: 20,3344           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
041619,000605: 20,3345           71727                           MP       N10        +2                         #        N12
041620,000606: 20,3346           55612                           TS       TTMP1      +1                         
041621,000607: 20,3347           31704                           CA       ERRBTMP                               
041622,000608: 20,3350           00006                           EXTEND                                         
041623,000609: 20,3351           71727                           MP       N10        +2                         #        N12
041624,000610: 20,3352           21612                           DAS      TTMP1                                 
041625,000611: 
041626,000612: 20,3353           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
041627,000613: 20,3354           00006                           EXTEND                                         
041628,000614: 20,3355           71731                           MP       N10        +4                         #        D12
041629,000615: 20,3356           55713                           TS       TMP2       +1                         
041630,000616: 20,3357           41615                           CS       DAP1                                  
041631,000617: 20,3360           00006                           EXTEND                                         
041632,000618: 20,3361           71731                           MP       N10        +4                         #        D12
041633,000619: 20,3362           21713                           DAS      TMP2                                  
041634,000620: 
041635,000621: 20,3363           53612                           DXCH     TTMP1                                 
041636,000622: 20,3364           21713                           DAS      TMP2                                  
041637,000623: 
041638,000624: 20,3365           35035        2CASFLTR           CAF      ZERO                                  #  ***** SECOND CASCADE FILTER *****
041639,000625: 20,3366           55611                           TS       TTMP1                                 
041640,000626: 20,3367           55613                           TS       TTMP2                                 
041641,000627: 
041642,000628: 20,3370           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
041643,000629: 20,3371           00006                           EXTEND                                         
041644,000630: 20,3372           71733                           MP       N10        +6                         #        N21/2
041645,000631: 20,3373           55612                           TS       TTMP1      +1                         
041646,000632: 20,3374           31615                           CA       DAP1                                  
041647,000633: 20,3375           00006                           EXTEND                                         
041648,000634: 20,3376           71733                           MP       N10        +6                         #        N21/2
041649,000635: 20,3377           21612                           DAS      TTMP1                                 
041650,000636: 
041651,000637: 20,3400           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
041652,000638: 20,3401           00006                           EXTEND                                         
041653,000639: 20,3402           71735                           MP       N10        +8D                        #        D21/2
041654,000640: 20,3403           55614                           TS       TTMP2      +1                         
041655,000641: 20,3404           41617                           CS       DAP2                                  
041656,000642: 20,3405           00006                           EXTEND                                         
041657,000643: 20,3406           71735                           MP       N10        +8D                        #        D21/2
041658,000644: 20,3407           21614                           DAS      TTMP2                                 
041659,000645: 
041660,000646: 20,3410           53614                           DXCH     TTMP2                                 
041661,000647: 20,3411           21612                           DAS      TTMP1                                 
041662,000648: 20,3412           53612                           DXCH     TTMP1                                 
041663,000649: 20,3413           20001                           DDOUBL                                         
041664,000650: 20,3414           21717                           DAS      TMP4                                  
041665,000651: 
041666,000652: 20,3415           53717                           DXCH     TMP4                                  
041667,000653: 20,3416           53715                           DXCH     TMP3                                  
041668,000654: 
041669,000655: 20,3417           35035                           CAF      ZERO                                  
041670,000656: 20,3420           55611                           TS       TTMP1                                 
041671,000657: 20,3421           55716                           TS       TMP4                                  
041672,000658: 
041673,000659: 20,3422           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
041674,000660: 20,3423           00006                           EXTEND                                         
041675,000661: 20,3424           71734                           MP       N10        +7                         #        N22
041676,000662: 20,3425           55612                           TS       TTMP1      +1                         
041677,000663: 20,3426           31615                           CA       DAP1                                  
041678,000664: 20,3427           00006                           EXTEND                                         
041679,000665: 20,3430           71734                           MP       N10        +7                         #        N22
041680,000666: 20,3431           21612                           DAS      TTMP1                                 
041681,000667: 
041682,000668: 20,3432           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
041683,000669: 20,3433           00006                           EXTEND                                         
041684,000670: 20,3434           71736                           MP       N10        +9D                        #        D22
041685,000671: 20,3435           55717                           TS       TMP4       +1                         
041686,000672: 20,3436           41617                           CS       DAP2                                  
041687,000673: 20,3437           00006                           EXTEND                                         
041688,000674: 20,3440           71736                           MP       N10        +9D                        #        D22
041689,000675: 20,3441           21717                           DAS      TMP4                                  
041690,000676: 
041691,000677: 20,3442           53612                           DXCH     TTMP1                                 
041692,000678: 20,3443           21717                           DAS      TMP4                                  
041693,000679: 
041694,000680: 20,3444           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
041695,000681: 20,3445           75017                           MASK     BIT13                                 
041696,000682: 20,3446           10000                           CCS      A                                     
041697,000683: 20,3447           00002                           TC       Q                                     #  EXIT IF LEM OFF
041698,000684: 
041699,000685: 20,3450           35035        3CASFLTR           CAF      ZERO                                  #  ***** THIRD CASCADE FILTER *****
041700,000686: 20,3451           55611                           TS       TTMP1                                 
041701,000687: 20,3452           55613                           TS       TTMP2                                 
041702,000688: 
041703,000689: 20,3453           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY (1/2)
041704,000690: 20,3454           00006                           EXTEND                                         
041705,000691: 20,3455           71740                           MP       N10        +11D                       #        N31/2
041706,000692: 20,3456           55612                           TS       TTMP1      +1                         
041707,000693: 20,3457           31617                           CA       DAP2                                  
041708,000694: 20,3460           00006                           EXTEND                                         
041709,000695: 20,3461           71740                           MP       N10        +11D                       #        N31/2
041710,000696: 20,3462           21612                           DAS      TTMP1                                 
041711,000697: 
041712,000698: 20,3463           41622                           CS       DAP3       +1                         
041713,000699: 20,3464           00006                           EXTEND                                         
041714,000700: 20,3465           71742                           MP       N10        +13D                       #        D31/2
041715,000701: 20,3466           55614                           TS       TTMP2      +1                         
041716,000702: 20,3467           41621                           CS       DAP3                                  
041717,000703: 20,3470           00006                           EXTEND                                         
041718,000704: 20,3471           71742                           MP       N10        +13D                       #        D31/2
041719,000705: 20,3472           21614                           DAS      TTMP2                                 
041720,000706: 
041721,000707: 20,3473           53614                           DXCH     TTMP2                                 
041722,000708: 20,3474           21612                           DAS      TTMP1                                 
041723,000709: 20,3475           53612                           DXCH     TTMP1                                 
041724,000710: 20,3476           20001                           DDOUBL                                         
041725,000711: 20,3477           21723                           DAS      TMP6                                  
041726,000712: 
041727,000713: 20,3500           53723                           DXCH     TMP6                                  
041728,000714: 20,3501           53721                           DXCH     TMP5                                  
041729,000715: 
041730,000716: 20,3502           35035                           CAF      ZERO                                  
041731,000717: 20,3503           55611                           TS       TTMP1                                 
041732,000718: 20,3504           55722                           TS       TMP6                                  
041733,000719: 
041734,000720: 20,3505           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY
041735,000721: 20,3506           00006                           EXTEND                                         
041736,000722: 20,3507           71741                           MP       N10        +12D                       #        N32
041737,000723: 20,3510           55612                           TS       TTMP1      +1                         
041738,000724: 20,3511           31617                           CA       DAP2                                  
041739,000725: 20,3512           00006                           EXTEND                                         
041740,000726: 20,3513           71741                           MP       N10        +12D                       #        N32
041741,000727: 20,3514           21612                           DAS      TTMP1                                 
041742,000728: 
041743,000729: 20,3515           41622                           CS       DAP3       +1                         
041744,000730: 20,3516           00006                           EXTEND                                         
041745,000731: 20,3517           71743                           MP       N10        +14D                       #        D32
041746,000732: 20,3520           55723                           TS       TMP6       +1                         
041747,000733: 20,3521           41621                           CS       DAP3                                  
041748,000734: 20,3522           00006                           EXTEND                                         
041749,000735: 20,3523           71743                           MP       N10        +14D                       #        D32
041750,000736: 20,3524           21723                           DAS      TMP6                                  
041751,000737: 
041752,000738: 20,3525           53612                           DXCH     TTMP1                                 
041753,000739: 20,3526           21723                           DAS      TMP6                                  
041754,000740: 
041755,000741: 20,3527           00002                           TC       Q                                     
041756,000742: 
041757,000743:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
041758,000744: 
041759,000745:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
041760,000746:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
041761,000747: 
041762,000748: 20,3530           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
041763,000749: 20,3531           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
041764,000750: 
041765,000751: 20,3532     5017               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
041766,000752: 20,3532     5031               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
041767,000753: 
041768,000754: 20,3532           02547        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
041769,000755: 20,3533           03142        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
041770,000756: 20,3534           02751        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
041771,000757: 
041772,000758: 20,3535           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
041773,000759: 20,3536           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
041774,000760: 20,3537           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
041775,000761: 

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