Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

039825,000002:                                                                                                 #  Copyright:    Public domain.
039826,000003:                                                                                                 #  Filename:      TVCDAPS.agc
039827,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
039828,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
039829,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
039830,000007:                                                                                                 #  Assembler:    yaYUL
039831,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
039832,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
039833,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
039834,000011:                                                                                                 #  Mod history:  2011-03-06 JL    Adapted from corresponding Colossus 249 file.
039835,000012: 
039836,000013:                                                                                                 # # Page 918
039837,000014:                                                                                                 #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
039838,000015:                                                                                                 #  LOG SECTION....TVCDAP           SUBROUTINE....DAPCSM
039839,000016:                                                                                                 #  MOD BY ENGEL                    DATE....27 OCT, 1967
039840,000017: 
039841,000018:                                                                                                 #  FUNCTIONAL DESCRIPTION....
039842,000019: 
039843,000020:                                                                                                 #       SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
039844,000021:                                                                                                 #       FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
039845,000022:                                                                                                 #       IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
039846,000023:                                                                                                 #       (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
039847,000024:                                                                                                 #       ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
039848,000025: 
039849,000026:                                                                                                 #       THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
039850,000027:                                                                                                 #       EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
039851,000028:                                                                                                 #       GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
039852,000029:                                                                                                 #       INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER  OR THE BRANCH
039853,000030:                                                                                                 #       POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER,  OUTPUT LIMITER,
039854,000031:                                                                                                 #       CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
039855,000032: 
039856,000033:                                                                                                 #       THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2  THE DAP SAMPLE
039857,000034:                                                                                                 #       TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
039858,000035:                                                                                                 #       REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
039859,000036:                                                                                                 #       TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
039860,000037:                                                                                                 #       MODING.
039861,000038: 
039862,000039:                                                                                                 #       REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY  STUBBS
039863,000040:                                                                                                 #       (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
039864,000041:                                                                                                 #       REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
039865,000042:                                                                                                 #       LU  (MIT IL JUNE 1966).
039866,000043: 
039867,000044:                                                                                                 #       OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
039868,000045:                                                                                                 #       NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
039869,000046:                                                                                                 #       (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
039870,000047: 
039871,000048:                                                                                                 #  CALLING SEQUENCE.... (TYPICALLY)
039872,000049: 
039873,000050:                                                                                                 #       T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
039874,000051:                                                                                                 #       T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
039875,000052:                                                                                                 #       T5 CALL OF DAPINIT BY DAPINIT
039876,000053:                                                                                                 #       T5 CALL OF PITCHDAP BY DAPINIT
039877,000054:                                                                                                 #       T5 CALL OF YAWDAP BY PITCHDAP
039878,000055:                                                                                                 #       T5 CALL OF PITCHDAP BY YAWDAP
039879,000056:                                                                                                 #                  ETC.
039880,000057:                                                                                                 #       (AUTOMATIC SEQUENCING FROM TVCDAPON)
039881,000058: 
039882,000059:                                                                                                 #  NORMAL EXIT MODE....RESUME
039883,000060: 
039884,000061:                                                                                                 #  ALARM OR ABORT EXIT MODES....NONE
039885,000062: 
039886,000063:                                                                                                 #  SUBROUTINES CALLED....
039887,000064:                                                                                                 # # Page 919
039888,000065:                                                                                                 #           HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
039889,000066:                                                                                                 #           NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
039890,000067:                                                                                                 #           PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
039891,000068:                                                                                                 #           DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
039892,000069:                                                                                                 #           ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
039893,000070:                                                                                                 #                 OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
039894,000071:                                                                                                 #                 YAW DAPS
039895,000072:                                                                                                 #           OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
039896,000073:                                                                                                 #                 PITCH AND YAW DAPS
039897,000074:                                                                                                 #           RESUME
039898,000075: 
039899,000076:                                                                                                 #  OTHER INTERFACES....
039900,000077: 
039901,000078:                                                                                                 #       S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
039902,000079:                                                                                                 #       S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
039903,000080:                                                                                                 #       TVCEXECUTIVE  FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
039904,000081:                                                                                                 #           GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
039905,000082:                                                                                                 #           AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
039906,000083:                                                                                                 #       TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
039907,000084: 
039908,000085:                                                                                                 #  ERASABLE INITIALIZATION REQUIRED....
039909,000086: 
039910,000087:                                                                                                 #       29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
039911,000088:                                                                                                 #       KP/KPDN  (KPGEN3)  AS IN S40.15  (R03)
039912,000089:                                                                                                 #       CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
039913,000090:                                                                                                 #       ENGINE-ON BIT (11.13) FOR RESTARTS
039914,000091:                                                                                                 #       TVCPHASE FOR RESTARTS  (SEE IGNOVER, AND TVCINIT4)
039915,000092:                                                                                                 #       T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
039916,000093:                                                                                                 #       MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
039917,000094:                                                                                                 #             INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
039918,000095:                                                                                                 #       CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
039919,000096:                                                                                                 #            UPDATES EVERY 1/2 SECOND)
039920,000097:                                                                                                 #       ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
039921,000098:                                                                                                 #           UNLESS BENCH-TESTING.
039922,000099: 
039923,000100:                                                                                                 #  OUTPUT....
039924,000101: 
039925,000102:                                                                                                 #       TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
039926,000103:                                                                                                 #            TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
039927,000104:                                                                                                 #           AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
039928,000105:                                                                                                 #           OFFSET-TRACKER-FILTER OUTPUTS, ETC.
039929,000106:                                                                                                 #  DEBRIS....
039930,000107: 
039931,000108:                                                                                                 #       MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
039932,000109: 
039933,000110: 
039934,000111: 17,2215                                          BANK     17                                    
039935,000112: 20,2000                                          SETLOC   DAPS2                                 
039936,000113: 20,2000                                          BANK                                           
039937,000114: 
039938,000115:                                                                                                 # # Page 920
039939,000116: 20,2326  E6,1742                                 EBANK=   BZERO                                 
039940,000117: 
039941,000118: 
039942,000119: 20,2326                                          COUNT*   $$/DAPS                               
039943,000120: 
039944,000121:                                                                                                 # # Page 921
039945,000122:                                                                                                 #  PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
039946,000123: 
039947,000124: 
039948,000125: 20,2326           22016        PITCHDAP          LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL OR VIA DAPINIT
039949,000126: 20,2327           00006                          EXTEND                                         
039950,000127: 20,2330           22012                          QXCH     QRUPT                                 
039951,000128: 
039952,000129: 20,2331           33403                          CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
039953,000130: 20,2332           55312                          TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
039954,000131: 20,2333           31635                          CAE      T5TVCDT                               
039955,000132: 20,2334           54030                          TS       TIME5                                 
039956,000133: 
039957,000134: 20,2335           11614        PSTROKER          CCS      STROKER                               #  (STRKFLG)  CHECK FOR STROKE TEST
039958,000135: 20,2336           03471                          TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
039959,000136: 20,2337           12341                          TCF      +2                                    #  NO-TEST
039960,000137: 20,2340           03471                          TC       HACK                                  #  TEST-IN-PROGRESS
039961,000138: 
039962,000139: 20,2341           30033        PCDUDOTS          CAE      CDUY                                  #  COMPUTE CDUYDOT
039963,000140: 20,2342           57655                          XCH      PCDUYPST                              #       FOR PITCH AUTOPILOT
039964,000141: 20,2343           00006                          EXTEND                                         
039965,000142: 20,2344           21655                          MSU      PCDUYPST                              
039966,000143: 20,2345           55657                          TS       MCDUYDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
039967,000144: 
039968,000145: 20,2346           30034                          CAE      CDUZ                                  #  COMPUTE CDUZDOT
039969,000146: 20,2347           57656                          XCH      PCDUZPST                              #       FOR PITCH AUTOPILOT
039970,000147: 20,2350           00006                          EXTEND                                         
039971,000148: 20,2351           21656                          MSU      PCDUZPST                              
039972,000149: 20,2352           55660                          TS       MCDUZDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
039973,000150: 
039974,000151: 20,2353           00006        PINTEGRL          EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
039975,000152: 20,2354           31616                          DCA      PERRB                                 #       ERROR, SC.AT B-1 REVS
039976,000153: 20,2355           53743                          DXCH     ERRBTMP                               
039977,000154: 
039978,000155: 20,2356           00006                          EXTEND                                         
039979,000156: 20,2357           31530                          DCA      OMEGAYC                               
039980,000157: 20,2360           21743                          DAS      ERRBTMP                               
039981,000158: 
039982,000159: 20,2361           40746                          CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
039983,000160: 20,2362           00006                          EXTEND                                         
039984,000161: 20,2363           70750                          MP       COSCDUX                               
039985,000162: 20,2364           20001                          DDOUBL                                         
039986,000163: 20,2365           00006                          EXTEND                                         
039987,000164: 20,2366           71657                          MP       MCDUYDOT                              
039988,000165: 20,2367           20001                          DDOUBL                                         
039989,000166: 20,2370           53536                          DXCH     OMEGAYB                               
039990,000167: 
039991,000168: 20,2371           41660                          CS       MCDUZDOT                              
039992,000169: 20,2372           00006                          EXTEND                                         
039993,000170: 20,2373           70742                          MP       SINCDUX                               
039994,000171: 20,2374           20001                          DDOUBL                                         
039995,000172:                                                                                                 # # Page 922
039996,000173: 20,2375           21536                          DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
039997,000174: 
039998,000175: 20,2376           00006                          EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
039999,000176: 20,2377           41536                          DCS      OMEGAYB                               
040000,000177: 20,2400           21743                          DAS      ERRBTMP                               
040001,000178: 
040002,000179: 20,2401           03112        PERORLIM          TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
040003,000180: 
040004,000181: 20,2402           31466        P1FILJMP          CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040005,000182: 20,2403           74675                          MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040006,000183: 20,2404           10000                          CCS      A                                     
040007,000184: 20,2405           12410                          TCF      +3                                    #  USE LEM-ON FILTER
040008,000185: 20,2406           04574                          TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040009,000186: 20,2407           36215                          CADR     NP0NODE                               
040010,000187: 
040011,000188: 20,2410           00006        PFORWARD          EXTEND                                         #  LEM-ON FILTER COMPUTATIONS.
040012,000189: 20,2411           41544                          DCS      PDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040013,000190: 20,2412           53745                          DXCH     JZERO                                 
040014,000191: 
040015,000192: 20,2413           31742                          CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040016,000193: 20,2414           61541                          AD       PNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040017,000194: 20,2415           00006                          EXTEND                                         
040018,000195: 20,2416           74727                          MP       KPDN                                  #  KPDN, SC.AT B+1 SPASCREV
040019,000196: 20,2417           21745                          DAS      JZERO                                 
040020,000197: 20,2420           31542                          CAE      PNSUM      +1                         
040021,000198: 20,2421           00006                          EXTEND                                         
040022,000199: 20,2422           74727                          MP       KPDN                                  
040023,000200: 20,2423           27745                          ADS      JZERO      +1                         
040024,000201: 20,2424           54001                          TS       L                                     
040025,000202: 20,2425           12427                          TCF      +2                                    
040026,000203: 20,2426           27744                          ADS      JZERO                                 #  (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040027,000204: 
040028,000205: 20,2427           00006        JZSTORE           EXTEND                                         #  PREPARE JZERO FOR DENOMINATOR LADDER
040029,000206: 20,2430           31745                          DCA      JZERO                                 #       SC.AT B+0 SPASCREV
040030,000207: 20,2431           20001                          DDOUBL                                         
040031,000208: 20,2432           20001                          DDOUBL                                         
040032,000209: 20,2433           20001                          DDOUBL                                         
040033,000210: 20,2434           53727                          DXCH     J1TMP                                 #       SC.AT B-3 SPASCREV
040034,000211: 
040035,000212: 20,2435           03125        OPTVARKP          TCR      OPTVARK                               #  PITCH VARIABLE-GAIN PACKAGE
040036,000213: 
040037,000214: 20,2436           00006        POFFSET           EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040038,000215: 20,2437           41745                          DCS      CMDTMP                                #       (GEN3DAP RETURNS AT POFFSET)
040039,000216: 20,2440           53745                          DXCH     CMDTMP                                
040040,000217: 20,2441           00006                          EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040041,000218: 20,2442           31626                          DCA      PDELOFF                               
040042,000219: 20,2443           21745                          DAS      CMDTMP                                
040043,000220: 
040044,000221: 20,2444           31745        PROUND            CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040045,000222: 20,2445           60000                          DOUBLE                                         
040046,000223:                                                                                                 # # Page 923
040047,000224: 20,2446           54001                          TS       L                                     
040048,000225: 20,2447           34714                          CAF      ZERO                                  
040049,000226: 20,2450           61744                          AD       CMDTMP                                
040050,000227: 
040051,000228: 20,2451           03145        PACLIM            TCR      ACTLIM                                #  PITCH ACTUATOR-COMMAND-LIMITER
040052,000229: 
040053,000230: 20,2452           41631        POUT              CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
040054,000231: 20,2453           61744                          AD       CMDTMP                                
040055,000232: 20,2454           26054                          ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
040056,000233:                                                                                                 #                                                PROTECT, SINCE ERROR CNTR ZEROED)
040057,000234: 
040058,000235: 20,2455           34700                          CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
040059,000236: 20,2456           00006                          EXTEND                                         
040060,000237: 20,2457           05014                          WOR      CHAN14                                
040061,000238: 20,2460           31466        P2FILJMP          CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040062,000239: 20,2461           74675                          MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040063,000240: 20,2462           10000                          CCS      A                                     
040064,000241: 20,2463           12466                          TCF      +3                                    #  USE LEM-ON FILTER
040065,000242: 20,2464           04574                          TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040066,000243: 20,2465           36250                          CADR     NP1NODE                               
040067,000244: 
040068,000245: 
040069,000246: 20,2466           31742        BZSTORE           CAE      ERRBTMP                               #  PREPARE BZERO  (UPPER WORD OF ERRBTMP)
040070,000247: 20,2467           60000                          DOUBLE                                         #       FOR NUMERATOR LATTER....SC.AT B-1
040071,000248: 20,2470           55717                          TS       B1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040072,000249: 
040073,000250: 
040074,000251: 20,2471           00006        PNLADDER          EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040075,000252: 20,2472           31546                          DCA      B1                                    #       NUMERATOR LADDER
040076,000253: 20,2473           53721                          DXCH     B2TMP                                 
040077,000254: 20,2474           00006                          EXTEND                                         
040078,000255: 20,2475           31550                          DCA      B3                                    
040079,000256: 20,2476           53723                          DXCH     B4TMP                                 
040080,000257: 20,2477           00006                          EXTEND                                         
040081,000258: 20,2500           31552                          DCA      B5                                    
040082,000259: 20,2501           53725                          DXCH     B6TMP                                 
040083,000260: 
040084,000261: 20,2502           03157        PNSUMC            TCR      NSUM                                  #  PITCH NUMERATOR SUM
040085,000262: 
040086,000263: 20,2503           00006        PDLADDER          EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040087,000264: 20,2504           31554                          DCA      J1                                    #       DENOMINATOR LADDER
040088,000265: 20,2505           53731                          DXCH     J2TMP                                 
040089,000266: 20,2506           00006                          EXTEND                                         
040090,000267: 20,2507           31556                          DCA      J2                                    
040091,000268: 20,2510           53733                          DXCH     J3TMP                                 
040092,000269: 20,2511           00006                          EXTEND                                         
040093,000270: 20,2512           31560                          DCA      J3                                    
040094,000271: 20,2513           53735                          DXCH     J4TMP                                 
040095,000272: 20,2514           00006                          EXTEND                                         
040096,000273:                                                                                                 # # Page 924
040097,000274: 20,2515           31562                          DCA      J4                                    
040098,000275: 20,2516           53737                          DXCH     J5TMP                                 
040099,000276: 20,2517           00006                          EXTEND                                         
040100,000277: 20,2520           31564                          DCA      J5                                    
040101,000278: 20,2521           53741                          DXCH     J6TMP                                 
040102,000279: 
040103,000280: 20,2522           03217        PDSUMC            TCR      DSUM                                  #  PITCH DENOMINATOR SUM
040104,000281: 
040105,000282: 20,2523           31744        DELBARP           CAE      CMDTMP                                #  UPDATE PITCH OFFSET-TRACKER-FILTER
040106,000283: 20,2524           00006                          EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARP..  )
040107,000284: 20,2525           73404                          MP       1-E(-AT)                              
040108,000285: 20,2526           53716                          DXCH     DELBRTMP                              
040109,000286: 20,2527           31621                          CAE      DELPBAR                               
040110,000287: 20,2530           00006                          EXTEND                                         
040111,000288: 20,2531           73405                          MP       E(-AT)                                
040112,000289: 20,2532           21716                          DAS      DELBRTMP                              
040113,000290: 20,2533           31622                          CAE      DELPBAR    +1                         
040114,000291: 20,2534           00006                          EXTEND                                         
040115,000292: 20,2535           73405                          MP       E(-AT)                                
040116,000293: 20,2536           27716                          ADS      DELBRTMP   +1                         
040117,000294: 20,2537           54001                          TS       L                                     
040118,000295: 20,2540           12542                          TCF      +2                                    
040119,000296: 20,2541           27715                          ADS      DELBRTMP                              
040120,000297: 
040121,000298: 20,2542           02544        PCOPYCYC          TCR      PCOPY                                 #  PITCH COPYCYCLE
040122,000299: 
040123,000300: 20,2543           15222        PDAPEND           TCF      RESUME                                #  PITCH DAP COMPLETED
040124,000301: 
040125,000302:                                                                                                 # # Page 925
040126,000303:                                                                                                 #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
040127,000304: 
040128,000305: 20,2544           25654        PCOPY             INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040129,000306:                                                                                                 #                                                NOTE POSSIBLE RE-ENTRY FROM RESTART
040130,000307:                                                                                                 #                                                PACKAGE, SHOULD A RESTART OCCUR
040131,000308:                                                                                                 #                                                DURING PITCH COPYCYCLE.
040132,000309: 
040133,000310: 20,2545           00006        NEWB(S)           EXTEND                                         #  UPDATE PITCH NUMERATOR LADDER FROM
040134,000311: 20,2546           31720                          DCA      B1TMP                                 #       TEMPORARIES
040135,000312: 20,2547           53546                          DXCH     B1                                    
040136,000313: 20,2550           00006                          EXTEND                                         
040137,000314: 20,2551           31722                          DCA      B3TMP                                 
040138,000315: 20,2552           53550                          DXCH     B3                                    
040139,000316: 20,2553           00006                          EXTEND                                         
040140,000317: 20,2554           31724                          DCA      B5TMP                                 
040141,000318: 20,2555           53552                          DXCH     B5                                    
040142,000319: 
040143,000320: 20,2556           00006        NEWJ(S)           EXTEND                                         #  UPDATE PITCH DENOMINATOR LADDER FROM
040144,000321: 20,2557           31727                          DCA      J1TMP                                 #       TEMPORARIES
040145,000322: 20,2560           53554                          DXCH     J1                                    
040146,000323: 20,2561           00006                          EXTEND                                         
040147,000324: 20,2562           31731                          DCA      J2TMP                                 
040148,000325: 20,2563           53556                          DXCH     J2                                    
040149,000326: 20,2564           00006                          EXTEND                                         
040150,000327: 20,2565           31733                          DCA      J3TMP                                 
040151,000328: 20,2566           53560                          DXCH     J3                                    
040152,000329: 20,2567           00006                          EXTEND                                         
040153,000330: 20,2570           31735                          DCA      J4TMP                                 
040154,000331: 20,2571           53562                          DXCH     J4                                    
040155,000332: 20,2572           00006                          EXTEND                                         #       (ALSO NP1TMP,+1 TO NP1,+1)
040156,000333: 20,2573           31737                          DCA      J5TMP                                 
040157,000334: 20,2574           53564                          DXCH     J5                                    
040158,000335: 
040159,000336: 20,2575           00006        PMISC             EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
040160,000337: 20,2576           31743                          DCA      ERRBTMP                               
040161,000338: 20,2577           55477                          TS       AK1                                   #       FOR PITCH NEEDLES, SC.AT B-1 REVS
040162,000339: 20,2600           53616                          DXCH     PERRB                                 
040163,000340: 
040164,000341: 20,2601           00006                          EXTEND                                         #       PITCH NUMERATOR SUM
040165,000342: 20,2602           31712                          DCA      NSUMTMP                               #            (ALSO NP2TMP,+1 TO NP2,+1)
040166,000343: 20,2603           53542                          DXCH     PNSUM                                 
040167,000344: 
040168,000345: 20,2604           00006                          EXTEND                                         #       PITCH DENOMINATOR SUM
040169,000346: 20,2605           31714                          DCA      DSUMTMP                               #            (ALSO NP3TMP,+1 TO NP3,+1)
040170,000347: 20,2606           53544                          DXCH     PDSUM                                 
040171,000348: 
040172,000349: 20,2607           31744                          CAE      CMDTMP                                #       PITCH ACTUATOR COMMAND
040173,000350: 20,2610           55631                          TS       PCMD                                  
040174,000351: 
040175,000352: 20,2611           00006                          EXTEND                                         #       PITCH OFFSET-TRACKER-FILTER
040176,000353:                                                                                                 # # Page 926
040177,000354: 20,2612           31716                          DCA      DELBRTMP                              
040178,000355: 20,2613           53622                          DXCH     DELPBAR                               
040179,000356: 
040180,000357: 20,2614           25654                          INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED
040181,000358: 
040182,000359: 20,2615           00002                          TC       Q                                     
040183,000360: 
040184,000361:                                                                                                 # # Page 927
040185,000362:                                                                                                 #  YAW   TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
040186,000363: 
040187,000364: 20,2616           22016        YAWDAP            LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
040188,000365: 20,2617           00006                          EXTEND                                         
040189,000366: 20,2620           22012                          QXCH     QRUPT                                 
040190,000367: 
040191,000368: 20,2621           33401                          CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
040192,000369: 20,2622           55312                          TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
040193,000370: 20,2623           31635                          CAE      T5TVCDT                               
040194,000371: 20,2624           54030                          TS       TIME5                                 
040195,000372: 
040196,000373: 20,2625           11614        YSTROKER          CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
040197,000374: 20,2626           03471                          TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
040198,000375: 20,2627           12631                          TCF      +2                                    #  NO-TEST
040199,000376: 20,2630           03471                          TC       HACK                                  #  TEST-IN-PROGRESS
040200,000377: 
040201,000378:                                                                                                 #                                           USE BODY RATES FROM PITCHDAP (PCDUDOTS)
040202,000379: 
040203,000380: 20,2631           00006        YINTEGRL          EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
040204,000381: 20,2632           31620                          DCA      YERRB                                 #       ERROR, SC.AT B-1 REVS
040205,000382: 20,2633           53743                          DXCH     ERRBTMP                               
040206,000383: 
040207,000384: 20,2634           00006                          EXTEND                                         
040208,000385: 20,2635           31532                          DCA      OMEGAZC                               
040209,000386: 20,2636           21743                          DAS      ERRBTMP                               
040210,000387: 
040211,000388: 20,2637           30746                          CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
040212,000389: 20,2640           00006                          EXTEND                                         
040213,000390: 20,2641           70742                          MP       SINCDUX                               
040214,000391: 20,2642           20001                          DDOUBL                                         
040215,000392: 20,2643           00006                          EXTEND                                         
040216,000393: 20,2644           71657                          MP       MCDUYDOT                              
040217,000394: 20,2645           20001                          DDOUBL                                         
040218,000395: 20,2646           53540                          DXCH     OMEGAZB                               
040219,000396: 
040220,000397: 20,2647           41660                          CS       MCDUZDOT                              
040221,000398: 20,2650           00006                          EXTEND                                         
040222,000399: 20,2651           70750                          MP       COSCDUX                               
040223,000400: 20,2652           20001                          DDOUBL                                         
040224,000401: 20,2653           21540                          DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
040225,000402: 
040226,000403: 20,2654           00006                          EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
040227,000404: 20,2655           41540                          DCS      OMEGAZB                               
040228,000405: 20,2656           21743                          DAS      ERRBTMP                               
040229,000406: 
040230,000407: 20,2657           03112        YERORLIM          TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
040231,000408: 
040232,000409: 20,2660           31466        Y1FILJMP          CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040233,000410: 20,2661           74675                          MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040234,000411: 
040235,000412:                                                                                                 # # Page 928
040236,000413: 20,2662           10000                          CCS      A                                     
040237,000414: 20,2663           12666                          TCF      +3                                    #  USE LEM-ON FILTER
040238,000415: 20,2664           04574                          TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040239,000416: 20,2665           36407                          CADR     NY0NODE                               
040240,000417: 
040241,000418: 20,2666           00006        YFORWARD          EXTEND                                         #  LEM-ON FILTER COMPUTATIONS
040242,000419: 20,2667           41570                          DCS      YDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040243,000420: 20,2670           53745                          DXCH     YZERO                                 
040244,000421: 
040245,000422: 20,2671           31742                          CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040246,000423: 20,2672           61565                          AD       YNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040247,000424: 20,2673           00006                          EXTEND                                         
040248,000425: 20,2674           74727                          MP       KYDN                                  #  KYDN, SC.AT B+1 SPASCREV
040249,000426: 20,2675           21745                          DAS      YZERO                                 
040250,000427: 20,2676           31566                          CAE      YNSUM      +1                         
040251,000428: 20,2677           00006                          EXTEND                                         
040252,000429: 20,2700           74727                          MP       KYDN                                  
040253,000430: 20,2701           27745                          ADS      YZERO      +1                         
040254,000431: 20,2702           54001                          TS       L                                     
040255,000432: 20,2703           12705                          TCF      +2                                    
040256,000433: 20,2704           27744                          ADS      YZERO                                 #  (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
040257,000434: 
040258,000435: 20,2705           00006        YZSTORE           EXTEND                                         #  PREPARE YZERO FOR DENOMINATOR LADDER
040259,000436: 20,2706           31745                          DCA      YZERO                                 #       SC.AT B+0 SPASCREV
040260,000437: 20,2707           20001                          DDOUBL                                         
040261,000438: 20,2710           20001                          DDOUBL                                         
040262,000439: 20,2711           20001                          DDOUBL                                         
040263,000440: 20,2712           53727                          DXCH     Y1TMP                                 #       SC.AT B-3 SPASCREV
040264,000441: 
040265,000442: 20,2713           03125        OPTVARKY          TCR      OPTVARK                               #  YAW   VARIABLE-GAIN PACKAGE
040266,000443: 
040267,000444: 20,2714           00006        YOFFSET           EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040268,000445: 20,2715           41745                          DCS      CMDTMP                                #       (GEN3DAP RETURNS AT YOFFSET)
040269,000446: 20,2716           53745                          DXCH     CMDTMP                                
040270,000447: 20,2717           00006                          EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040271,000448: 20,2720           31630                          DCA      YDELOFF                               
040272,000449: 20,2721           21745                          DAS      CMDTMP                                
040273,000450: 
040274,000451: 20,2722           31745        YROUND            CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040275,000452: 20,2723           60000                          DOUBLE                                         
040276,000453: 20,2724           54001                          TS       L                                     
040277,000454: 20,2725           34714                          CAF      ZERO                                  
040278,000455: 20,2726           61744                          AD       CMDTMP                                
040279,000456: 
040280,000457: 20,2727           03145        YACLIM            TCR      ACTLIM                                #  YAW   ACTUATOR-COMMAND-LIMITER
040281,000458: 
040282,000459: 20,2730           41632        YOUT              CS       YCMD                                  #  INCRMENTAL YAW   COMMAND
040283,000460: 20,2731           61744                          AD       CMDTMP                                
040284,000461: 20,2732           26053                          ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
040285,000462:                                                                                                 #                                                PROTECT, SINCE ERROR CNTR ZEROED)
040286,000463: 
040287,000464:                                                                                                 # # Page 929
040288,000465: 20,2733           34677                          CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
040289,000466: 20,2734           00006                          EXTEND                                         
040290,000467: 20,2735           05014                          WOR      CHAN14                                
040291,000468: 20,2736           31466        Y2FILJMP          CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040292,000469: 20,2737           74675                          MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040293,000470: 20,2740           10000                          CCS      A                                     
040294,000471: 20,2741           12744                          TCF      +3                                    #  USE LEM-ON FILTER
040295,000472: 20,2742           04574                          TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040296,000473: 20,2743           36442                          CADR     NY1NODE                               
040297,000474: 
040298,000475: 
040299,000476: 20,2744           31742        CZSTORE           CAE      ERRBTMP                               #  PREPARE CZERO  (UPPER WORD OF ERRBTMP)
040300,000477: 20,2745           60000                          DOUBLE                                         #       FOR NUMERATOR LATTER....SC.AT B-1
040301,000478: 20,2746           55717                          TS       C1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040302,000479: 
040303,000480: 
040304,000481: 20,2747           00006        YNLADDER          EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040305,000482: 20,2750           31572                          DCA      C1                                    #       NUMERATOR LADDER
040306,000483: 20,2751           53721                          DXCH     C2TMP                                 
040307,000484: 20,2752           00006                          EXTEND                                         
040308,000485: 20,2753           31574                          DCA      C3                                    
040309,000486: 20,2754           53723                          DXCH     C4TMP                                 
040310,000487: 20,2755           00006                          EXTEND                                         
040311,000488: 20,2756           31576                          DCA      C5                                    
040312,000489: 20,2757           53725                          DXCH     C6TMP                                 
040313,000490: 
040314,000491: 20,2760           03157        YNSUMC            TCR      NSUM                                  #  YAW   NUMERATOR SUM
040315,000492: 
040316,000493: 
040317,000494: 20,2761           00006        YDLADDER          EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040318,000495: 20,2762           31600                          DCA      Y1                                    #       DENOMINATOR LADDER
040319,000496: 20,2763           53731                          DXCH     Y2TMP                                 
040320,000497: 20,2764           00006                          EXTEND                                         
040321,000498: 20,2765           31602                          DCA      Y2                                    
040322,000499: 20,2766           53733                          DXCH     Y3TMP                                 
040323,000500: 20,2767           00006                          EXTEND                                         
040324,000501: 20,2770           31604                          DCA      Y3                                    
040325,000502: 20,2771           53735                          DXCH     Y4TMP                                 
040326,000503: 20,2772           00006                          EXTEND                                         
040327,000504: 20,2773           31606                          DCA      Y4                                    
040328,000505: 20,2774           53737                          DXCH     Y5TMP                                 
040329,000506: 20,2775           00006                          EXTEND                                         
040330,000507: 20,2776           31610                          DCA      Y5                                    
040331,000508: 20,2777           53741                          DXCH     Y6TMP                                 
040332,000509: 
040333,000510: 20,3000           03217        YDSUMC            TCR      DSUM                                  #  YAW   DENOMINATOR SUM
040334,000511: 
040335,000512: 20,3001           31744        DELBARY           CAE      CMDTMP                                #  UPDATE YAW   OFFSET-TRACKER-FILTER
040336,000513: 20,3002           00006                          EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARY..  )
040337,000514: 20,3003           73404                          MP       1-E(-AT)                              
040338,000515:                                                                                                 # # Page 930
040339,000516: 20,3004           53716                          DXCH     DELBRTMP                              
040340,000517: 20,3005           31623                          CAE      DELYBAR                               
040341,000518: 20,3006           00006                          EXTEND                                         
040342,000519: 20,3007           73405                          MP       E(-AT)                                
040343,000520: 20,3010           21716                          DAS      DELBRTMP                              
040344,000521: 20,3011           31624                          CAE      DELYBAR    +1                         
040345,000522: 20,3012           00006                          EXTEND                                         
040346,000523: 20,3013           73405                          MP       E(-AT)                                
040347,000524: 20,3014           27716                          ADS      DELBRTMP   +1                         
040348,000525: 20,3015           54001                          TS       L                                     
040349,000526: 20,3016           13020                          TCF      +2                                    
040350,000527: 20,3017           27715                          ADS      DELBRTMP                              
040351,000528: 
040352,000529: 20,3020           03022        YCOPYCYC          TCR      YCOPY                                 #  YAW   COPYCYCLE
040353,000530: 
040354,000531: 20,3021           15222        YDAPEND           TCF      RESUME                                #  YAW   DAP COMPLETED
040355,000532: 
040356,000533:                                                                                                 # # Page 931
040357,000534:                                                                                                 #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
040358,000535: 
040359,000536: 20,3022           25654        YCOPY             INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040360,000537:                                                                                                 #                                                 NOTE POSSIBLE RE-ENTRY FROM RESTART
040361,000538:                                                                                                 #                                                 PACKAGE, SHOULD A RESTART OCCUR
040362,000539:                                                                                                 #                                                 DURING YAW   COPYCYCLE.
040363,000540: 
040364,000541: 20,3023           00006        NEWC(S)           EXTEND                                         #  UPDATE YAW   NUMERATOR LADDER FROM
040365,000542: 20,3024           31720                          DCA      C1TMP                                 #       TEMPORARIES
040366,000543: 20,3025           53572                          DXCH     C1                                    
040367,000544: 20,3026           00006                          EXTEND                                         
040368,000545: 20,3027           31722                          DCA      C3TMP                                 
040369,000546: 20,3030           53574                          DXCH     C3                                    
040370,000547: 20,3031           00006                          EXTEND                                         
040371,000548: 20,3032           31724                          DCA      C5TMP                                 
040372,000549: 20,3033           53576                          DXCH     C5                                    
040373,000550: 
040374,000551: 20,3034           00006        NEWY(S)           EXTEND                                         #  UPDATE YAW   DENOMINATOR LADDER FROM
040375,000552: 20,3035           31727                          DCA      Y1TMP                                 #       TEMPORARIES
040376,000553: 20,3036           53600                          DXCH     Y1                                    
040377,000554: 20,3037           00006                          EXTEND                                         
040378,000555: 20,3040           31731                          DCA      Y2TMP                                 
040379,000556: 20,3041           53602                          DXCH     Y2                                    
040380,000557: 20,3042           00006                          EXTEND                                         
040381,000558: 20,3043           31733                          DCA      Y3TMP                                 
040382,000559: 20,3044           53604                          DXCH     Y3                                    
040383,000560: 20,3045           00006                          EXTEND                                         
040384,000561: 20,3046           31735                          DCA      Y4TMP                                 
040385,000562: 20,3047           53606                          DXCH     Y4                                    
040386,000563: 20,3050           00006                          EXTEND                                         #       (ALSO NY1TMP,+1 TO NY1,+1)
040387,000564: 20,3051           31737                          DCA      Y5TMP                                 
040388,000565: 20,3052           53610                          DXCH     Y5                                    
040389,000566: 
040390,000567: 20,3053           00006        YMISC             EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
040391,000568: 20,3054           31743                          DCA      ERRBTMP                               
040392,000569: 20,3055           55500                          TS       AK2                                   #       FOR YAW   NEEDLES, SC.AT B-1 REVS
040393,000570: 20,3056           53620                          DXCH     YERRB                                 
040394,000571: 
040395,000572: 20,3057           00006                          EXTEND                                         #       YAW   NUMERATOR SUM
040396,000573: 20,3060           31712                          DCA      NSUMTMP                               #            (ALSO NY2TMP,+1 TO NY2,+1)
040397,000574: 20,3061           53566                          DXCH     YNSUM                                 
040398,000575: 
040399,000576: 20,3062           00006                          EXTEND                                         #       YAW   DENOMINATOR SUM
040400,000577: 20,3063           31714                          DCA      DSUMTMP                               #            (ALSO NY3TMP,+1 TO NY3,+1)
040401,000578: 20,3064           53570                          DXCH     YDSUM                                 
040402,000579: 
040403,000580: 20,3065           31744                          CAE      CMDTMP                                #       YAW   ACTUATOR COMMAND
040404,000581: 20,3066           55632                          TS       YCMD                                  
040405,000582: 
040406,000583: 20,3067           00006                          EXTEND                                         #       YAW   OFFSET-TRACKER-FILTER
040407,000584:                                                                                                 # # Page 932
040408,000585: 20,3070           31716                          DCA      DELBRTMP                              
040409,000586: 20,3071           53624                          DXCH     DELYBAR                               
040410,000587: 
040411,000588: 20,3072           34714                          CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
040412,000589: 20,3073           55654                          TS       TVCPHASE                              #       RESET TVCPHASE
040413,000590: 
040414,000591: 20,3074           00002                          TC       Q                                     
040415,000592: 
040416,000593:                                                                                                 # # Page 933
040417,000594:                                                                                                 #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
040418,000595: 
040419,000596: 
040420,000597:                                                                                                 #  INITIALIZATION PACKAGE FOR CDURATES....
040421,000598: 
040422,000599: 20,3075           22016        DAPINIT           LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
040423,000600: 
040424,000601: 20,3076           37716                          CAF      NEGONE                                #       SET UP
040425,000602: 20,3077           61635                          AD       T5TVCDT                               #       T5 CALL FOR PITCHDAP IN TVCDT SECS
040426,000603: 20,3100           64674                          AD       NEGMAX                                #       (T5TVCDT = POSMAX - TVCDT/2 +1)
040427,000604: 20,3101           61635                          AD       T5TVCDT                               
040428,000605: 20,3102           54030                          TS       TIME5                                 
040429,000606: 20,3103           33401                          CAF      PITCHT5                               #       (BBCON ALREADY THERE)
040430,000607: 20,3104           55312                          TS       T5LOC                                 
040431,000608: 
040432,000609: 20,3105           30033                          CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
040433,000610: 20,3106           55655                          TS       PCDUYPST                              #       PAST-VALUES
040434,000611: 20,3107           30034                          CAE      CDUZ                                  
040435,000612: 20,3110           55656                          TS       PCDUZPST                              
040436,000613: 
040437,000614: 20,3111           15224                          TCF      NOQRSM                                
040438,000615: 
040439,000616: 
040440,000617:                                                                                                 #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
040441,000618: 
040442,000619: 20,3112           31742        ERRORLIM          CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
040443,000620: 20,3113           00006                          EXTEND                                         #       CHECKS UPPER WORD ONLY
040444,000621: 20,3114           74710                          MP       1/ERRLIM                              
040445,000622: 20,3115           00006                          EXTEND                                         
040446,000623: 20,3116           13124                          BZF      +6                                    
040447,000624: 20,3117           11742                          CCS      ERRBTMP                               
040448,000625: 20,3120           34676                          CAF      ERRLIM                                
040449,000626: 20,3121           13123                          TCF      +2                                    
040450,000627: 20,3122           44676                          CS       ERRLIM                                
040451,000628: 20,3123           55742                          TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
040452,000629: 
040453,000630: 20,3124           00002                          TC       Q                                     
040454,000631: 
040455,000632: 
040456,000633:                                                                                                 #  VARIABLE-GAIN PACKAGE....
040457,000634: 
040458,000635: 20,3125           31744        OPTVARK           CAE      CMDTMP                                #  VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
040459,000636: 20,3126           00006                          EXTEND                                         #       JZERO OR YZERO
040460,000637: 20,3127           71651                          MP       VARK                                  #  VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
040461,000638: 20,3130           53745                          DXCH     CMDTMP                                
040462,000639: 20,3131           22000                          LXCH     A                                     #  LO-ORDER WORD OF INPUT CMDTMP
040463,000640: 20,3132           00006                          EXTEND                                         
040464,000641: 20,3133           71651                          MP       VARK                                  
040465,000642: 20,3134           27745                          ADS      CMDTMP     +1                         
040466,000643: 20,3135           54001                          TS       L                                     
040467,000644:                                                                                                 # # Page 934
040468,000645: 20,3136           13140                          TCF      +2                                    
040469,000646: 20,3137           27744                          ADS      CMDTMP                                
040470,000647: 
040471,000648: 20,3140           53745                          DXCH     CMDTMP                                #  FIX UP SCALING
040472,000649: 20,3141           20001                          DDOUBL                                         
040473,000650: 20,3142           20001                          DDOUBL                                         
040474,000651: 20,3143           53745                          DXCH     CMDTMP                                
040475,000652: 
040476,000653: 20,3144           00002                          TC       Q                                     
040477,000654: 
040478,000655: 
040479,000656:                                                                                                 #  ACTUATOR-COMMAND LIMITER PACKAGE....
040480,000657: 
040481,000658: 20,3145           00006        ACTLIM            EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
040482,000659: 20,3146           73400                          MP       1/ACTSAT                              
040483,000660: 20,3147           00006                          EXTEND                                         
040484,000661: 20,3150           13156                          BZF      +6                                    
040485,000662: 20,3151           11744                          CCS      CMDTMP                                #  APPLY LIMITS
040486,000663: 20,3152           33377                          CAF      ACTSAT                                
040487,000664: 20,3153           13155                          TCF      +2                                    
040488,000665: 20,3154           43377                          CS       ACTSAT                                
040489,000666: 20,3155           55744                          TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
040490,000667: 
040491,000668: 20,3156           00002                          TC       Q                                     
040492,000669: 
040493,000670: 
040494,000671:                                                                                                 #  NUMERATOR-SUM COMPUTATION....
040495,000672: 
040496,000673: 20,3157           31717        NSUM              CAE      B1TMP                                 #  PREPARE NUMERATOR SUM, SCALING IS AT
040497,000674: 20,3160           00006                          EXTEND                                         #       B+0 REVS  ( = B+2 x B-2 )
040498,000675: 20,3161           73406                          MP       N1                                    
040499,000676: 20,3162           53712                          DXCH     NSUMTMP                               
040500,000677: 
040501,000678: 20,3163           31720                          CAE      B2TMP                                 
040502,000679: 20,3164           00006                          EXTEND                                         
040503,000680: 20,3165           73407                          MP       N2                                    
040504,000681: 20,3166           21712                          DAS      NSUMTMP                               
040505,000682: 
040506,000683: 20,3167           31721                          CAE      B3TMP                                 
040507,000684: 20,3170           00006                          EXTEND                                         
040508,000685: 20,3171           73410                          MP       N3                                    
040509,000686: 20,3172           21712                          DAS      NSUMTMP                               
040510,000687: 
040511,000688: 20,3173           31722                          CAE      B4TMP                                 
040512,000689: 20,3174           00006                          EXTEND                                         
040513,000690: 20,3175           73411                          MP       N4                                    
040514,000691: 20,3176           21712                          DAS      NSUMTMP                               
040515,000692: 
040516,000693: 20,3177           31723                          CAE      B5TMP                                 
040517,000694: 20,3200           00006                          EXTEND                                         
040518,000695:                                                                                                 # # Page 935
040519,000696: 20,3201           73412                          MP       N5                                    
040520,000697: 20,3202           21712                          DAS      NSUMTMP                               
040521,000698: 
040522,000699: 20,3203           31724                          CAE      B6TMP                                 
040523,000700: 20,3204           00006                          EXTEND                                         
040524,000701: 20,3205           73413                          MP       N6                                    
040525,000702: 20,3206           21712                          DAS      NSUMTMP                               
040526,000703: 
040527,000704: 20,3207           31725                          CAE      B7TMP                                 
040528,000705: 20,3210           00006                          EXTEND                                         
040529,000706: 20,3211           73414                          MP       N7                                    
040530,000707: 20,3212           21712                          DAS      NSUMTMP                               
040531,000708: 
040532,000709: 20,3213           53712        NSUMSC            DXCH     NSUMTMP                               #  FIX UP SCALING (NOW AT B+0 REVS)
040533,000710: 20,3214           20001                          DDOUBL                                         
040534,000711: 20,3215           53712                          DXCH     NSUMTMP                               #  SC.AT B-1 REV
040535,000712: 
040536,000713: 20,3216           00002                          TC       Q                                     
040537,000714: 
040538,000715: 
040539,000716:                                                                                                 #  DENOMINATOR-SUM COMPUTATION....
040540,000717: 
040541,000718: 20,3217           31726        DSUM              CAE      J1TMP                                 #  PREPARE DENOMINATOR SUM, SCALED
040542,000719: 20,3220           00006                          EXTEND                                         #       AT B+1 SPASCREVS ( = B+4 X B-3 )
040543,000720: 20,3221           73415                          MP       D1                                    #       (J1TMP = J,YZERO,  SC.AT  B-3 REVS)
040544,000721: 20,3222           53714                          DXCH     DSUMTMP                               
040545,000722: 20,3223           31726                          CAE      J1TMP                                 
040546,000723: 20,3224           00006                          EXTEND                                         
040547,000724: 20,3225           73416                          MP       D1         +1                         
040548,000725: 20,3226           27714                          ADS      DSUMTMP    +1                         
040549,000726: 20,3227           54001                          TS       L                                     
040550,000727: 20,3230           13232                          TCF      +2                                    
040551,000728: 20,3231           27713                          ADS      DSUMTMP                               
040552,000729: 20,3232           31727                          CAE      J1TMP      +1                         
040553,000730: 20,3233           00006                          EXTEND                                         
040554,000731: 20,3234           73415                          MP       D1                                    
040555,000732: 20,3235           27714                          ADS      DSUMTMP    +1                         
040556,000733: 20,3236           54001                          TS       L                                     
040557,000734: 20,3237           13241                          TCF      +2                                    
040558,000735: 20,3240           27713                          ADS      DSUMTMP                               
040559,000736: 
040560,000737: 20,3241           31730        D2J2              CAE      J2TMP                                 
040561,000738: 20,3242           00006                          EXTEND                                         
040562,000739: 20,3243           73417                          MP       D2                                    
040563,000740: 20,3244           21714                          DAS      DSUMTMP                               
040564,000741: 20,3245           31730                          CAE      J2TMP                                 
040565,000742: 20,3246           00006                          EXTEND                                         
040566,000743: 20,3247           73420                          MP       D2         +1                         
040567,000744: 20,3250           27714                          ADS      DSUMTMP    +1                         
040568,000745: 20,3251           54001                          TS       L                                     
040569,000746:                                                                                                 # # Page 936
040570,000747: 20,3252           13254                          TCF      +2                                    
040571,000748: 20,3253           27713                          ADS      DSUMTMP                               
040572,000749: 20,3254           31731                          CAE      J2TMP      +1                         
040573,000750: 20,3255           00006                          EXTEND                                         
040574,000751: 20,3256           73417                          MP       D2                                    
040575,000752: 20,3257           27714                          ADS      DSUMTMP    +1                         
040576,000753: 20,3260           54001                          TS       L                                     
040577,000754: 20,3261           13263                          TCF      +2                                    
040578,000755: 20,3262           27713                          ADS      DSUMTMP                               
040579,000756: 
040580,000757: 20,3263           31732        D3J3              CAE      J3TMP                                 
040581,000758: 20,3264           00006                          EXTEND                                         
040582,000759: 20,3265           73421                          MP       D3                                    
040583,000760: 20,3266           21714                          DAS      DSUMTMP                               
040584,000761: 20,3267           31732                          CAE      J3TMP                                 
040585,000762: 20,3270           00006                          EXTEND                                         
040586,000763: 20,3271           73422                          MP       D3         +1                         
040587,000764: 20,3272           27714                          ADS      DSUMTMP    +1                         
040588,000765: 20,3273           54001                          TS       L                                     
040589,000766: 20,3274           13276                          TCF      +2                                    
040590,000767: 20,3275           27713                          ADS      DSUMTMP                               
040591,000768: 20,3276           31733                          CAE      J3TMP      +1                         
040592,000769: 20,3277           00006                          EXTEND                                         
040593,000770: 20,3300           73421                          MP       D3                                    
040594,000771: 20,3301           27714                          ADS      DSUMTMP    +1                         
040595,000772: 20,3302           54001                          TS       L                                     
040596,000773: 20,3303           13305                          TCF      +2                                    
040597,000774: 20,3304           27713                          ADS      DSUMTMP                               
040598,000775: 
040599,000776: 20,3305           31734        D4J4              CAE      J4TMP                                 
040600,000777: 20,3306           00006                          EXTEND                                         
040601,000778: 20,3307           73423                          MP       D4                                    
040602,000779: 20,3310           21714                          DAS      DSUMTMP                               
040603,000780: 20,3311           31734                          CAE      J4TMP                                 
040604,000781: 20,3312           00006                          EXTEND                                         
040605,000782: 20,3313           73424                          MP       D4         +1                         
040606,000783: 20,3314           27714                          ADS      DSUMTMP    +1                         
040607,000784: 20,3315           54001                          TS       L                                     
040608,000785: 20,3316           13320                          TCF      +2                                    
040609,000786: 20,3317           27713                          ADS      DSUMTMP                               
040610,000787: 20,3320           31735                          CAE      J4TMP      +1                         
040611,000788: 20,3321           00006                          EXTEND                                         
040612,000789: 20,3322           73423                          MP       D4                                    
040613,000790: 20,3323           27714                          ADS      DSUMTMP    +1                         
040614,000791: 20,3324           54001                          TS       L                                     
040615,000792: 20,3325           13327                          TCF      +2                                    
040616,000793: 20,3326           27713                          ADS      DSUMTMP                               
040617,000794: 
040618,000795: 20,3327           31736        D5J5              CAE      J5TMP                                 
040619,000796: 20,3330           00006                          EXTEND                                         
040620,000797:                                                                                                 # # Page 937
040621,000798: 20,3331           73425                          MP       D5                                    
040622,000799: 20,3332           21714                          DAS      DSUMTMP                               
040623,000800: 20,3333           31736                          CAE      J5TMP                                 
040624,000801: 20,3334           00006                          EXTEND                                         
040625,000802: 20,3335           73426                          MP       D5         +1                         
040626,000803: 20,3336           27714                          ADS      DSUMTMP    +1                         
040627,000804: 20,3337           54001                          TS       L                                     
040628,000805: 20,3340           13342                          TCF      +2                                    
040629,000806: 20,3341           27713                          ADS      DSUMTMP                               
040630,000807: 20,3342           31737                          CAE      J5TMP      +1                         
040631,000808: 20,3343           00006                          EXTEND                                         
040632,000809: 20,3344           73425                          MP       D5                                    
040633,000810: 20,3345           27714                          ADS      DSUMTMP    +1                         
040634,000811: 20,3346           54001                          TS       L                                     
040635,000812: 20,3347           13351                          TCF      +2                                    
040636,000813: 20,3350           27713                          ADS      DSUMTMP                               
040637,000814: 
040638,000815: 20,3351           31740        D6J6              CAE      J6TMP                                 
040639,000816: 20,3352           00006                          EXTEND                                         
040640,000817: 20,3353           73427                          MP       D6                                    
040641,000818: 20,3354           21714                          DAS      DSUMTMP                               
040642,000819: 20,3355           31740                          CAE      J6TMP                                 
040643,000820: 20,3356           00006                          EXTEND                                         
040644,000821: 20,3357           73430                          MP       D6         +1                         
040645,000822: 20,3360           27714                          ADS      DSUMTMP    +1                         
040646,000823: 20,3361           54001                          TS       L                                     
040647,000824: 20,3362           13364                          TCF      +2                                    
040648,000825: 20,3363           27713                          ADS      DSUMTMP                               
040649,000826: 20,3364           31741                          CAE      J6TMP      +1                         
040650,000827: 20,3365           00006                          EXTEND                                         
040651,000828: 20,3366           73427                          MP       D6                                    
040652,000829: 20,3367           27714                          ADS      DSUMTMP    +1                         
040653,000830: 20,3370           54001                          TS       L                                     
040654,000831: 20,3371           13373                          TCF      +2                                    
040655,000832: 20,3372           27713                          ADS      DSUMTMP                               
040656,000833: 
040657,000834: 20,3373           53714        DSUMSC            DXCH     DSUMTMP                               #  FIX UP SCALING  (NOW AT B+1 SPASCREV)
040658,000835: 20,3374           20001                          DDOUBL                                         
040659,000836: 20,3375           53714                          DXCH     DSUMTMP                               #  SC.AT B+0 SPASCREV
040660,000837: 
040661,000838: 20,3376           00002                          TC       Q                                     
040662,000839: 
040663,000840:                                                                                                 # # Page 938
040664,000841:                                                                                                 #  CONSTANTS FOR AUTOPILOTS
040665,000842: 
040666,000843: 
040667,000844:                                                                                                 #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT  OR  1.07975111 REVS (85.41X16384/3600/360)
040668,000845: 
040669,000846:                                                                                                 #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
040670,000847: 
040671,000848: 20,3377           00375        ACTSAT            DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
040672,000849: 20,3400           00101        1/ACTSAT          DEC      .0039525692                            #  RECIPROCAL (1/253)
040673,000850: 
040674,000851: 20,3401     4676               ERRLIM            EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
040675,000852: 20,3401     4710               1/ERRLIM          EQUALS   BIT3                                  #       SC.AT B-1 REV, AND ITS RECIPROCAL
040676,000853: 
040677,000854: 20,3401     4727               KPDN              =        DEC45                                 #  DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
040678,000855: 20,3401     4727               KYDN              =        KPDN                                  #       SPASCREV (FOR DEC45 BITS EXACTLY)
040679,000856:                                                                                                 #                                                     KPDN = .005747 DEG/DEG
040680,000857:                                                                                                 #                                                     SCALED KPDN = DEC45
040681,000858:                                                                                                 #                                                     1SPASCREV = KPDN(B+14)/(2X45)
040682,000859:                                                                                                 #                                                                = 1.04620942 REVS
040683,000860: 
040684,000861: 
040685,000862: 20,3401           02326        PITCHT5           GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
040686,000863: 20,3402           03075        DAPT5             GENADR   DAPINIT                               #       (BBCON) ALREADY THERE.  ORDER IS
040687,000864: 20,3403           02616        YAWT5             GENADR   YAWDAP                                #       REQUIRED.
040688,000865: 
040689,000866: 
040690,000867: 20,3404           00243        1-E(-AT)          OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
040691,000868: 20,3405           37535        E(-AT)            OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
040692,000869: 
040693,000870: 20,3406           50166        N1                DEC      -2.9708385 B-2                        #  NUMERATOR COEFS (CSM/LEM), SC.AT B+2
040694,000871: 20,3407           31436        N2                DEC      3.1947342  B-2                        
040695,000872: 20,3410           74561        N3                DEC      -0.40962906 B-2                        
040696,000873: 20,3411           53277        N4                DEC      -2.5780275 B-2                        
040697,000874: 20,3412           27550        N5                DEC      2.9629319  B-2                        
040698,000875: 20,3413           63725        N6                DEC      -1.5101470 B-2                        
040699,000876: 20,3414           02400        N7                DEC      0.31243224 B-2                        
040700,000877: 
040701,000878: 20,3415           66341 54237  D1                2DEC     -4.7798977 B-4                        #  DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
040702,000879: 
040703,000880: 20,3417           22707 36641  D2                2DEC     9.4452763  B-4                        
040704,000881:                                                                                                 # # Page 939
040705,000882: 20,3421           54220 40714  D3                2DEC     -9.8593475 B-4                        
040706,000883: 20,3423           13344 21146  D4                2DEC     5.7231811  B-4                        
040707,000884: 20,3425           74401 61760  D5                2DEC     -1.7484750 B-4                        
040708,000885: 20,3427           00340 23073  D6                2DEC     0.21933335 B-4                        

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