Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72/3 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.

041295,000002:                                                                                                  ## Copyright:   Public domain.
041296,000003:                                                                                                  ## Filename:    TVCDAPS.agc
041297,000004:                                                                                                  ## Purpose:     A section of Manche72 revision 3.
041298,000005:                                                                                                  ##              It is part of the reconstructed source code for the final, flown
041299,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
041300,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
041301,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
041302,000009:                                                                                                  ##              from a reconstructed copy of Comanche 072. It has been adapted
041303,000010:                                                                                                  ##              such that the resulting bugger words exactly match those
041304,000011:                                                                                                  ##              specified for Manche72 revision 3 in NASA drawing 2021153G,
041305,000012:                                                                                                  ##              which gives relatively high confidence that the reconstruction
041306,000013:                                                                                                  ##              is correct.
041307,000014:                                                                                                  ## Assembler:   yaYUL
041308,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041309,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
041310,000017:                                                                                                  ## Mod history: 2024-05-19 MAS  Created from Comanche 072.
041311,000018: 
041312,000019:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
041313,000020:                                                                                                  #  LOG SECTION...TVCDAPS                 SUBROUTINE...DAPCSM
041314,000021:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
041315,000022: 
041316,000023:                                                                                                  #  FUNCTIONAL DESCRIPTION....
041317,000024: 
041318,000025:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
041319,000026:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
041320,000027:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
041321,000028:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
041322,000029:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
041323,000030: 
041324,000031:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
041325,000032:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
041326,000033:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
041327,000034:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
041328,000035:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
041329,000036:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
041330,000037: 
041331,000038:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
041332,000039:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
041333,000040:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
041334,000041:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
041335,000042:                                                                                                  #        MODING.
041336,000043: 
041337,000044:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
041338,000045: 
041339,000046:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
041340,000047:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
041341,000048:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
041342,000049:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
041343,000050:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
041344,000051:                                                                                                  #                ETC.
041345,000052:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
041346,000053: 
041347,000054:                                                                                                  #  NORMAL EXIT MODE....RESUME
041348,000055: 
041349,000056:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
041350,000057: 
041351,000058:                                                                                                  #  SUBROUTINES CALLED....
041352,000059: 
041353,000060:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
041354,000061:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
041355,000062:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
041356,000063:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
041357,000064:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
041358,000065:                                                                                                  #                YAW DAPS
041359,000066:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
041360,000067:                                                                                                  #                OUTPUTS AND STORAGE VALUES
041361,000068:                                                                                                  #        RESUME
041362,000069: 
041363,000070:                                                                                                  #  OTHER INTERFACES....
041364,000071: 
041365,000072:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
041366,000073:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
041367,000074:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
041368,000075:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
041369,000076: 
041370,000077:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
041371,000078: 
041372,000079:                                                                                                  #        PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
041373,000080:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
041374,000081:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
041375,000082:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
041376,000083:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
041377,000084:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
041378,000085:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
041379,000086:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUZ AS PREPARED BY QUICTRIG (WITH
041380,000087:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
041381,000088:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
041382,000089:                                                                                                  #                UNLESS BENCH-TESTING.
041383,000090: 
041384,000091:                                                                                                  #  OUTPUT....
041385,000092: 
041386,000093:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
041387,000094:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
041388,000095:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
041389,000096:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
041390,000097: 
041391,000098:                                                                                                  #  DEBRIS....
041392,000099: 
041393,000100:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041394,000101: 
041395,000102: 17,2610                                           BANK     17                                    
041396,000103: 20,2000                                           SETLOC   DAPS2                                 
041397,000104: 20,2000                                           BANK                                           
041398,000105: 
041399,000106: 20,2547  E6,1704                                  EBANK=   BZERO                                 
041400,000107: 
041401,000108: 20,2547                                           COUNT*   $$/DAPS                               
041402,000109: 
041403,000110:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041404,000111: 
041405,000112: 20,2547           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
041406,000113: 20,2550           00006                           EXTEND                                         
041407,000114: 20,2551           22012                           QXCH     QRUPT                                 
041408,000115: 
041409,000116: 20,2552           33533                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
041410,000117: 20,2553           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041411,000118: 20,2554           31625                           CAE      T5TVCDT                               
041412,000119: 20,2555           54030                           TS       TIME5                                 
041413,000120: 
041414,000121: 20,2556           11574        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041415,000122: 20,2557           03571                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041416,000123: 20,2560           12562                           TCF      +2                                    #  NO-TEST
041417,000124: 20,2561           03571                           TC       HACK                                  #  TEST-IN-PROGRESS
041418,000125: 
041419,000126: 20,2562           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT (USED BY PITCH AND YAW)
041420,000127: 20,2563           57645                           XCH      PCDUYPST                              
041421,000128: 20,2564           00006                           EXTEND                                         
041422,000129: 20,2565           21645                           MSU      PCDUYPST                              
041423,000130: 20,2566           02577                           TCR      RLIMTEST                              #        RATE TEST
041424,000131: 20,2567           55651                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041425,000132: 
041426,000133: 20,2570           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT (USED BY PITCH AND YAW)
041427,000134: 20,2571           57646                           XCH      PCDUZPST                              
041428,000135: 20,2572           00006                           EXTEND                                         
041429,000136: 20,2573           21646                           MSU      PCDUZPST                              
041430,000137: 20,2574           02577                           TCR      RLIMTEST                              #        RATE TEST
041431,000138: 20,2575           55652                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041432,000139: 20,2576           12610                           TCF      PINTEGRL                              
041433,000140: 
041434,000141: 20,2577           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
041435,000142: 20,2600           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
041436,000143: 20,2601           73534                           MP       1/RTLIM                               
041437,000144: 20,2602           00006                           EXTEND                                         
041438,000145: 20,2603           12606                           BZF      +3                                    
041439,000146: 20,2604           35035                           CAF      ZERO                                  
041440,000147: 20,2605           55611                           TS       TTMP1                                 
041441,000148: 20,2606           31611                           CAE      TTMP1                                 
041442,000149: 20,2607           00002                           TC       Q                                     
041443,000150: 
041444,000151: 20,2610           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
041445,000152: 20,2611           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
041446,000153: 20,2612           53705                           DXCH     ERRBTMP                               
041447,000154: 
041448,000155: 20,2613           00006                           EXTEND                                         
041449,000156: 20,2614           31530                           DCA      OMEGAYC                               
041450,000157: 20,2615           21705                           DAS      ERRBTMP                               
041451,000158: 
041452,000159: 20,2616           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
041453,000160: 20,2617           00006                           EXTEND                                         
041454,000161: 20,2620           70750                           MP       COSCDUX                               
041455,000162: 20,2621           20001                           DDOUBL                                         
041456,000163: 20,2622           00006                           EXTEND                                         
041457,000164: 20,2623           71651                           MP       MCDUYDOT                              
041458,000165: 20,2624           20001                           DDOUBL                                         
041459,000166: 20,2625           53536                           DXCH     OMEGAYB                               
041460,000167: 
041461,000168: 20,2626           41652                           CS       MCDUZDOT                              
041462,000169: 20,2627           00006                           EXTEND                                         
041463,000170: 20,2630           70742                           MP       SINCDUX                               
041464,000171: 20,2631           20001                           DDOUBL                                         
041465,000172: 20,2632           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
041466,000173: 
041467,000174: 20,2633           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
041468,000175: 20,2634           41536                           DCS      OMEGAYB                               
041469,000176: 20,2635           21705                           DAS      ERRBTMP                               
041470,000177: 
041471,000178: 20,2636           03161        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
041472,000179: 
041473,000180: 20,2637           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
041474,000181: 20,2640           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
041475,000182: 20,2641           53711                           DXCH     TMP1                                  
041476,000183: 20,2642           00006                           EXTEND                                         
041477,000184: 20,2643           31546                           DCA      PTMP3                                 
041478,000185: 20,2644           53715                           DXCH     TMP3                                  
041479,000186: 20,2645           00006                           EXTEND                                         
041480,000187: 20,2646           31552                           DCA      PTMP5                                 
041481,000188: 20,2647           53721                           DXCH     TMP5                                  
041482,000189: 
041483,000190: 20,2650           03213                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
041484,000191:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
041485,000192: 
041486,000193: 20,2651           00006        POFFSET            EXTEND                                         
041487,000194: 20,2652           31606                           DCA      PDELOFF                               
041488,000195: 20,2653           21707                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
041489,000196: 
041490,000197: 20,2654           03174        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
041491,000198: 
041492,000199: 20,2655           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
041493,000200: 20,2656           61706                           AD       CMDTMP                                
041494,000201: 20,2657           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
041495,000202:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041496,000203: 
041497,000204: 20,2660           35021                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
041498,000205: 20,2661           00006                           EXTEND                                         
041499,000206: 20,2662           05014                           WOR      CHAN14                                
041500,000207: 
041501,000208: 20,2663           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH
041502,000209: 20,2664           31544                           DCA      PTMP2                                 
041503,000210: 20,2665           53713                           DXCH     TMP2                                  
041504,000211: 20,2666           00006                           EXTEND                                         
041505,000212: 20,2667           31550                           DCA      PTMP4                                 
041506,000213: 20,2670           53717                           DXCH     TMP4                                  
041507,000214: 20,2671           00006                           EXTEND                                         
041508,000215: 20,2672           31554                           DCA      PTMP6                                 
041509,000216: 20,2673           53723                           DXCH     TMP6                                  
041510,000217: 
041511,000218: 20,2674           03305                           TCR      PRECOMP                               #      TO THE FILTER FOR PRECOMPUTATION
041512,000219: 
041513,000220: 20,2675           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
041514,000221: 20,2676           00006                           EXTEND                                         
041515,000222: 20,2677           73536                           MP       E(-AT)                                
041516,000223: 20,2700           55703                           TS       DELBRTMP   +1                         
041517,000224: 20,2701           31601                           CAE      DELPBAR                               
041518,000225: 20,2702           00006                           EXTEND                                         
041519,000226: 20,2703           73536                           MP       E(-AT)                                
041520,000227: 20,2704           21703                           DAS      DELBRTMP                              
041521,000228: 20,2705           31706                           CAE      CMDTMP                                
041522,000229: 20,2706           00006                           EXTEND                                         
041523,000230: 20,2707           73535                           MP       1-E(-AT)                              
041524,000231: 20,2710           21703                           DAS      DELBRTMP                              
041525,000232: 
041526,000233: 20,2711           02713        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
041527,000234: 
041528,000235: 20,2712           15347        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
041529,000236:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041530,000237: 
041531,000238: 20,2713           25644        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
041532,000239:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041533,000240:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041534,000241:                                                                                                  #        DURING PITCH COPYCYCLE.
041535,000242: 
041536,000243: 20,2714           00006                           EXTEND                                         
041537,000244: 20,2715           31711                           DCA      TMP1                                  
041538,000245: 20,2716           53542                           DXCH     PTMP1                                 
041539,000246: 20,2717           00006                           EXTEND                                         
041540,000247: 20,2720           31713                           DCA      TMP2                                  
041541,000248: 20,2721           53544                           DXCH     PTMP2                                 
041542,000249: 20,2722           00006                           EXTEND                                         
041543,000250: 20,2723           31715                           DCA      TMP3                                  
041544,000251: 20,2724           53546                           DXCH     PTMP3                                 
041545,000252: 20,2725           00006                           EXTEND                                         
041546,000253: 20,2726           31717                           DCA      TMP4                                  
041547,000254: 20,2727           53550                           DXCH     PTMP4                                 
041548,000255: 20,2730           00006                           EXTEND                                         
041549,000256: 20,2731           31721                           DCA      TMP5                                  
041550,000257: 20,2732           53552                           DXCH     PTMP5                                 
041551,000258: 20,2733           00006                           EXTEND                                         
041552,000259: 20,2734           31723                           DCA      TMP6                                  
041553,000260: 20,2735           53554                           DXCH     PTMP6                                 
041554,000261: 
041555,000262: 20,2736           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
041556,000263: 20,2737           31705                           DCA      ERRBTMP                               
041557,000264: 20,2740           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
041558,000265: 20,2741           53576                           DXCH     PERRB                                 
041559,000266: 
041560,000267: 20,2742           31706                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
041561,000268: 20,2743           55623                           TS       PCMD                                  
041562,000269: 
041563,000270: 20,2744           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
041564,000271: 20,2745           31703                           DCA      DELBRTMP                              
041565,000272: 20,2746           53602                           DXCH     DELPBAR                               
041566,000273: 
041567,000274: 20,2747           25644                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
041568,000275: 
041569,000276: 20,2750           00002                           TC       Q                                     
041570,000277: 
041571,000278:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041572,000279: 
041573,000280: 20,2751           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
041574,000281: 20,2752           00006                           EXTEND                                         
041575,000282: 20,2753           22012                           QXCH     QRUPT                                 
041576,000283: 
041577,000284: 20,2754           33531                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041578,000285: 20,2755           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041579,000286: 20,2756           31625                           CAE      T5TVCDT                               
041580,000287: 20,2757           54030                           TS       TIME5                                 
041581,000288: 
041582,000289: 20,2760           11574        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041583,000290: 20,2761           03571                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041584,000291: 20,2762           12764                           TCF      +2                                    #  NO-TEST
041585,000292: 20,2763           03571                           TC       HACK                                  #  TEST-IN-PROGRESS
041586,000293: 
041587,000294: 20,2764           30033        YCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
041588,000295: 20,2765           57647                           XCH      YCDUYPST                              
041589,000296: 20,2766           00006                           EXTEND                                         
041590,000297: 20,2767           21647                           MSU      YCDUYPST                              
041591,000298: 20,2770           02577                           TCR      RLIMTEST                              #        RATE TEST
041592,000299: 20,2771           55651                           TS       MCDUYDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
041593,000300: 
041594,000301: 20,2772           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
041595,000302: 20,2773           57650                           XCH      YCDUZPST                              
041596,000303: 20,2774           00006                           EXTEND                                         
041597,000304: 20,2775           21650                           MSU      YCDUZPST                              
041598,000305: 20,2776           02577                           TCR      RLIMTEST                              #        RATE TEST
041599,000306: 20,2777           55652                           TS       MCDUZDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
041600,000307: 
041601,000308: 20,3000           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041602,000309: 20,3001           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
041603,000310: 20,3002           53705                           DXCH     ERRBTMP                               
041604,000311: 
041605,000312: 20,3003           00006                           EXTEND                                         
041606,000313: 20,3004           31532                           DCA      OMEGAZC                               
041607,000314: 20,3005           21705                           DAS      ERRBTMP                               
041608,000315: 
041609,000316: 20,3006           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041610,000317: 20,3007           00006                           EXTEND                                         
041611,000318: 20,3010           70742                           MP       SINCDUX                               
041612,000319: 20,3011           20001                           DDOUBL                                         
041613,000320: 20,3012           00006                           EXTEND                                         
041614,000321: 20,3013           71651                           MP       MCDUYDOT                              
041615,000322: 20,3014           20001                           DDOUBL                                         
041616,000323: 20,3015           53540                           DXCH     OMEGAZB                               
041617,000324: 
041618,000325: 20,3016           41652                           CS       MCDUZDOT                              
041619,000326: 20,3017           00006                           EXTEND                                         
041620,000327: 20,3020           70750                           MP       COSCDUX                               
041621,000328: 20,3021           20001                           DDOUBL                                         
041622,000329: 20,3022           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041623,000330: 
041624,000331: 20,3023           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041625,000332: 20,3024           41540                           DCS      OMEGAZB                               
041626,000333: 20,3025           21705                           DAS      ERRBTMP                               
041627,000334: 
041628,000335: 20,3026           03161        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
041629,000336: 
041630,000337: 20,3027           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
041631,000338: 20,3030           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL
041632,000339: 20,3031           53711                           DXCH     TMP1                                  
041633,000340: 20,3032           00006                           EXTEND                                         
041634,000341: 20,3033           31562                           DCA      YTMP3                                 
041635,000342: 20,3034           53715                           DXCH     TMP3                                  
041636,000343: 20,3035           00006                           EXTEND                                         
041637,000344: 20,3036           31566                           DCA      YTMP5                                 
041638,000345: 20,3037           53721                           DXCH     TMP5                                  
041639,000346: 
041640,000347: 20,3040           03213                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
041641,000348:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
041642,000349: 
041643,000350: 20,3041           00006        YOFFSET            EXTEND                                         
041644,000351: 20,3042           31610                           DCA      YDELOFF                               
041645,000352: 20,3043           21707                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
041646,000353: 
041647,000354: 20,3044           03174        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
041648,000355: 
041649,000356: 20,3045           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
041650,000357: 20,3046           61706                           AD       CMDTMP                                
041651,000358: 20,3047           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
041652,000359:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041653,000360: 
041654,000361: 20,3050           35020                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
041655,000362: 20,3051           00006                           EXTEND                                         
041656,000363: 20,3052           05014                           WOR      CHAN14                                
041657,000364: 
041658,000365: 20,3053           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
041659,000366: 20,3054           31560                           DCA      YTMP2                                 
041660,000367: 20,3055           53713                           DXCH     TMP2                                  
041661,000368: 20,3056           00006                           EXTEND                                         
041662,000369: 20,3057           31564                           DCA      YTMP4                                 
041663,000370: 20,3060           53717                           DXCH     TMP4                                  
041664,000371: 20,3061           00006                           EXTEND                                         
041665,000372: 20,3062           31570                           DCA      YTMP6                                 
041666,000373: 20,3063           53723                           DXCH     TMP6                                  
041667,000374: 
041668,000375: 20,3064           03305                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
041669,000376: 
041670,000377: 20,3065           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW OFFSET-TRACKER-FILTER
041671,000378: 20,3066           00006                           EXTEND                                         
041672,000379: 20,3067           73536                           MP       E(-AT)                                
041673,000380: 20,3070           55703                           TS       DELBRTMP   +1                         
041674,000381: 20,3071           31603                           CAE      DELYBAR                               
041675,000382: 20,3072           00006                           EXTEND                                         
041676,000383: 20,3073           73536                           MP       E(-AT)                                
041677,000384: 20,3074           21703                           DAS      DELBRTMP                              
041678,000385: 20,3075           31706                           CAE      CMDTMP                                
041679,000386: 20,3076           00006                           EXTEND                                         
041680,000387: 20,3077           73535                           MP       1-E(-AT)                              
041681,000388: 20,3100           21703                           DAS      DELBRTMP                              
041682,000389: 
041683,000390: 20,3101           03103        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
041684,000391: 
041685,000392: 20,3102           15347        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
041686,000393: 
041687,000394:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
041688,000395: 
041689,000396: 20,3103           25644        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
041690,000397:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041691,000398:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041692,000399:                                                                                                  #        DURING YAW   COPYCYCLE.
041693,000400: 
041694,000401: 20,3104           00006                           EXTEND                                         
041695,000402: 20,3105           31711                           DCA      TMP1                                  
041696,000403: 20,3106           53556                           DXCH     YTMP1                                 
041697,000404: 20,3107           00006                           EXTEND                                         
041698,000405: 20,3110           31713                           DCA      TMP2                                  
041699,000406: 20,3111           53560                           DXCH     YTMP2                                 
041700,000407: 20,3112           00006                           EXTEND                                         
041701,000408: 20,3113           31715                           DCA      TMP3                                  
041702,000409: 20,3114           53562                           DXCH     YTMP3                                 
041703,000410: 20,3115           00006                           EXTEND                                         
041704,000411: 20,3116           31717                           DCA      TMP4                                  
041705,000412: 20,3117           53564                           DXCH     YTMP4                                 
041706,000413: 20,3120           00006                           EXTEND                                         
041707,000414: 20,3121           31721                           DCA      TMP5                                  
041708,000415: 20,3122           53566                           DXCH     YTMP5                                 
041709,000416: 20,3123           00006                           EXTEND                                         
041710,000417: 20,3124           31723                           DCA      TMP6                                  
041711,000418: 20,3125           53570                           DXCH     YTMP6                                 
041712,000419: 
041713,000420: 20,3126           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
041714,000421: 20,3127           31705                           DCA      ERRBTMP                               
041715,000422: 20,3130           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
041716,000423: 20,3131           53600                           DXCH     YERRB                                 
041717,000424: 
041718,000425: 20,3132           31706                           CAE      CMDTMP                                
041719,000426: 20,3133           55624                           TS       YCMD                                  
041720,000427: 
041721,000428: 20,3134           00006                           EXTEND                                         
041722,000429: 20,3135           31703                           DCA      DELBRTMP                              
041723,000430: 20,3136           53604                           DXCH     DELYBAR                               
041724,000431: 
041725,000432: 20,3137           35035                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
041726,000433: 20,3140           55644                           TS       TVCPHASE                              #        RESET TVCPHASE
041727,000434: 
041728,000435: 20,3141           00002                           TC       Q                                     
041729,000436: 
041730,000437:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041731,000438: 
041732,000439:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
041733,000440: 
041734,000441: 20,3142           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
041735,000442: 
041736,000443: 20,3143           37716                           CAF      NEGONE                                #        SET UP
041737,000444: 20,3144           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
041738,000445: 20,3145           65015                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
041739,000446: 20,3146           61625                           AD       T5TVCDT                               
041740,000447: 20,3147           54030                           TS       TIME5                                 
041741,000448: 20,3150           33531                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
041742,000449: 20,3151           55312                           TS       T5LOC                                 
041743,000450: 
041744,000451: 20,3152           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
041745,000452: 20,3153           55645                           TS       PCDUYPST                              #        PAST-VALUES
041746,000453: 20,3154           55647                           TS       YCDUYPST                              
041747,000454: 20,3155           30034                           CAE      CDUZ                                  
041748,000455: 20,3156           55646                           TS       PCDUZPST                              
041749,000456: 20,3157           55650                           TS       YCDUZPST                              
041750,000457: 
041751,000458: 20,3160           15351                           TCF      NOQRSM                                
041752,000459: 
041753,000460:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
041754,000461: 
041755,000462: 20,3161           31704        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
041756,000463: 20,3162           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
041757,000464: 20,3163           75031                           MP       1/ERRLIM                              
041758,000465: 20,3164           00006                           EXTEND                                         
041759,000466: 20,3165           13173                           BZF      +6                                    
041760,000467: 20,3166           11704                           CCS      ERRBTMP                               
041761,000468: 20,3167           35017                           CAF      ERRLIM                                
041762,000469: 20,3170           13172                           TCF      +2                                    
041763,000470: 20,3171           45017                           CS       ERRLIM                                
041764,000471: 20,3172           55704                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
041765,000472: 
041766,000473: 20,3173           00002                           TC       Q                                     
041767,000474: 
041768,000475:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
041769,000476: 
041770,000477: 20,3174           31707        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041771,000478: 20,3175           60000                           DOUBLE                                         
041772,000479: 20,3176           54001                           TS       L                                     
041773,000480: 20,3177           35035                           CAF      ZERO                                  
041774,000481: 20,3200           61706                           AD       CMDTMP                                
041775,000482: 
041776,000483: 20,3201           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
041777,000484: 20,3202           73530                           MP       1/ACTSAT                              
041778,000485: 20,3203           00006                           EXTEND                                         
041779,000486: 20,3204           13212                           BZF      +6                                    
041780,000487: 20,3205           11706                           CCS      CMDTMP                                #  APPLY LIMITS
041781,000488: 20,3206           33527                           CAF      ACTSAT                                
041782,000489: 20,3207           13211                           TCF      +2                                    
041783,000490: 20,3210           43527                           CS       ACTSAT                                
041784,000491: 20,3211           55706                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
041785,000492: 
041786,000493: 20,3212           00002                           TC       Q                                     
041787,000494: 
041788,000495:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
041789,000496: 
041790,000497: 20,3213           35035        FWDFLTR            CAF      ZERO                                  
041791,000498: 20,3214           55615                           TS       DAP1                                  
041792,000499: 20,3215           55617                           TS       DAP2                                  
041793,000500: 20,3216           55621                           TS       DAP3                                  
041794,000501: 20,3217           55706                           TS       CMDTMP                                
041795,000502: 
041796,000503: 20,3220           55702                           TS       DELBRTMP                              
041797,000504: 
041798,000505: 20,3221           31705        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
041799,000506: 20,3222           00006                           EXTEND                                         
041800,000507: 20,3223           71725                           MP       N10                                   #        N10
041801,000508: 20,3224           55616                           TS       DAP1       +1                         
041802,000509: 20,3225           31704                           CA       ERRBTMP                               
041803,000510: 20,3226           00006                           EXTEND                                         
041804,000511: 20,3227           71725                           MP       N10                                   #        N10
041805,000512: 20,3230           21616                           DAS      DAP1                                  
041806,000513: 20,3231           53711                           DXCH     TMP1                                  
041807,000514: 20,3232           21616                           DAS      DAP1                                  
041808,000515: 
041809,000516: 20,3233           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
041810,000517: 20,3234           00006                           EXTEND                                         
041811,000518: 20,3235           71732                           MP       N10        +5                         #        N20
041812,000519: 20,3236           55620                           TS       DAP2       +1                         
041813,000520: 20,3237           31615                           CA       DAP1                                  
041814,000521: 20,3240           00006                           EXTEND                                         
041815,000522: 20,3241           71732                           MP       N10        +5                         #        N20
041816,000523: 20,3242           21620                           DAS      DAP2                                  
041817,000524: 20,3243           53715                           DXCH     TMP3                                  
041818,000525: 20,3244           21620                           DAS      DAP2                                  
041819,000526: 
041820,000527: 20,3245           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
041821,000528: 20,3246           75016                           MASK     BIT14                                 
041822,000529: 20,3247           10000                           CCS      A                                     
041823,000530: 20,3250           13257                           TCF      3DAPCAS                               #  LEM ON
041824,000531: 20,3251           00006                           EXTEND                                         #  LEM OFF
041825,000532: 20,3252           31620                           DCA      DAP2                                  
041826,000533: 20,3253           20001                           DDOUBL                                         
041827,000534: 20,3254           20001                           DDOUBL                                         
041828,000535: 20,3255           53622                           DXCH     DAP3                                  
041829,000536: 20,3256           13271                           TCF      OPTVARK                               
041830,000537: 
041831,000538: 20,3257           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
041832,000539: 20,3260           00006                           EXTEND                                         
041833,000540: 20,3261           71737                           MP       N10        +10D                       #        N30
041834,000541: 20,3262           55622                           TS       DAP3       +1                         
041835,000542: 20,3263           31617                           CA       DAP2                                  
041836,000543: 20,3264           00006                           EXTEND                                         
041837,000544: 20,3265           71737                           MP       N10        +10D                       #        N30
041838,000545: 20,3266           21622                           DAS      DAP3                                  
041839,000546: 20,3267           53721                           DXCH     TMP5                                  
041840,000547: 20,3270           21622                           DAS      DAP3                                  
041841,000548: 

Reconstruction: The line "TS CMDTMP +1" below was accidentally duplicated during the implementation of PCR-810 in Comanche 67. This was corrected in Comanche 72 under ACB-97, "Delete redundant line inadvertently inserted in implementation of PCR 810".

041846,000553: 20,3271           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
041847,000554: 20,3272           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
041848,000555: 20,3273           71641                           MP       VARK                                  #        SCALED (1.08 B+2)   CSM/LM
041849,000556: 20,3274           55707                           TS       CMDTMP     +1                         #               (  "  B+4)   CSM
041850,000557: 20,3275           41621                           CS       DAP3                                  
041851,000558: 20,3276           00006                           EXTEND                                         
041852,000559: 20,3277           71641                           MP       VARK                                  
041853,000560: 20,3300           21707                           DAS      CMDTMP                                
041854,000561: 
041855,000562: 20,3301           53707                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+3 ASCREVS
041856,000563: 20,3302           20001                           DDOUBL                                         
041857,000564: 20,3303           53707                           DXCH     CMDTMP                                #                 - SCALED B+1 ASCREVS
041858,000565:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
041859,000566:                                                                                                  #  (B+1 ASCREVS) ON THE OUTPUT DACS.
041860,000567: 
041861,000568: 20,3304           00002                           TC       Q                                     
041862,000569: 
041863,000570:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
041864,000571: 
041865,000572: 20,3305           35035        PRECOMP            CAF      ZERO                                  #  ***** FIRST CASCADE FILTER **********
041866,000573: 20,3306           55611                           TS       TTMP1                                 
041867,000574: 20,3307           55613                           TS       TTMP2                                 
041868,000575: 
041869,000576: 20,3310           31705                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
041870,000577: 20,3311           00006                           EXTEND                                         
041871,000578: 20,3312           71726                           MP       N10        +1                         #        N11/2
041872,000579: 20,3313           55612                           TS       TTMP1      +1                         
041873,000580: 20,3314           31704                           CA       ERRBTMP                               
041874,000581: 20,3315           00006                           EXTEND                                         
041875,000582: 20,3316           71726                           MP       N10        +1                         #        N11/2
041876,000583: 20,3317           21612                           DAS      TTMP1                                 
041877,000584: 
041878,000585: 20,3320           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
041879,000586: 20,3321           00006                           EXTEND                                         
041880,000587: 20,3322           71730                           MP       N10        +3                         #        D11/2
041881,000588: 20,3323           55614                           TS       TTMP2      +1                         
041882,000589: 20,3324           41615                           CS       DAP1                                  
041883,000590: 
041884,000591: 20,3325           00006                           EXTEND                                         
041885,000592: 20,3326           71730                           MP       N10        +3                         #        D11/2
041886,000593: 20,3327           21614                           DAS      TTMP2                                 
041887,000594: 
041888,000595: 20,3330           53614                           DXCH     TTMP2                                 
041889,000596: 20,3331           21612                           DAS      TTMP1                                 
041890,000597: 20,3332           53612                           DXCH     TTMP1                                 
041891,000598: 20,3333           20001                           DDOUBL                                         
041892,000599: 20,3334           21713                           DAS      TMP2                                  
041893,000600: 
041894,000601: 20,3335           53713                           DXCH     TMP2                                  
041895,000602: 20,3336           53711                           DXCH     TMP1                                  
041896,000603: 
041897,000604: 20,3337           35035                           CAF      ZERO                                  
041898,000605: 20,3340           55611                           TS       TTMP1                                 
041899,000606: 20,3341           55712                           TS       TMP2                                  
041900,000607: 
041901,000608: 20,3342           31705                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
041902,000609: 20,3343           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
041903,000610: 20,3344           71727                           MP       N10        +2                         #        N12
041904,000611: 20,3345           55612                           TS       TTMP1      +1                         
041905,000612: 20,3346           31704                           CA       ERRBTMP                               
041906,000613: 20,3347           00006                           EXTEND                                         
041907,000614: 20,3350           71727                           MP       N10        +2                         #        N12
041908,000615: 20,3351           21612                           DAS      TTMP1                                 
041909,000616: 
041910,000617: 20,3352           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
041911,000618: 20,3353           00006                           EXTEND                                         
041912,000619: 20,3354           71731                           MP       N10        +4                         #        D12
041913,000620: 20,3355           55713                           TS       TMP2       +1                         
041914,000621: 20,3356           41615                           CS       DAP1                                  
041915,000622: 20,3357           00006                           EXTEND                                         
041916,000623: 20,3360           71731                           MP       N10        +4                         #        D12
041917,000624: 20,3361           21713                           DAS      TMP2                                  
041918,000625: 
041919,000626: 20,3362           53612                           DXCH     TTMP1                                 
041920,000627: 20,3363           21713                           DAS      TMP2                                  
041921,000628: 
041922,000629: 20,3364           35035        2CASFLTR           CAF      ZERO                                  #  ***** SECOND CASCADE FILTER *****
041923,000630: 20,3365           55611                           TS       TTMP1                                 
041924,000631: 20,3366           55613                           TS       TTMP2                                 
041925,000632: 
041926,000633: 20,3367           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
041927,000634: 20,3370           00006                           EXTEND                                         
041928,000635: 20,3371           71733                           MP       N10        +6                         #        N21/2
041929,000636: 20,3372           55612                           TS       TTMP1      +1                         
041930,000637: 20,3373           31615                           CA       DAP1                                  
041931,000638: 20,3374           00006                           EXTEND                                         
041932,000639: 20,3375           71733                           MP       N10        +6                         #        N21/2
041933,000640: 20,3376           21612                           DAS      TTMP1                                 
041934,000641: 
041935,000642: 20,3377           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
041936,000643: 20,3400           00006                           EXTEND                                         
041937,000644: 20,3401           71735                           MP       N10        +8D                        #        D21/2
041938,000645: 20,3402           55614                           TS       TTMP2      +1                         
041939,000646: 20,3403           41617                           CS       DAP2                                  
041940,000647: 20,3404           00006                           EXTEND                                         
041941,000648: 20,3405           71735                           MP       N10        +8D                        #        D21/2
041942,000649: 20,3406           21614                           DAS      TTMP2                                 
041943,000650: 
041944,000651: 20,3407           53614                           DXCH     TTMP2                                 
041945,000652: 20,3410           21612                           DAS      TTMP1                                 
041946,000653: 20,3411           53612                           DXCH     TTMP1                                 
041947,000654: 20,3412           20001                           DDOUBL                                         
041948,000655: 20,3413           21717                           DAS      TMP4                                  
041949,000656: 
041950,000657: 20,3414           53717                           DXCH     TMP4                                  
041951,000658: 20,3415           53715                           DXCH     TMP3                                  
041952,000659: 
041953,000660: 20,3416           35035                           CAF      ZERO                                  
041954,000661: 20,3417           55611                           TS       TTMP1                                 
041955,000662: 20,3420           55716                           TS       TMP4                                  
041956,000663: 
041957,000664: 20,3421           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
041958,000665: 20,3422           00006                           EXTEND                                         
041959,000666: 20,3423           71734                           MP       N10        +7                         #        N22
041960,000667: 20,3424           55612                           TS       TTMP1      +1                         
041961,000668: 20,3425           31615                           CA       DAP1                                  
041962,000669: 20,3426           00006                           EXTEND                                         
041963,000670: 20,3427           71734                           MP       N10        +7                         #        N22
041964,000671: 20,3430           21612                           DAS      TTMP1                                 
041965,000672: 
041966,000673: 20,3431           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
041967,000674: 20,3432           00006                           EXTEND                                         
041968,000675: 20,3433           71736                           MP       N10        +9D                        #        D22
041969,000676: 20,3434           55717                           TS       TMP4       +1                         
041970,000677: 20,3435           41617                           CS       DAP2                                  
041971,000678: 20,3436           00006                           EXTEND                                         
041972,000679: 20,3437           71736                           MP       N10        +9D                        #        D22
041973,000680: 20,3440           21717                           DAS      TMP4                                  
041974,000681: 
041975,000682: 20,3441           53612                           DXCH     TTMP1                                 
041976,000683: 20,3442           21717                           DAS      TMP4                                  
041977,000684: 
041978,000685: 20,3443           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
041979,000686: 20,3444           75017                           MASK     BIT13                                 
041980,000687: 20,3445           10000                           CCS      A                                     
041981,000688: 20,3446           00002                           TC       Q                                     #  EXIT IF LEM OFF
041982,000689: 
041983,000690: 20,3447           35035        3CASFLTR           CAF      ZERO                                  #  ***** THIRD CASCADE FILTER *****
041984,000691: 20,3450           55611                           TS       TTMP1                                 
041985,000692: 20,3451           55613                           TS       TTMP2                                 
041986,000693: 
041987,000694: 20,3452           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY (1/2)
041988,000695: 20,3453           00006                           EXTEND                                         
041989,000696: 20,3454           71740                           MP       N10        +11D                       #        N31/2
041990,000697: 20,3455           55612                           TS       TTMP1      +1                         
041991,000698: 20,3456           31617                           CA       DAP2                                  
041992,000699: 20,3457           00006                           EXTEND                                         
041993,000700: 20,3460           71740                           MP       N10        +11D                       #        N31/2
041994,000701: 20,3461           21612                           DAS      TTMP1                                 
041995,000702: 
041996,000703: 20,3462           41622                           CS       DAP3       +1                         
041997,000704: 20,3463           00006                           EXTEND                                         
041998,000705: 20,3464           71742                           MP       N10        +13D                       #        D31/2
041999,000706: 20,3465           55614                           TS       TTMP2      +1                         
042000,000707: 20,3466           41621                           CS       DAP3                                  
042001,000708: 20,3467           00006                           EXTEND                                         
042002,000709: 20,3470           71742                           MP       N10        +13D                       #        D31/2
042003,000710: 20,3471           21614                           DAS      TTMP2                                 
042004,000711: 
042005,000712: 20,3472           53614                           DXCH     TTMP2                                 
042006,000713: 20,3473           21612                           DAS      TTMP1                                 
042007,000714: 20,3474           53612                           DXCH     TTMP1                                 
042008,000715: 20,3475           20001                           DDOUBL                                         
042009,000716: 20,3476           21723                           DAS      TMP6                                  
042010,000717: 
042011,000718: 20,3477           53723                           DXCH     TMP6                                  
042012,000719: 20,3500           53721                           DXCH     TMP5                                  
042013,000720: 
042014,000721: 20,3501           35035                           CAF      ZERO                                  
042015,000722: 20,3502           55611                           TS       TTMP1                                 
042016,000723: 20,3503           55722                           TS       TMP6                                  
042017,000724: 
042018,000725: 20,3504           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY
042019,000726: 20,3505           00006                           EXTEND                                         
042020,000727: 20,3506           71741                           MP       N10        +12D                       #        N32
042021,000728: 20,3507           55612                           TS       TTMP1      +1                         
042022,000729: 20,3510           31617                           CA       DAP2                                  
042023,000730: 20,3511           00006                           EXTEND                                         
042024,000731: 20,3512           71741                           MP       N10        +12D                       #        N32
042025,000732: 20,3513           21612                           DAS      TTMP1                                 
042026,000733: 
042027,000734: 20,3514           41622                           CS       DAP3       +1                         
042028,000735: 20,3515           00006                           EXTEND                                         
042029,000736: 20,3516           71743                           MP       N10        +14D                       #        D32
042030,000737: 20,3517           55723                           TS       TMP6       +1                         
042031,000738: 20,3520           41621                           CS       DAP3                                  
042032,000739: 20,3521           00006                           EXTEND                                         
042033,000740: 20,3522           71743                           MP       N10        +14D                       #        D32
042034,000741: 20,3523           21723                           DAS      TMP6                                  
042035,000742: 
042036,000743: 20,3524           53612                           DXCH     TTMP1                                 
042037,000744: 20,3525           21723                           DAS      TMP6                                  
042038,000745: 
042039,000746: 20,3526           00002                           TC       Q                                     
042040,000747: 
042041,000748:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
042042,000749: 
042043,000750:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
042044,000751:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
042045,000752: 
042046,000753: 20,3527           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
042047,000754: 20,3530           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
042048,000755: 
042049,000756: 20,3531     5017               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
042050,000757: 20,3531     5031               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
042051,000758: 
042052,000759: 20,3531           02547        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
042053,000760: 20,3532           03142        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
042054,000761: 20,3533           02751        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
042055,000762: 
042056,000763: 20,3534           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
042057,000764: 20,3535           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
042058,000765: 20,3536           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
042059,000766: 

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