Source Code

These source-code files were obtained by digitally photographing an Artemis 72 program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images may be 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 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971

	THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS
				COLOSSUS 3
	THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED
	IN REPORT R-577.  THIS PROGRAM WAS PREPARED UNDER OSR
	PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT
	CENTER OF THE NATIONAL AERONAUTICS AND SPACE
	ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE
	CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF
	TECHNOLOGY, CAMBRIDGE, MASS.

046330,000002:                                                                                                 #  Copyright:     Public domain.
046331,000003:                                                                                                 #  Filename:      CM_ENTRY_DIGITAL_AUTOPILOT.agc
046332,000004:                                                                                                 #  Purpose:       Part of the source code for Artemis (i.e., Colossus 3),
046333,000005:                                                                                                 #                 build 072.  This is for the Command Module's (CM) 
046334,000006:                                                                                                 #                 Apollo Guidance Computer (AGC), we believe for 
046335,000007:                                                                                                 #                 Apollo 15-17.
046336,000008:                                                                                                 #  Assembler:     yaYUL
046337,000009:                                                                                                 #  Contact:       Sergio Navarro <sergionavarrog@gmail.com>
046338,000010:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
046339,000011:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Artemis072/
046340,000012:                                                                                                 #  Mod history:   2009-08-27 SN   Adapted from corresponding Comanche 055 file.
046341,000013:                                                                                                 #                 2009-09-03 JL   Duplicate definition of VSQMIN, one line is a comment in page scan.
046342,000014:                                                                                                 #                 2009-09-10 JL   Fixed typos.
046343,000015:                                                                                                 #                 2010-02-20 RSB  Un-##'d this header.
046344,000016: 
046345,000017:                                                                                                 # # Page 1063
046346,000018: 
046347,000019:                                                                                                 #  SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES.  GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046348,000020:                                                                                                 #  DIFFERENCES ARE IN 1S COMP.     ENTER AND READ ANGLES EACH .1 SEC.
046349,000021: 
046350,000022:                                                                                                 #         CM/DSTBY = 1 FOR DAP OPERATION
046351,000023:                                                                                                 #         CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046352,000024: 
046353,000025: 
046354,000026: 15,2000                                          SETLOC   ETRYDAP                               
046355,000027: 15,2000                                          BANK                                           
046356,000028: 
046357,000029: 15,2063                                          COUNT*   $$/DAPEN                              
046358,000030: 15,2063  E6,1661                                 EBANK=   AOG                                   
046359,000031: 
046360,000032: 15,2063           34355        READGYMB          CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
046361,000033: 15,2064           27725                          ADS      CM/GYMDT                              #  PIPTIME. (GROUP 6)
046362,000034: 
046363,000035:                                                                                                 #  IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046364,000036:                                                                                                 #  PHASCHNG PROTECTION IS IN CM/DAPIC.
046365,000037: 
046366,000038: 15,2065           34763                          CA       NOIMUDAP                              #  CHECK FOR FINE ALIGN MODE OF CDU.
046367,000039: 15,2066           71334                          MASK     IMODES33                              #  (PROTECT AOG/PIP ETC AS WELL AS
046368,000040: 15,2067           00006                          EXTEND                                         #  GIMBAL DIFFERENCES)
046369,000041: 15,2070           12076                          BZF      READGYM1                              #  OK
046370,000042: 
046371,000043: 15,2071           44770                          CS       GYMDIBIT                              #  NOT IN FINE ALIGN, SO IDLE
046372,000044: 15,2072           70102                          MASK     CM/FLAGS                              #  SET GYMDIFSW =0
046373,000045: 15,2073           54102                          TS       CM/FLAGS                              
046374,000046: 15,2074           06000                          TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
046375,000047: 15,2075           02143                          TC       CM/GYMIC   +2                         
046376,000048: 
046377,000049: 15,2076           30032        READGYM1          CA       CDUX                                  
046378,000050: 15,2077           57661                          XCH      AOG                                   
046379,000051: 15,2100           00006                          EXTEND                                         
046380,000052: 15,2101           21661                          MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
046381,000053: 15,2102           55675                          TS       -DELAOG                               
046382,000054: 
046383,000055: 15,2103           30033                          CA       CDUY                                  
046384,000056: 15,2104           57662                          XCH      AIG                                   
046385,000057: 15,2105           00006                          EXTEND                                         
046386,000058: 15,2106           21662                          MSU      AIG                                   
046387,000059: 15,2107           55676                          TS       -DELAIG                               
046388,000060: 
046389,000061: 15,2110           30034                          CA       CDUZ                                  
046390,000062: 15,2111           57663                          XCH      AMG                                   
046391,000063: 15,2112           00006                          EXTEND                                         
046392,000064: 15,2113           21663                          MSU      AMG                                   
046393,000065: 15,2114           55677                          TS       -DELAMG                               
046394,000066: 
046395,000067: 15,2115           30102        DOBRATE?          CA       CM/FLAGS                              
046396,000068: 15,2116           74767                          MASK     CM/DSBIT                              
046397,000069: 15,2117           10000                          CCS      A                                     
046398,000070:                                                                                                 # # Page 1064
046399,000071: 15,2120           12135                          TCF      CKGYMSW                               
046400,000072: 
046401,000073: 15,2121           06000                          TC       FLUSHJET                              #  TURN OFF ALL JETS
046402,000074: 
046403,000075: 15,2122           05402                          TC       PHASCHNG                              
046404,000076: 15,2123           00006                          OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
046405,000077: 
046406,000078: 15,2124           05314                          TC       TASKOVER                              
046407,000079: 
046408,000080: 15,2125           34770        DOBRATE           CA       ONE                                   #  DO BODYRATE
046409,000081: 15,2126           55720        DOBRATE1          TS       JETEM                                 #  SKIP BODYRATE.
046410,000082: 
046411,000083: 15,2127           34355                          CA       TEN                                   #  KEEP CDU READ GOING.
046412,000084: 15,2130           05223                          TC       TWIDDLE                               
046413,000085: 15,2131           02063                          ADRES    READGYMB                              
046414,000086:                                                                                                 #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046415,000087: 
046416,000088: 15,2132           11720                          CCS      JETEM                                 
046417,000089: 15,2133           02165                          TC       BODYRATE                              
046418,000090: 15,2134           05314                          TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS. (PASSES)
046419,000091: 
046420,000092: 15,2135           40102        CKGYMSW           CS       CM/FLAGS                              
046421,000093: 15,2136           74770                          MASK     GYMDIBIT                              
046422,000094: 15,2137           00006                          EXTEND                                         
046423,000095: 15,2140           12125                          BZF      DOBRATE                               
046424,000096: 15,2141           26102        CM/GYMIC          ADS      CM/FLAGS                              #  GYMDIFSW:  C(A)=1, KNOW BIT IS 0
046425,000097: 15,2142           34772                          CAF      ZERO                                  
046426,000098: 15,2143           55711                 +2       TS       JETAG                                 
046427,000099: 15,2144           55706                          TS       OLDELP                                
046428,000100: 15,2145           55707                          TS       OLDELQ                                
046429,000101: 15,2146           55710                          TS       OLDELR                                
046430,000102: 15,2147           55723                          TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
046431,000103: 15,2150           02126                          TC       DOBRATE1                              
046432,000104: 
046433,000105:                                                                                                 # # Page 1065
046434,000106: 
046435,000107:                                                                                                 #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046436,000108: 
046437,000109: 15,2151           54001        ANGOVCOR          TS       L                                     #  THIS COSTS 2 MCT TO USE.
046438,000110: 15,2152           00002                          TC       Q                                     #  NO OVFL
046439,000111: 15,2153           50000                          INDEX    A                                     
046440,000112: 15,2154           34751                          CAF      LIMITS                                
046441,000113: 15,2155           26001                          ADS      L                                     
046442,000114: 15,2156           00002                          TC       Q                                     
046443,000115: 
046444,000116:    6000                                          SETLOC   FFTAG6                                
046445,000117:    6000                                          BANK                                           
046446,000118: 
046447,000119:    6000                                          COUNT*   $$/DAPEN                              
046448,000120:    6000           30007        FLUSHJET          CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
046449,000121:    6001           00006                          EXTEND                                         
046450,000122:    6002           01006                          WRITE    ROLLJETS                              #  ZERO CHANNEL 6
046451,000123:    6003           00006                          EXTEND                                         
046452,000124:    6004           01005                          WRITE    PYJETS                                #  ZERO CHANNEL 5
046453,000125:    6005           00002                          TC       Q                                     
046454,000126: 
046455,000127: 15,2000                                          SETLOC   ETRYDAP                               
046456,000128: 15,2000                                          BANK                                           
046457,000129: 
046458,000130: 15,2157                                          COUNT*   $$/DAPEN                              
046459,000131: 15,2157           40000        RATEAVG           COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046460,000132: 15,2160           61720                          AD       JETEM                                 #  OF CONSTANT ACCELERATION.
046461,000133: 15,2161           00006                          EXTEND                                         
046462,000134: 15,2162           74753                          MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
046463,000135: 15,2163           61720                          AD       JETEM                                 
046464,000136: 15,2164           00002                          TC       Q                                     
046465,000137: 
046466,000138:                                                                                                 # # Page 1066
046467,000139: 
046468,000140:                                                                                                 #  THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046469,000141: 
046470,000142: 20,2000                                          SETLOC   DAPS1                                 
046471,000143: 20,2000                                          BANK                                           
046472,000144: 
046473,000145: 20,3624                                          COUNT*   $$/DAPEN                              
046474,000146: 20,3624  E6,1661                                 EBANK=   AOG                                   
046475,000147: 
046476,000148: 20,3624           04611        CM/DAPON          TC       E6SETTER                              
046477,000149: 
046478,000150: 20,3625           05561                          TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
046479,000151: 20,3626           00132                          ADRES    DAPBIT1                               #  BIT 15  FLAG 6           CM FLAGS.
046480,000152: 20,3627           05561                          TC       DOWNFLAG                              #  RESET DAPBIT2
046481,000153: 20,3630           00133                          ADRES    DAPBIT2                               #  BIT 14 FLAG 6
046482,000154: 20,3631           00006                          EXTEND                                         
046483,000155: 20,3632           33747                          DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
046484,000156: 20,3633           52113                          DXCH     T5LOC                                 
046485,000157: 20,3634           00006                          EXTEND                                         
046486,000158: 20,3635           33747                          DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
046487,000159: 20,3636           52111                          DXCH     T6LOC                                 
046488,000160: 
046489,000161: 20,3637           06000                          TC       FLUSHJET                              #  JETS DEPARTED  ON SM. ZERO JET BITS.
046490,000162: 
046491,000163: 20,3640           47673                          CS       13,14,15                              
046492,000164: 20,3641           71465                          MASK     DAPDATR1                              #  SET CONFIG BITS =0 FOR ENTRY
046493,000165: 20,3642           55465                          TS       DAPDATR1                              
046494,000166: 20,3643           03647                          TC       +4                                    
046495,000167: 
046496,000168: 20,3644           35011        NOTYET            CA       .5SEC                                 
046497,000169: 20,3645           04636                          TC       BANKCALL                              
046498,000170: 20,3646           01731                          CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
046499,000171: 20,3647           34756                 +4       CA       GMDIFBIT                              #  GAMDIFSW = 94D BIT11   INITLY=0
046500,000172: 20,3650           70102                          MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046501,000173: 20,3651           00006                          EXTEND                                         
046502,000174: 20,3652           13644                          BZF      NOTYET                                
046503,000175: 
046504,000176: 20,3653           44770                          CS       ONE                                   #  ACTIVATE CM/DAP
046505,000177: 20,3654           55501                          TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
046506,000178:                                                                                                 #  NEXT PASS.
046507,000179: 20,3655           55727                          TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
046508,000180:                                                                                                 #  HEADSUP IS SET IN P62.                 
046509,000181:                                                                                                 #  FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046510,000182: 
046511,000183: 20,3656           30007                          CA       7                                     
046512,000184: 20,3657           55711                          TS       JETAG                                 
046513,000185: 20,3660           55713                          TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
046514,000186:                                                                                                 #  IN CASE CMDAPMOD IS NOT +1.
046515,000187: 20,3661           00004                          INHINT                                         
046516,000188: 20,3662           00006                          EXTEND                                         
046517,000189: 20,3663           31666                          DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD
046518,000190:                                                                                                 # # Page 1067
046519,000191: 20,3664           53604                          DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
046520,000192: 20,3665           31664                          CA       ROLL/180                              
046521,000193: 20,3666           55717                          TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
046522,000194: 20,3667           00006                          EXTEND                                         
046523,000195: 20,3670           74753                          MP       HALF                                  
046524,000196: 20,3671           55715                          TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
046525,000197: 
046526,000198: 20,3672           40102                          CS       CM/FLAGS                              
046527,000199: 20,3673           74755                          MASK     CMARMBIT                              #    CMDAPARM = 93D BIT12 INITLY=0
046528,000200: 20,3674           26102                          ADS      CM/FLAGS                              #  SET BIT TO 1.
046529,000201: 
046530,000202: 20,3675           40076                          CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
046531,000203: 20,3676           74770                          MASK     NODOBIT                               #  V 37 ENTRIES
046532,000204: 20,3677           26076                          ADS      FLAGWRD2                              
046533,000205: 
046534,000206: 20,3700           00003                          RELINT                                         
046535,000207: 
046536,000208: 20,3701           04655                          TC       POSTJUMP                              
046537,000209: 20,3702           54343                          CADR     P62.1                                 
046538,000210: 
046539,000211:                                                                                                 # # Page 1068
046540,000212: 
046541,000213:                                                                                                 #  INITIALIZE CM/DAP.   WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
046542,000214:                                                                                                 #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG  .
046543,000215:                                                                                                 #   CMDAPARM  = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046544,000216:                                                                                                 #  SET AVEGEXIT TO CONTINUE AT CM/POSE
046545,000217: 
046546,000218: 20,3703           04611        CM/DAPIC          TC       E6SETTER                              
046547,000219: 
046548,000220: 20,3704           00004                          INHINT                                         
046549,000221: 20,3705           41044        CM/DAP2C          CS       PIPTIME    +1                         
046550,000222:                                                                                                 #  PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046551,000223: 20,3706           55720                          TS       JETEM                                 
046552,000224: 
046553,000225: 20,3707           34753                          CA       POS1/2                                
046554,000226: 20,3710           64753                          AD       POS1/2                                
046555,000227: 20,3711           60025                          AD       TIME1                                 #  OVFL GUARANTEED
046556,000228: 20,3712           27720                          ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
046557,000229: 
046558,000230: 20,3713           44773                          CS       FIVE                                  
046559,000231: 20,3714           61720                          AD       JETEM                                 
046560,000232: 20,3715           10000                          CCS      A                                     
046561,000233: 20,3716           63745                          AD       -CDUT+1                               
046562,000234: 20,3717           13715                          TCF      -2                                    
046563,000235: 20,3720           13721                          NOOP                                           
046564,000236: 20,3721           64770                          AD       ONE                                   #  SEND NO ZERO TO WTLST
046565,000237: 20,3722           55725                          TS       CM/GYMDT                              #  FOR RESTART
046566,000238: 20,3723           05233                          TC       WAITLIST                              
046567,000239: 20,3724  E6,1661                                 EBANK=   AOG                                   
046568,000240: 20,3724           02063 32066                    2CADR    READGYMB                              
046569,000241: 
046570,000242: 
046571,000243: 20,3726           43744                          CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
046572,000244: 20,3727           70102                          MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
046573,000245: 20,3730           64355                          AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
046574,000246:                                                                                                 #  DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046575,000247:                                                                                                 #  CALC. (P62.3) GOES TO ENDEXIT.
046576,000248: 20,3731           54102                          TS       CM/FLAGS                              
046577,000249: 
046578,000250: 20,3732           30007                          CA       7                                     
046579,000251: 20,3733           55666                          TS       BETA/180                              #  NECESSARY: NO OVFL CORRECTION
046580,000252: 20,3734           34770                          CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
046581,000253: 20,3735           54305                          TS       SW/NDX                                #    UPBUFF.
046582,000254: 
046583,000255: 20,3736           05362                          TC       2PHSCHNG                              #  DOES INHINT/RELINT
046584,000256: 20,3737           40116                          OCT      40116                                 #  SAVE TBASE6
046585,000257: 20,3740           05024                          OCT      05024                                 
046586,000258: 20,3741           13000                          OCT      13000                                 
046587,000259: 
046588,000260: 20,3742  01,2336               6P11SPT1          =        6.11SPOT                              
046589,000261: 20,3742           04655                          TC       POSTJUMP                              
046590,000262:                                                                                                 # # Page 1069
046591,000263: 20,3743           54327                          CADR     P62.2                                 
046592,000264: 
046593,000265: 20,3744           16017        CM/SWIC1          OCT      16017                                 
046594,000266: 20,3745     4355               CM/SWIC2          =        TEN                                   #  00012 : CM/DSTBY, LATSW
046595,000267: 20,3745           77766        -CDUT+1           OCT      77766                                 
046596,000268: 20,3746     0112                                 EBANK=   T5LOC                                 
046597,000269: 20,3746           03226 12060  T5IDLER1          2CADR    T5IDLOC                               
046598,000270: 
046599,000271:                                                                                                 # # Page 1070
046600,000272: 
046601,000273:                                                                                                 #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046602,000274:                                                                                                 #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED  P, Q, R.       REQUIREMENT:  TEMPORARILY ERASE. JETEM, JETEM +1
046603,000275: 
046604,000276:                                                                                                 #         SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE  ENTRY DAPS. THAT IS,
046605,000277:                                                                                                 #  THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046606,000278:                                                                                                 #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046607,000279:                                                                                                 #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046608,000280:                                                                                                 #  THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046609,000281: 
046610,000282: 20,3750  E6,1661                                 EBANK=   AOG                                   
046611,000283: 15,2000                                          SETLOC   ETRYDAP                               
046612,000284: 15,2000                                          BANK                                           
046613,000285: 
046614,000286: 15,2165                                          COUNT*   $$/DAPEN                              
046615,000287: 15,2165           31663        BODYRATE          CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046616,000288: 15,2166           05060                          TC       SPCOS                                 
046617,000289: 15,2167           55511                          TS       COSM                                  
046618,000290: 
046619,000291: 15,2170           31661                          CA       AOG                                   #  C(AOG) = AOG/180
046620,000292: 15,2171           05061                          TC       SPSIN                                 #  SINO
046621,000293: 15,2172           55512                          TS       SINO                                  #  SINO = SIN(AOG)
046622,000294: 
046623,000295: 15,2173           00006                          EXTEND                                         
046624,000296: 15,2174           71511                          MP       COSM                                  
046625,000297: 15,2175           55514                          TS       SINOCOSM                              #  SO CM
046626,000298: 
046627,000299: 15,2176           31661                          CA       AOG                                   
046628,000300: 15,2177           05060                          TC       SPCOS                                 #  COSO
046629,000301: 15,2200           55513                          TS       COSO                                  
046630,000302: 
046631,000303: 15,2201           00006                          EXTEND                                         
046632,000304: 15,2202           71511                          MP       COSM                                  
046633,000305: 15,2203           55515                          TS       COSOCOSM                              #  CO CM
046634,000306: 
046635,000307:                                                                                                 #  PITCHDOT:      Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046636,000308: 
046637,000309: 15,2204           41677                          CS       -DELAMG                               
046638,000310: 15,2205           00006                          EXTEND                                         
046639,000311: 15,2206           71512                          MP       SINO                                  
046640,000312: 15,2207           53721                          DXCH     JETEM                                 #  2 LOCS _
046641,000313: 15,2210           41676                          CS       -DELAIG                               
046642,000314: 15,2211           00006                          EXTEND                                         
046643,000315: 15,2212           71515                          MP       COSOCOSM                              
046644,000316: 15,2213           21721                          DAS      JETEM                                 
046645,000317: 15,2214           31720                          CA       JETEM                                 
046646,000318: 15,2215           57707                          XCH      OLDELQ                                
046647,000319: 15,2216           02157                          TC       RATEAVG                               
046648,000320: 15,2217           55702                          TS       QREL                                  #  PITCHDOT = Q TCDU/180
046649,000321: 
046650,000322:                                                                                                 # # Page 1071
046651,000323: 
046652,000324:                                                                                                 #  YAWDOT:   R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046653,000325: 
046654,000326: 15,2220           41677                          CS       -DELAMG                               
046655,000327: 15,2221           00006                          EXTEND                                         
046656,000328: 15,2222           71513                          MP       COSO                                  
046657,000329: 15,2223           53721                          DXCH     JETEM                                 
046658,000330: 15,2224           31676                          CA       -DELAIG                               
046659,000331: 15,2225           00006                          EXTEND                                         
046660,000332: 15,2226           71514                          MP       SINOCOSM                              
046661,000333: 15,2227           21721                          DAS      JETEM                                 
046662,000334: 15,2230           31720                          CA       JETEM                                 
046663,000335: 15,2231           57710                          XCH      OLDELR                                
046664,000336: 15,2232           02157                          TC       RATEAVG                               
046665,000337: 15,2233           55703                          TS       RREL                                  #  YAWDOT = R TCDU/180
046666,000338: 
046667,000339:                                                                                                 #  ROLLDOT:   P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046668,000340: 
046669,000341: 15,2234           31663                          CA       AMG                                   
046670,000342: 15,2235           05061                          TC       SPSIN                                 
046671,000343: 15,2236           55510                          TS       SINM                                  
046672,000344: 
046673,000345: 15,2237           00006                          EXTEND                                         
046674,000346: 15,2240           71676                          MP       -DELAIG                               
046675,000347: 15,2241           55720                          TS       JETEM                                 
046676,000348: 15,2242           34772                          CA       ZERO                                  
046677,000349: 15,2243           20001                          DDOUBL                                         #  ROUND L INTO A
046678,000350: 15,2244           61675                          AD       -DELAOG                               
046679,000351: 15,2245           61720                          AD       JETEM                                 
046680,000352: 15,2246           40000                          CS       A                                     
046681,000353: 15,2247           55720                          TS       JETEM                                 
046682,000354: 15,2250           57706                          XCH      OLDELP                                
046683,000355: 15,2251           02157                          TC       RATEAVG                               
046684,000356: 15,2252           55701                          TS       PREL                                  #  ROLLDOT = P TCDU/180
046685,000357: 
046686,000358:                                                                                                 #  IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046687,000359: 
046688,000360: 15,2253           11723                          CCS      GAMDOT                                
046689,000361: 15,2254           02256                          TC       +2                                    
046690,000362: 15,2255           02300                          TC       NOGAMDUT                              
046691,000363: 15,2256           41664                          CS       ROLL/180                              
046692,000364: 15,2257           05061                          TC       SPSIN                                 
046693,000365: 15,2260           00006                          EXTEND                                         
046694,000366: 15,2261           71723                          MP       GAMDOT                                
046695,000367: 15,2262           55721                          TS       JETEM      +1                         #  -SR GAMDOT
046696,000368: 15,2263           00006                          EXTEND                                         
046697,000369: 15,2264           72626                          MP       SINTRIM                               #  SIN(-20)   (FOR NOMINAL L/D = .3)
046698,000370: 15,2265           27701                          ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046699,000371: 
046700,000372: 15,2266           31664                          CA       ROLL/180                              
046701,000373: 15,2267           05060                          TC       SPCOS                                 
046702,000374:                                                                                                 # # Page 1072
046703,000375: 15,2270           40000                          COM                                            
046704,000376: 15,2271           00006                          EXTEND                                         
046705,000377: 15,2272           71723                          MP       GAMDOT                                
046706,000378: 15,2273           27702                          ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046707,000379: 
046708,000380: 15,2274           41721                          CS       JETEM      +1                         #  B( ) = -SR GAMDOT
046709,000381: 15,2275           00006                          EXTEND                                         
046710,000382: 15,2276           72627                          MP       COSTRIM                               #  COS(-20)   (FOR NOMINAL L/D = .3)
046711,000383: 15,2277           27703                          ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046712,000384: 
046713,000385: 15,2300           34755        NOGAMDUT          CA       CMARMBIT                              #  CMDAPARM = 93D BIT 12
046714,000386: 15,2301           70102                          MASK     CM/FLAGS                              
046715,000387: 15,2302           00006                          EXTEND                                         
046716,000388: 15,2303           15314        STBYDUMP          BZF      TASKOVER                              #  DAP NOT ARMED.
046717,000389: 
046718,000390: 15,2304           34750                          CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
046719,000391: 15,2305           54030                          TS       TIME5                                 
046720,000392: 
046721,000393: 15,2306           00006                          EXTEND                                         
046722,000394: 15,2307           32313                          DCA      ATDOTCAD                              
046723,000395: 15,2310           52113                          DXCH     T5LOC                                 
046724,000396:                                                                                                 #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046725,000397: 
046726,000398: 15,2311           05314                          TC       TASKOVER                              
046727,000399: 
046728,000400: 15,2312  E6,1661                                 EBANK=   AOG                                   
046729,000401: 15,2312           02314 32066  ATDOTCAD          2CADR    ATTRATES                              
046730,000402: 
046731,000403:                                                                                                 # # Page 1073
046732,000404: 
046733,000405:                                                                                                 #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046734,000406: 
046735,000407:                                                                                                 #         CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046736,000408:                                                                                                 #         BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046737,000409:                                                                                                 #         ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046738,000410: 
046739,000411: 15,2314           22016        ATTRATES          LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
046740,000412: 15,2315           00006                          EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
046741,000413: 15,2316           22012                          QXCH     QRUPT                                 
046742,000414: 15,2317           30021                          CA       SR                                    
046743,000415: 15,2320           60000                          DOUBLE                                         
046744,000416: 15,2321           55623                          TS       CM/SAVE                               
046745,000417:                                                                                                 #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046746,000418: 
046747,000419: 15,2322           31702                          CA       QREL                                  
046748,000420: 15,2323           61665                          AD       ALFA/180                              
046749,000421: 15,2324           02151                          TC       ANGOVCOR                              
046750,000422: 15,2325           55665                          TS       ALFA/180                              
046751,000423: 15,2326           05060                          TC       SPCOS                                 
046752,000424: 15,2327           55506                          TS       CALFA                                 #  CALFA
046753,000425: 15,2330           55705                          TS       PHIDOT                                
046754,000426: 
046755,000427: 15,2331           00006                          EXTEND                                         
046756,000428: 15,2332           71701                          MP       PREL                                  
046757,000429: 15,2333           57705                          XCH      PHIDOT                                #  CA PREL
046758,000430: 15,2334           00006                          EXTEND                                         
046759,000431: 15,2335           71703                          MP       RREL                                  #  CA RREL
046760,000432: 15,2336           55704                          TS       BETADOT                               
046761,000433: 
046762,000434: 15,2337           31665                          CA       ALFA/180                              
046763,000435: 15,2340           05061                          TC       SPSIN                                 
046764,000436: 15,2341           55507                          TS       SALFA                                 #  SIN(ALFA)
046765,000437: 
046766,000438: 15,2342           00006                          EXTEND                                         
046767,000439: 15,2343           71703                          MP       RREL                                  #  SA RREL
046768,000440: 15,2344           27705                          ADS      PHIDOT                                #  CB PHIDOT, SAVED.
046769,000441: 
046770,000442: 15,2345           41507                          CS       SALFA                                 
046771,000443: 15,2346           00006                          EXTEND                                         
046772,000444: 15,2347           71701                          MP       PREL                                  
046773,000445: 15,2350           27704                          ADS      BETADOT                               #  SAVE BETADOT TCDU/180
046774,000446: 15,2351           27666                          ADS      BETA/180                              #  BETA DONE.
046775,000447: 
046776,000448: 15,2352           05061                          TC       SPSIN                                 
046777,000449: 15,2353           00006                          EXTEND                                         
046778,000450: 15,2354           71705                          MP       PHIDOT                                #  NEGLECT CB IN  CB PHIDOT
046779,000451: 15,2355           61665                          AD       ALFA/180                              
046780,000452: 15,2356           02151                          TC       ANGOVCOR                              
046781,000453: 15,2357           55665                          TS       ALFA/180                              #  ALFA DONE.
046782,000454:                                                                                                 # # Page 1074
046783,000455: 15,2360           40000                          COM                                            
046784,000456: 15,2361           61603                          AD       ALFACOM                               
046785,000457: 15,2362           02151                          TC       ANGOVCOR                              #  JUST IN CASE ...
046786,000458: 15,2363           55477                          TS       AK1                                   
046787,000459: 15,2364           55572                          TS       QAXERR                                #  FOR PITCH FDAI   AND EDIT.
046788,000460: 
046789,000461: 15,2365           31705                          CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
046790,000462: 15,2366           61664                          AD       ROLL/180                              
046791,000463: 15,2367           02151                          TC       ANGOVCOR                              
046792,000464: 15,2370           55714                          TS       ROLLTM                                #  ROLL/180 FOR TM.
046793,000465: 15,2371           55664                          TS       ROLL/180                              #  ROLL DONE.
046794,000466: 
046795,000467:                                                                                                 #         START YAW AUTOPILOT HERE .  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
046796,000468: 
046797,000469: 15,2372           41666                          CS       BETA/180                              #  IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
046798,000470: 15,2373           61604                          AD       BETACOM                               
046799,000471: 15,2374           55573                          TS       RAXERR                                #  IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
046800,000472:                                                                                                 #  AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
046801,000473:                                                                                                 #  IS OK.)  FINAL C(RAXERR) AT END OF DAP CYCLE WILL
046802,000474:                                                                                                 #  BE R-AXIS ERROR.
046803,000475: 
046804,000476: 15,2375           34766                          CA       .05GBIT                               #  .05GSW = 102D BIT3  SW=0, LESS .05G
046805,000477: 15,2376           70102                          MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
046806,000478: 15,2377           00006                          EXTEND                                         
046807,000479: 15,2400           12466                          BZF      EXDAP                                 #  IF G LESS THAN .05
046808,000480: 15,2401           44770                          CS       ONE                                   #  IF G GEQ  THAN .05
046809,000481: 15,2402           55700                          TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
046810,000482: 
046811,000483: 15,2403           55477                          TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
046812,000484: 15,2404           55500                          TS       AK2                                   #  IN ATM.  (MODE =-1)
046813,000485: 
046814,000486: 15,2405           41701                          CS       PREL                                  #  YAW ERROR = RREL - PREL TAN(ALFA)
046815,000487: 15,2406           00006                          EXTEND                                         
046816,000488: 15,2407           72626                          MP       SINTRIM                               #  LET SIN(-20) BE APPROX FOR TAN(-20)
046817,000489: 15,2410           61703                          AD       RREL                                  
046818,000490: 15,2411           02456                          TC       2D/SDZ                                #  GO TEST DZ. GET TAG: +0 IF IN DZ
046819,000491: 15,2412           50000                          INDEX    A                                     #  +/- 1 IF NOT
046820,000492: 15,2413           32631                          CAF      YJETCODE                              
046821,000493: 
046822,000494: 15,2414           55720                          TS       JETEM                                 
046823,000495: 
046824,000496:                                                                                                 #         START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
046825,000497: 
046826,000498: 15,2415           31702                          CA       QREL                                  
046827,000499: 15,2416           02456                          TC       2D/SDZ                                
046828,000500: 15,2417           50000        EXDAPIN           INDEX    A                                     #  COME HERE FROM EX ATM DAP
046829,000501: 15,2420           32634                          CAF      P/RJCODE                              
046830,000502: 15,2421           27720                          ADS      JETEM                                 #  COMBINE ALL NEW BITS.
046831,000503: 
046832,000504: 15,2422           00006                          EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.
046833,000505:                                                                                                 # # Page 1075             
046834,000506: 15,2423           01005                          WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
046835,000507: 
046836,000508: 15,2424           11711                          CCS      JETAG                                 
046837,000509: 15,2425           02645                          TC       CM/RCS                                
046838,000510: 15,2426           03325                          TC       CM/FDAI                               
046839,000511: 15,2427           03332                          TC       CM/FDAIR   -1                         #  (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
046840,000512: 
046841,000513:                                                                                                 # # Page 1076
046842,000514: 
046843,000515:                                                                                                 #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
046844,000516: 
046845,000517: 15,2430           10000        3DDZ              CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
046846,000518: 15,2431           62624                          AD       YAWLIM                                
046847,000519: 15,2432           12462                          TCF      DZCOM                                 
046848,000520: 15,2433           62624                          AD       YAWLIM                                
046849,000521: 15,2434           12463                          TCF      DZNOCOM                               
046850,000522: 
046851,000523:                                                                                                 #  BIASED DZ FOR EXT ATM DAP.
046852,000524: 15,2435           55624        BIASEDZ           TS       JETEM2                                #  SAVE RATE/180. ERROR/180 IS IN L.
046853,000525: 15,2436           10000                          CCS      A                                     #  START ERROR DZ.
046854,000526: 15,2437           42623                          CS       CM/BIAS                               #  = .6/180
046855,000527: 15,2440           12442                          TCF      +2                                    
046856,000528: 15,2441           32623                          CA       CM/BIAS                               
046857,000529: 15,2442           60001                          AD       L                                     #  BIAS THE ERROR.
046858,000530: 15,2443           22002                          LXCH     Q                                     #  SAVE CALLERS RETURN ADDRESS.
046859,000531: 15,2444           02430                          TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
046860,000532: 15,2445           52002                          DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
046861,000533: 15,2446           11624        4D/SDZ            CCS      JETEM2                                #  CAME HERE IN EXT ATM. C(L) = ERROR BIT
046862,000534: 15,2447           62621                          AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
046863,000535: 15,2450           12452                          TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
046864,000536: 15,2451           62621                          AD       4D/SLIM                               
046865,000537: 15,2452           54000                          TS       A                                     
046866,000538: 15,2453           12455                          TCF      +2                                    #  RATE OK. CONTINUE
046867,000539: 15,2454           22007                          ZL                                             #  RATE GEQ 4 D/S. OVER RIDE ERROR BIT
046868,000540: 15,2455           57624                          XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
046869,000541: 
046870,000542: 15,2456           10000        2D/SDZ            CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
046871,000543: 15,2457           62622                          AD       YDOTLIM                               #  1.0 - YDOT DZ        ( OR PDOT)
046872,000544: 15,2460           12463                          TCF      +3                                    
046873,000545: 15,2461           62622                          AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
046874,000546: 15,2462           40000        DZCOM             COM                                            
046875,000547: 15,2463           55721        DZNOCOM           TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
046876,000548: 15,2464           34772                          CA       ZERO                                  #  SET C(A) = +0 INSIDE
046877,000549: 15,2465           00002                          TC       Q                                     
046878,000550: 
046879,000551:                                                                                                 # # Page 1077
046880,000552: 
046881,000553:                                                                                                 #         EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
046882,000554: 
046883,000555:                                                                                                 #         1.    IF ABS(CALF) -C(45) POS, USE                              IF CALFA POS, CMDAPMOD= +0
046884,000556:                                                                                                 #           BETA:     YAW ERROR = SGN(CALF) (BETACOM -BETA)               IF CALFA NEG, CMDAPMOD= -0
046885,000557:                                                                                                 #                          RATE = BETADOT                                 IF CMDAPMOD = -0, RATE = RREL
046886,000558:                                                                                                 #                        R-AXIS = CONTROL
046887,000559: 
046888,000560:                                                                                                 #           ROLL:     ROLL ERROR = SGN(CALF) (ROLLC - ROLL)               IF CMDAPMOD = -0, RATE DAMP ONLY.
046889,000561:                                                                                                 #                          RATE = PREL
046890,000562:                                                                                                 #                        P-AXIS = CONTROL
046891,000563: 
046892,000564:                                                                                                 #         2.    IF C(45) GEQ CALFA GEQ -C(45), USE                        CMDAPMOD = +1
046893,000565:                                                                                                 #           BETA:     ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
046894,000566:                                                                                                 #                          RATE = BETADOT
046895,000567:                                                                                                 #                        P-AXIS = CONTROL
046896,000568: 
046897,000569:                                                                                                 #           ROLL:     YAW ERROR = SGN(SALF) (ROLLC -ROLL)                 RATE DAMP ONLY.
046898,000570:                                                                                                 #                          RATE = RREL
046899,000571:                                                                                                 #                        R-AXIS = CONTROL
046900,000572: 
046901,000573:                                                                                                 #         3.    FOR ALL CASES, USE
046902,000574:                                                                                                 #           ALFA:   PITCH ERROR = (ALFACOM - ALFA)
046903,000575:                                                                                                 #                        RATE = QREL
046904,000576:                                                                                                 #                      Q-AXIS = CONTROL
046905,000577: 
046906,000578: 
046907,000579: 
046908,000580: 15,2466           55700        EXDAP             TS       CMDAPMOD                              #  +0 FOR NOW
046909,000581: 15,2467           11506                          CCS      CALFA                                 
046910,000582: 15,2470           62625                          AD       C45LIM                                #  =1.0-COS(45)
046911,000583: 15,2471           12473                          TCF      +2                                    
046912,000584: 15,2472           62625                          AD       C45LIM                                
046913,000585: 15,2473           54000                          TS       A                                     
046914,000586: 15,2474           12555                          TCF      EXDAP2                                #  HERE IF ABS(CALFA)  L  COS(45)
046915,000587: 
046916,000588: 15,2475           11506                          CCS      CALFA                                 #  |CALFA| > 0.707
046917,000589: 15,2476           12477                          TCF      +1                                    #  CONTINUE IF POS; GO TO EXDAP4 IF NEG.
046918,000590: 
046919,000591: 15,2477           11727                          CCS      P63FLAG                               #  VALID VALUES ARE:  -1, +1, +0.
046920,000592: 15,2500           02513                          TC       EXDAP4                                
046921,000593: 15,2501           02503                          TC       +2                                    
046922,000594: 15,2502           02513                          TC       EXDAP4                                
046923,000595: 15,2503           05402                          TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
046924,000596: 15,2504           40334                          OCT      40334                                 
046925,000597: 15,2505  01,2170               4P33SPT1          =        4.33SPOT                              
046926,000598: 15,2505           44770                          CS       ONE                                   
046927,000599: 15,2506           55727                          TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
046928,000600: 15,2507           32620                          CA       NSEC                                  
046929,000601: 15,2510           05233                          TC       WAITLIST                              
046930,000602: 15,2511  E6,1661                                 EBANK=   AOG                                   
046931,000603:                                                                                                 # # Page 1078
046932,000604: 15,2511           02375 54066                    2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.
046933,000605: 
046934,000606:                                                                                                 #  65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
046935,000607:                                                                                                 #  TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
046936,000608: 
046937,000609: 15,2513           11711        EXDAP4            CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
046938,000610: 15,2514           12522                          TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
046939,000611: 15,2515           12522                          TCF      EXDAP3                                
046940,000612: 15,2516           34772                          CA       ZERO                                  
046941,000613: 15,2517           00006                          EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
046942,000614: 15,2520           01006                          WRITE    ROLLJETS                              #  UNTIL START  OF 2 SEC CM/RCS CYCLE
046943,000615: 15,2521           55711                          TS       JETAG                                 #  RESTORE PROPER VALUE +0
046944,000616: 
046945,000617:                                                                                                 #  ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
046946,000618: 15,2522           11506        EXDAP3            CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
046947,000619: 15,2523           31573                          CA       RAXERR                                #  C()= BETACOM - BETA/180
046948,000620: 15,2524           12530                          TCF      EXDAP1                                
046949,000621: 15,2525           44772                          CS       ZERO                                  
046950,000622: 15,2526           55700                          TS       CMDAPMOD                              #  FOR CM/RCS
046951,000623: 15,2527           41573                          CS       RAXERR                                #  COMPLEMENT OF YAW ERROR.
046952,000624: 15,2530           55573        EXDAP1            TS       RAXERR                                #  FOR YAW FDAI
046953,000625: 15,2531           55500                          TS       AK2                                   #  WANT RAXERR FOR TM.
046954,000626: 15,2532           54001                          TS       L                                     
046955,000627: 15,2533           11700                          CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
046956,000628: 15,2534           02537                          TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
046957,000629: 15,2535           34770                          CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
046958,000630: 15,2536           50000                          INDEX    A                                     #  OTHERWISE USE RREL.
046959,000631: 15,2537           31703                          CA       RREL                                  
046960,000632: 15,2540           02435                          TC       BIASEDZ                               #  GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
046961,000633:                                                                                                 #  IF GEQ 4D/S, SET ERROR BIT IN L =0)
046962,000634: 15,2541           00006                          EXTEND                                         
046963,000635: 15,2542           04001                          ROR      LCHAN                                 #  L HAS BETA BIT
046964,000636: 15,2543           50000                          INDEX    A                                     
046965,000637: 15,2544           32631                          CAF      YJETCODE                              
046966,000638: 15,2545           55720                          TS       JETEM                                 
046967,000639: 
046968,000640: 15,2546           31572                          CA       QAXERR                                #  ALFA ERROR.
046969,000641: 15,2547           54001                          TS       L                                     
046970,000642: 15,2550           31702                          CA       QREL                                  #  FOR ALFADOT USE QREL
046971,000643: 15,2551           02435                          TC       BIASEDZ                               
046972,000644: 15,2552           00006                          EXTEND                                         
046973,000645: 15,2553           04001                          ROR      LCHAN                                 
046974,000646: 15,2554           12417                          TCF      EXDAPIN                               #  CONTINUE ON IN DAP
046975,000647: 
046976,000648: 15,2555           25700        EXDAP2            INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
046977,000649: 
046978,000650: 15,2556           44770                          CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
046979,000651: 15,2557           55711                          TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
046980,000652:                                                                                                 #  =0 AND JETAG =-1, QUENCHES JETS IF ON)
046981,000653:                                                                                                 # # Page 1079
046982,000654: 15,2560           11727                          CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
046983,000655: 15,2561           55727                          TS       P63FLAG                               
046984,000656: 15,2562           12563                          NOOP                                           
046985,000657: 
046986,000658: 15,2563           11507                          CCS      SALFA                                 #  BETA CONTROL WITH P JETS
046987,000659: 15,2564           41573                          CS       RAXERR                                #  B()= BETACOM - BETA/180
046988,000660: 15,2565           12567                          TCF      +2                                    
046989,000661: 15,2566           31573                          CA       RAXERR                                
046990,000662: 15,2567           55713                          TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
046991,000663: 15,2570           00006                          EXTEND                                         
046992,000664: 15,2571           74753                          MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
046993,000665: 15,2572           57713                          XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
046994,000666: 15,2573           54001                          TS       L                                     
046995,000667: 15,2574           11507                          CCS      SALFA                                 
046996,000668: 15,2575           41704                          CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
046997,000669: 15,2576           02600                          TC       +2                                    
046998,000670: 15,2577           31704                          CA       BETADOT                               
046999,000671: 15,2600           02435                          TC       BIASEDZ                               
047000,000672: 15,2601           00006                          EXTEND                                         
047001,000673: 15,2602           04001                          ROR      LCHAN                                 
047002,000674: 15,2603           50000                          INDEX    A                                     
047003,000675: 15,2604           32634                          CAF      P/RJCODE                              #  GET ROLL CODE
047004,000676: 15,2605           00006                          EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
047005,000677: 15,2606           01006                          WRITE    ROLLJETS                              #  WE'LL SKIP REGULAR ROLL SYST
047006,000678: 
047007,000679: 15,2607           31717                          CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
047008,000680: 15,2610           00006                          EXTEND                                         
047009,000681: 15,2611           21664                          MSU      ROLL/180                              #  1'S COMPL, BUT SO WHATS A BIT.?
047010,000682: 15,2612           54001                          TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
047011,000683: 15,2613           11507                          CCS      SALFA                                 
047012,000684: 15,2614           30001                          CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
047013,000685: 15,2615           02530                          TC       EXDAP1                                
047014,000686: 15,2616           40001                          CS       L                                     
047015,000687: 15,2617           02530                          TC       EXDAP1                                
047016,000688: 
047017,000689: 15,2620           04064        NSEC              DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
047018,000690:                                                                                                 #  IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047019,000691: 15,2621           37734        4D/SLIM           DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
047020,000692: 15,2622           37756        YDOTLIM           DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
047021,000693:                                                                                                 #  YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047022,000694: 
047023,000695: 15,2623           00067        CM/BIAS           DEC      55         B-14                       #  =.6/180 B14  = 55
047024,000696: 15,2624           37267        YAWLIM            DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
047025,000697: 15,2625           11277        C45LIM            DEC      .29289                                #  =1.0-COS(45)
047026,000698: 
047027,000699: 15,2626           65033        SINTRIM           DEC      -.34202                               #  SIN(-20)       (FOR NOMINAL L/D = .3)
047028,000700: 15,2627           36044        COSTRIM           DEC      .93969                                #  COS(-20)       (FOR NOMINAL L/D = .3)
047029,000701: 
047030,000702:                                                                                                 #  TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047031,000703:                                                                                                 #  USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
047032,000704:                                                                                                 # # Page 1080
047033,000705:                                                                                                 #  FROM TRIM, SO USE ON-BOARD ESTIMATES.
047034,000706: 
047035,000707: 
047036,000708:                                                                                                 #                                         JET CODE TABLES FOLLOW _
047037,000709: 
047038,000710: 15,2630           00120                          OCTAL    00120                                 #  POS Y
047039,000711: 15,2631           00000        YJETCODE          OCTAL    00000                                 #  RCS JET BITS
047040,000712: 15,2632           00240                          OCTAL    00240                                 #  NEG Y
047041,000713: 15,2633           00005                          OCTAL    00005                                 #  POS R JET BITS ALSO POS P JET BITS
047042,000714: 15,2634           00000        P/RJCODE          OCTAL    00000                                 
047043,000715: 15,2635           00012                          OCTAL    00012                                 #  NEG R                  ALSO NEG P
047044,000716: 
047045,000717:                                                                                                 # # Page 1081
047046,000718: 
047047,000719:                                                                                                 #  RCS        THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047048,000720:                                                                                                 #  THE TASK SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE WILL BE
047049,000721:                                                                                                 #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.   THE
047050,000722:                                                                                                 #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047051,000723:                                                                                                 #  NEXT UPDATE.
047052,000724: 
047053,000725: 15,2636           40025        SETJTAG           CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
047054,000726: 15,2637           55712                          TS       TUSED                                 
047055,000727:                                                                                                 #   THE 5 CS APPEARS IN TIMETST.
047056,000728: 15,2640           34770                          CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
047057,000729: 15,2641           55711                          TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
047058,000730: 15,2642           05402                          TC       PHASCHNG                              
047059,000731: 15,2643           00001                          OCT      00001                                 
047060,000732: 
047061,000733: 15,2644           05314                          TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
047062,000734: 
047063,000735:                                                                                                 #  PREDICTIVE ROLL SYSTEM    ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047064,000736:                                                                                                 #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047065,000737:                                                                                                 #  THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T  (2 SEC) ARE ENTERED IN
047066,000738:                                                                                                 #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047067,000739: 
047068,000740: 15,2645     4752               HALFPR            EQUALS   NEG1/2     +1                         
047069,000741: 
047070,000742:                                                                                                 #  CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
047071,000743:                                                                                                 #  ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047072,000744:                                                                                                 #  MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047073,000745:                                                                                                 #  IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047074,000746: 
047075,000747: 15,2645           44770        CM/RCS            CS       ONE                                   
047076,000748: 15,2646           55617                          TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
047077,000749: 
047078,000750: 15,2647           45004                          CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
047079,000751: 15,2650           00006                          EXTEND                                         
047080,000752: 15,2651           71701                          MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
047081,000753: 15,2652           60001                          AD       L                                     #  -2 RDOT T/180 IN L
047082,000754: 15,2653           55613                          TS       -VT/180                               #  SAVE -2VT/180 HERE
047083,000755: 
047084,000756: 15,2654           41664                          CS       ROLL/180                              
047085,000757: 15,2655           54021                          TS       SR                                    #  SAVE (-R/180) /2
047086,000758: 
047087,000759: 15,2656           40102                          CS       CM/FLAGS                              
047088,000760: 15,2657           74765                          MASK     LATSWBIT                              #  LATSW = 101D BIT4
047089,000761: 15,2660           00006                          EXTEND                                         #  ROLL OVER TOP $
047090,000762: 15,2661           12667                          BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
047091,000763: 15,2662           26102                          ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047092,000764: 15,2663           31715                          CA       ROLLC                                 #  (ROLLC/180) /2
047093,000765: 15,2664           60021                          AD       SR                                    #  -(R/180) /2
047094,000766: 15,2665           57614                          XCH      LCX/360                               #  DIFFERENT X REQD HERE. DISCONT AT 180.
047095,000767: 15,2666           12727                          TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
047096,000768: 
047097,000769:                                                                                                 # # Page 1082
047098,000770: 15,2667           34753        GETLCX            CA       POS1/2                                #  FORM RCOM/360
047099,000771: 15,2670           60000                          DOUBLE                                         
047100,000772: 15,2671           61715                          AD       ROLLC                                 
047101,000773: 15,2672           57614                          XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
047102,000774: 
047103,000775: 15,2673           30021                          CA       SR                                    #  FORM -R/360
047104,000776: 15,2674           64751                          AD       NEG1/2                                
047105,000777: 15,2675           64751                          AD       NEG1/2                                #  IGNORE OVFL
047106,000778: 15,2676           57614                          XCH      LCX/360                               #  -R/360
047107,000779: 15,2677           27614                          ADS      LCX/360                               #  LCX/360 = RCOM/360 -R/360  RANGE (-1,1)
047108,000780: 
047109,000781:                                                                                                 #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2           OVFL ?
047110,000782: 
047111,000783: 15,2700           11613                          CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
047112,000784: 15,2701           64770                          AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
047113,000785: 15,2702           12704                          TCF      +2                                    
047114,000786: 15,2703           64770                          AD       ONE                                   
047115,000787: 15,2704           00006                          EXTEND                                         
047116,000788: 15,2705           71613                          MP       -VT/180                               #  C(-VT/180) = -2 VT/180
047117,000789: 15,2706           00006                          EXTEND                                         
047118,000790: 15,2707           73375                          MP       1/16A1                                #  = 180/(16 A1 TT)
047119,000791: 15,2710           00006                          EXTEND                                         
047120,000792: 15,2711           11506                          DV       CALFA                                 
047121,000793: 15,2712           54001                          TS       L                                     
047122,000794: 15,2713           11614                          CCS      LCX/360                               
047123,000795: 15,2714           34753                          CAF      POS1/2                                
047124,000796: 15,2715           12717                          TCF      +2                                    
047125,000797: 15,2716           44753                          CS       POS1/2                                
047126,000798: 15,2717           61614                          AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG  $
047127,000799: 15,2720           60001                          AD       L                                     
047128,000800: 15,2721           54001                          TS       L                                     
047129,000801: 15,2722           12727                          TCF      COMPAT                                #  YES, GO ON.
047130,000802: 15,2723           50000        TRTAGXPI          INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
047131,000803: 15,2724           44752                          CS       HALFPR                                #  +A YIELDS -1/2
047132,000804: 15,2725           60000                          DOUBLE                                         
047133,000805: 15,2726           27614                          ADS      LCX/360                               
047134,000806: 
047135,000807: 15,2727           31614        COMPAT            CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
047136,000808: 15,2730           00006                          EXTEND                                         
047137,000809: 15,2731           71506                          MP       CALFA                                 #  COS ALFA
047138,000810: 15,2732           55614                          TS       LCX/360                               #  SCALED LCX OK HERE.
047139,000811: 
047140,000812: 15,2733           11700                          CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
047141,000813: 15,2734           03323                          TC       DZCALL1                               #  EXIT, SETTING JETAG=0.(C(A)=0)
047142,000814:                                                                                                 #  ALL 3 AXES ALREADY DONE.
047143,000815: 15,2735           02736                          TC       +1                                    #  G LESS THAN .05. CA POS. CONTINUE
047144,000816: 15,2736           31614                          CA       LCX/360                               #  G GEQ .05. CONTINUE IN CM/RCS
047145,000817: 15,2737           55614                          TS       LCX/360                               #  CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047146,000818: 15,2740           55571                          TS       ERRORZ                                #  INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047147,000819: 15,2741           55713                          TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.(  /360)
047148,000820:                                                                                                 # # Page 1083
047149,000821: 15,2742           31613                          CA       -VT/180                               #  GET - 2 VT/180
047150,000822: 15,2743           54021                          TS       SR                                    
047151,000823: 15,2744           30021                          CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047152,000824: 15,2745           55570                          TS       -VT/180E                              #                         DIAGNOSTIC  ****
047153,000825: 15,2746           57613                          XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
047154,000826: 15,2747           00006                          EXTEND                                         
047155,000827: 15,2750           71613                          MP       -VT/180                               #  B(A) = -2VT/180
047156,000828: 15,2751           00006                          EXTEND                                         
047157,000829: 15,2752           73375                          MP       180/8ATT                              
047158,000830: 15,2753           55616                          TS       VSQ/4API                              
047159,000831: 
047160,000832:                                                                                                 #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     - .5 BUFLIM/360   POS  ?
047161,000833: 
047162,000834: 15,2754           60000        WHICHALF          DOUBLE                                         #  FOR SECOND BURN,  A1
047163,000835: 15,2755           40000                          COM                                            
047164,000836: 15,2756           63401                          AD       BUFLIM                                #  =BUFLIM/(2 360)
047165,000837: 15,2757           54001                          TS       L                                     
047166,000838: 15,2760           11613                          CCS      -VT/180                               
047167,000839: 15,2761           40001                          CS       L                                     
047168,000840: 15,2762           12764                          TCF      +2                                    
047169,000841: 15,2763           30001                          CA       L                                     
047170,000842: 15,2764           61614                          AD       LCX/360                               
047171,000843: 15,2765           63401                          AD       BUFLIM                                
047172,000844: 15,2766           00006                          EXTEND                                         
047173,000845: 15,2767           63004                          BZMF     REFLECT                               #  POINT (X,V) IN LHP.
047174,000846: 
047175,000847:                                                                                                 #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     + .5 BUFLIM/360   NEG  ?
047176,000848: 
047177,000849: 15,2770           40000                          COM                                            
047178,000850: 15,2771           63401                          AD       BUFLIM                                
047179,000851: 15,2772           63401                          AD       BUFLIM                                
047180,000852: 15,2773           00006                          EXTEND                                         
047181,000853: 15,2774           63013                          BZMF     DZ1                                   #  POINT (X,V) IN RHP
047182,000854: 
047183,000855:                                                                                                 #    IS POINT WITHIN VELOCITY DZ?
047184,000856: 
047185,000857: 15,2775           44355                          CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  ?
047186,000858: 15,2776           61616                          AD       VSQ/4API                              
047187,000859: 15,2777           00006                          EXTEND                                         
047188,000860: 15,3000           63305                          BZMF     DZCALL                                #  YES.
047189,000861: 
047190,000862:                                                                                                 #        POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047191,000863: 
047192,000864: 15,3001           41617                          CS       JNDX                                  
047193,000865: 15,3002           55620                          TS       JNDX1                                 
047194,000866: 15,3003           03066                          TC       OVRLINE1                              
047195,000867: 
047196,000868: 15,3004           41613        REFLECT           CS       -VT/180                               #  REFLECT LHP INTO RHP REL TO TERM CONTR
047197,000869: 15,3005           55613                          TS       -VT/180                               
047198,000870: 15,3006           54021                          TS       SR                                    #  -VT/360  SAVED FOR DZ.
047199,000871:                                                                                                 # # Page 1084
047200,000872: 15,3007           41614                          CS       LCX/360                               
047201,000873: 15,3010           55614                          TS       LCX/360                               
047202,000874: 15,3011           41617                          CS       JNDX                                  
047203,000875: 15,3012           55617                          TS       JNDX                                  
047204,000876: 
047205,000877:                                                                                                 #   IS VSQ/4API - (VSQ/4API) MIN  NEG   $
047206,000878: 
047207,000879: 15,3013           44355        DZ1               CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  $
047208,000880: 15,3014           61616                          AD       VSQ/4API                              
047209,000881: 15,3015           00006                          EXTEND                                         
047210,000882: 15,3016           63020                          BZMF     DZ2                                   #  YES, GO TEST FURTHER.
047211,000883: 15,3017           13025                          TCF      MAXVTEST                              #  NO
047212,000884: 
047213,000885:                                                                                                 #   IS X/360 - XMIN/360 -VT/360  NEG  $
047214,000886: 
047215,000887: 15,3020           43377        DZ2               CS       XMIN/360                              #  XMIN/360 = 4/360
047216,000888: 15,3021           61614                          AD       LCX/360                               
047217,000889: 15,3022           60021                          AD       SR                                    #  C(SR) = -VT/360
047218,000890: 15,3023           00006                          EXTEND                                         #  IS X/360 - XMIN/360 -VT/360  NEG  $
047219,000891: 15,3024           63305                          BZMF     DZCALL                                #  YES, IN DZ. EXIT SETTING JETAG=0.
047220,000892: 
047221,000893:                                                                                                 #   IS XD/360 - VM/360K - XS/360   POS   ?
047222,000894: 
047223,000895: 15,3025           41617        MAXVTEST          CS       JNDX                                  
047224,000896: 15,3026           55620                          TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
047225,000897: 15,3027           43401                          CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
047226,000898: 15,3030           61616                          AD       VSQ/4API                              
047227,000899: 15,3031           61614                          AD       LCX/360                               
047228,000900: 15,3032           55615                          TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
047229,000901:                                                                                                 #  BUT C(XD/360) = (XD - XS) /360
047230,000902: 15,3033           63400                          AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
047231,000903: 15,3034           40000                          COM                                            
047232,000904: 15,3035           00006                          EXTEND                                         
047233,000905: 15,3036           63044                          BZMF     MAXVTIM1                              #  YES, THRUST TO VM
047234,000906: 15,3037           31615                          CA       XD/360                                
047235,000907: 15,3040           00006                          EXTEND                                         
047236,000908: 15,3041           74753                          MP       KTRCS                                 
047237,000909: 15,3042           20001                          DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
047238,000910: 
047239,000911: 15,3043           03047                          TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
047240,000912: 15,3044           00006        MAXVTIM1          EXTEND                                         
047241,000913: 15,3045           22007                          ZQ                                             #  SET +Q AS TAG
047242,000914: 15,3046           43400                          CS       -VMT/180                              
047243,000915: 15,3047           55567        GETON1            TS       VDT/180                               #  VDT/180 OR VMT/180.
047244,000916: 15,3050           61613                          AD       -VT/180                               
047245,000917: 15,3051           60000                          DOUBLE                                         
047246,000918: 15,3052           00006                          EXTEND                                         
047247,000919: 15,3053           73375                          MP       180/8ATT                              
047248,000920: 15,3054           55621                          TS       TON1                                  #  TON1 / 4T
047249,000921:                                                                                                 # # Page 1085
047250,000922: 15,3055           00006                          EXTEND                                         
047251,000923: 15,3056           63060                          BZMF     OVRLINE                               
047252,000924: 15,3057           03072                          TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
047253,000925: 
047254,000926: 15,3060           10002        OVRLINE           CCS      Q                                     
047255,000927: 15,3061           13066                          TCF      OVRLINE1                              
047256,000928: 15,3062           31620        MAXVTIM2          CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
047257,000929: 15,3063           55617                          TS       JNDX                                  
047258,000930: 15,3064           41621                          CS       TON1                                  
047259,000931: 15,3065           13071                          TCF      OVRLINE2   +1                         
047260,000932: 
047261,000933: 15,3066           41613        OVRLINE1          CS       -VT/180                               #  DRIFT AT V
047262,000934: 15,3067           55567                          TS       VDT/180                               
047263,000935: 15,3070           34772        OVRLINE2          CA       ZERO                                  
047264,000936: 15,3071           55621                 +1       TS       TON1                                  
047265,000937: 15,3072           31567        GETON2            CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
047266,000938: 15,3073           60000                          DOUBLE                                         
047267,000939: 15,3074           00006                          EXTEND                                         
047268,000940: 15,3075           73375                          MP       180/8ATT                              
047269,000941: 15,3076           60000                          DOUBLE                                         #  FOR SECOND BURN, A1
047270,000942: 15,3077           55607                          TS       TON2                                  #  = TON2 / 4T
047271,000943: 
047272,000944: 15,3100           40000                          COM                                            
047273,000945: 15,3101           00006                          EXTEND                                         
047274,000946: 15,3102           63106                          BZMF     GETOFF                                
047275,000947: 15,3103           55607                          TS       TON2                                  
047276,000948: 15,3104           31617                          CA       JNDX                                  
047277,000949: 15,3105           55620                          TS       JNDX1                                 
047278,000950: 
047279,000951: 15,3106           41607        GETOFF            CS       TON2                                  #  TON2 / 4T
047280,000952: 15,3107           00006                          EXTEND                                         
047281,000953: 15,3110           71567                          MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
047282,000954: 15,3111           55615                          TS       XD/360                                #  USE AS TEMP
047283,000955: 15,3112           41567                          CS       VDT/180                               
047284,000956: 15,3113           00006                          EXTEND                                         
047285,000957: 15,3114           13130                          BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
047286,000958: 15,3115           61613                          AD       -VT/180                               
047287,000959: 15,3116           00006                          EXTEND                                         
047288,000960: 15,3117           71621                          MP       TON1                                  #  TON1 /4T
047289,000961: 15,3120           61615                          AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
047290,000962: 15,3121           61614                          AD       LCX/360                               
047291,000963: 15,3122           22007                          ZL                                             
047292,000964: 15,3123           56001                          XCH      L                                     #  TEST THE DIVIDE
047293,000965: 15,3124           00006                          EXTEND                                         
047294,000966: 15,3125           11567                          DV       VDT/180                               
047295,000967: 15,3126           00006                          EXTEND                                         
047296,000968: 15,3127           13132                          BZF      GETOFF2                               #  DIVIDE OK
047297,000969: 
047298,000970: 15,3130           35020        TOFFOVFL          CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
047299,000971: 15,3131           13137                          TCF      TIMSCAL                               
047300,000972: 
047301,000973:                                                                                                 # # Page 1086
047302,000974: 15,3132           56001        GETOFF2           XCH      L                                     #  GET NUMERATOR.
047303,000975: 15,3133           00006                          EXTEND                                         
047304,000976: 15,3134           11567                          DV       VDT/180                               #  C(A) = TOFF / 2T
047305,000977: 15,3135           00006                          EXTEND                                         
047306,000978: 15,3136           75020                          MP       2JETT                                 
047307,000979: 15,3137           55605        TIMSCAL           TS       TOFF                                  #  IN CS
047308,000980: 
047309,000981: 15,3140           33376                          CAF      4JETT                                 
047310,000982: 15,3141           00006                          EXTEND                                         
047311,000983: 15,3142           71621                          MP       TON1                                  #  C(TON1) = TON1 / 4T
047312,000984: 15,3143           55621                          TS       TON1                                  #   IN CS
047313,000985: 
047314,000986: 15,3144           33376                          CAF      4JETT                                 
047315,000987: 15,3145           00006                          EXTEND                                         
047316,000988: 15,3146           71607                          MP       TON2                                  #  C(TON2) = TON2 / 4T
047317,000989: 15,3147           55607                          TS       TON2                                  #  IN CS
047318,000990: 
047319,000991: 15,3150           34772                          CA       ZERO                                  #  CANNOT REDO AFTER TIMETST. TUSED GONE
047320,000992: 15,3151           55711                          TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
047321,000993: 
047322,000994:                                                                                                 #  CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047323,000995:                                                                                                 #  INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047324,000996:                                                                                                 #  AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047325,000997: 
047326,000998: 15,3152           34770                          CA       ONE                                   
047327,000999: 15,3153           54305                          TS       SW/NDX                                
047328,001000: 
047329,001001:                                                                                                 # # Page 1087
047330,001002: 
047331,001003:                                                                                                 #  TIMETEST SECTION FOR RCS
047332,001004:                                                                                                 #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASABLE LOCS TON1, TOFF, TON2, JNDX
047333,001005:                                                                                                 #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047334,001006:                                                                                                 #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS  2 CS) AND
047335,001007:                                                                                                 #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T  (2 SEC).
047336,001008:                                                                                                 #  TIMETST  ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME  INTERVALS. THUS: TON1, T1BITS,
047337,001009:                                                                                                 #  TOFF, TBITS,  TON2, T2BITS.   OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047338,001010:                                                                                                 #  SECTION JETCALL  BELOW PROCESSES THIS LIST.
047339,001011: 
047340,001012: 15,3154           30025        TIMETST           CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
047341,001013: 15,3155           64753                          AD       POS1/2                                
047342,001014: 15,3156           64753                          AD       POS1/2                                #  OVFL GUARANTEED.
047343,001015: 15,3157           27712                          ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
047344,001016: 
047345,001017: 15,3160           33374                          CA       -T-3                                  #  =-T +2 -5 (SEE SETJTAG)
047346,001018:                                                                                                 #  THE +2 REQUIRED FOR PROPER BRANCH.
047347,001019: 15,3161           27712                          ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
047348,001020: 
047349,001021: 15,3162           44767                          CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
047350,001022: 15,3163           61621                          AD       TON1                                  
047351,001023: 15,3164           00006                          EXTEND                                         
047352,001024: 15,3165           63177                          BZMF     TIMETST1                              
047353,001025: 15,3166           51617                          INDEX    JNDX                                  
047354,001026: 15,3167           32634                          CAF      P/RJCODE                              
047355,001027: 15,3170           55622                          TS       T1BITS                                
047356,001028: 
047357,001029: 15,3171           31621                          CA       TON1                                  
047358,001030: 15,3172           27712                          ADS      TUSED                                 
047359,001031: 15,3173           00006                          EXTEND                                         
047360,001032: 15,3174           63201                          BZMF     TOFFTEST                              
047361,001033: 15,3175           34772                          CA       ZERO                                  
047362,001034: 15,3176           13232                          TCF      TIMETST3                              
047363,001035: 15,3177           44770        TIMETST1          CS       ONE                                   
047364,001036: 15,3200           55621                          TS       TON1                                  
047365,001037: 15,3201           44767        TOFFTEST          CS       TWO                                   
047366,001038: 15,3202           61605                          AD       TOFF                                  
047367,001039: 15,3203           00006                          EXTEND                                         
047368,001040: 15,3204           63213                          BZMF     TIMETST2                              
047369,001041: 15,3205           31605                          CA       TOFF                                  
047370,001042: 15,3206           27712                          ADS      TUSED                                 
047371,001043: 15,3207           00006                          EXTEND                                         
047372,001044: 15,3210           63215                          BZMF     TON2TEST                              
047373,001045: 15,3211           34772                          CA       ZERO                                  
047374,001046: 15,3212           13234                          TCF      TIMETST4                              
047375,001047: 15,3213           44770        TIMETST2          CS       ONE                                   
047376,001048: 15,3214           55605                          TS       TOFF                                  
047377,001049: 15,3215           44767        TON2TEST          CS       TWO                                   
047378,001050: 15,3216           61607                          AD       TON2                                  
047379,001051: 15,3217           00006                          EXTEND                                         
047380,001052: 15,3220           63235                          BZMF     TIMETST5                              
047381,001053:                                                                                                 # # Page 1088
047382,001054: 15,3221           51620                          INDEX    JNDX1                                 
047383,001055: 15,3222           32634                          CAF      P/RJCODE                              
047384,001056: 15,3223           55610                          TS       T2BITS                                
047385,001057: 15,3224           31607                          CA       TON2                                  
047386,001058: 15,3225           27712                          ADS      TUSED                                 
047387,001059: 15,3226           00006                          EXTEND                                         
047388,001060: 15,3227           63237                          BZMF     JETCALL1                              
047389,001061: 15,3230           34772                          CA       ZERO                                  
047390,001062: 15,3231           13236                          TCF      TIMETST5   +1                         
047391,001063: 15,3232           55621        TIMETST3          TS       TON1                                  
047392,001064: 15,3233           44770                          CS       ONE                                   
047393,001065: 15,3234           55605        TIMETST4          TS       TOFF                                  
047394,001066: 15,3235           44770        TIMETST5          CS       ONE                                   
047395,001067: 15,3236           55607                 +1       TS       TON2                                  
047396,001068: 
047397,001069:                                                                                                 #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047398,001070:                                                                                                 #  JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047399,001071:                                                                                                 #  EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE  CORRESPOINDING JET BITS ARE TO BE
047400,001072:                                                                                                 #  EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE 
047401,001073:                                                                                                 #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047402,001074:                                                                                                 #  THAN ONE REGISTER.
047403,001075: 
047404,001076: 15,3237           34772        JETCALL1          CA       ZERO                                  
047405,001077: 15,3240           55611                          TS       OUTTAG                                
047406,001078: 15,3241           55612                          TS       NUJET                                 
047407,001079: 15,3242           55606                          TS       TBITS                                 
047408,001080: 15,3243           53622                          DXCH     TON1                                  
047409,001081: 15,3244           10000                          CCS      A                                     
047410,001082: 15,3245           13262                          TCF      JETCALL2                              #  CALL WTLST
047411,001083: 15,3246           23612        JETCALL3          LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
047412,001084: 15,3247           44770                          CS       ONE                                   
047413,001085: 15,3250           53606                          DXCH     TOFF                                  
047414,001086: 15,3251           10000                          CCS      A                                     
047415,001087: 15,3252           13262                          TCF      JETCALL2                              #  CALL WTLST
047416,001088: 15,3253           23612                          LXCH     NUJET                                 
047417,001089: 15,3254           44770                          CS       ONE                                   
047418,001090: 15,3255           53610                          DXCH     TON2                                  
047419,001091: 15,3256           10000                          CCS      A                                     
047420,001092: 15,3257           13262                          TCF      JETCALL2                              #  CALL WTLST
047421,001093: 15,3260           23612                          LXCH     NUJET                                 
047422,001094: 15,3261           03270                          TC       JETACTN                               #  C(A) = +0
047423,001095: 15,3262           56001        JETCALL2          XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
047424,001096: 15,3263           27612                          ADS      NUJET                                 
047425,001097: 15,3264           56001                          XCH      L                                     
047426,001098: 15,3265           64770                          AD       ONE                                   #  RESTORE FOR CCS
047427,001099: 15,3266           05223                          TC       TWIDDLE                               
047428,001100: 15,3267           03276                          ADRES    JETCALL                               
047429,001101: 15,3270           31612        JETACTN           CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN
047430,001102: 15,3271           00006                 +1       EXTEND                                         #  NO NEED TO SAVE OLD CODES
047431,001103: 15,3272           01006                          WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.
047432,001104:                                                                                                 # # Page 1089             
047433,001105: 15,3273           11611                          CCS      OUTTAG                                
047434,001106: 15,3274           05314                          TC       TASKOVER                              
047435,001107: 15,3275           03333        ROLLDUMP          TC       CM/FDAIR                              
047436,001108: 
047437,001109:                                                                                                 #  EDIT DUMP AT ABOVE LOCATION.
047438,001110: 
047439,001111:                                                                                                 #   WAITLIST ENTRIES COME HERE.
047440,001112: 
047441,001113: 15,3276           34767        JETCALL           CAF      CM/DSBIT                              #  CM/DSTBY = BIT2 103D
047442,001114: 15,3277           55611                          TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
047443,001115: 15,3300           70102                          MASK     CM/FLAGS                              #  IS SYSTEM DISABLED  $
047444,001116: 15,3301           00006                          EXTEND                                         
047445,001117: 15,3302           13271                          BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS, IF ON AND EXIT.
047446,001118: 15,3303           22007                          ZL                                             #  NO, CONTINUE.
047447,001119: 15,3304           13246                          TCF      JETCALL3                              #  C(A) POS, C(L) = +0
047448,001120: 
047449,001121:                                                                                                 #    DEAD ZONE ENTRIES COME HERE.
047450,001122: 
047451,001123: 15,3305           41700        DZCALL            CS       CMDAPMOD                              #  POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047452,001124: 15,3306           74770                          MASK     BIT1                                  
047453,001125: 15,3307           54001                          TS       L                                     #  C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047454,001126: 15,3310           50000                          INDEX    A                                     #  ERASABLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047455,001127: 15,3311           31714                          CA       ROLLTM                                #  GET ROLL/180 OR ROLLC  (/360).
047456,001128: 15,3312           50001                          INDEX    L                                     
047457,001129: 15,3313           54000                          TS       A                                     #  IF C(L)=1, STORE 'ROLLC' IN 'L'.
047458,001130: 15,3314           60001                          AD       L                                     #  (BOTH MUST BE SCALED DEG/180)
047459,001131: 15,3315           02151                          TC       ANGOVCOR                              #  C(A)=ROLL/180  OR  2 ROLLC  .
047460,001132: 15,3316           55717                          TS       ROLLHOLD                              #  IF CMDAPMOD =-0, SAVE ROLL ANGLE.
047461,001133:                                                                                                 #        OTHERWISE, SAVE ROLL COMMAND.
047462,001134: 
047463,001135: 15,3317           34772                          CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCEL JETS.
047464,001136: 15,3320           00006                          EXTEND                                         #  INHINT NOT NEEDED HERE.
047465,001137: 15,3321           01006                          WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
047466,001138: 15,3322           55567                          TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
047467,001139: 15,3323           55711        DZCALL1           TS       JETAG                                 #  COME HERE WITH C(A)=0.
047468,001140: 15,3324           03275                          TC       ROLLDUMP                              
047469,001141: 
047470,001142:                                                                                                 # # Page 1090
047471,001143: 
047472,001144:                                                                                                 #   CM ENTRY FDAI DISPLAY
047473,001145: 
047474,001146:                                                                                                 #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047475,001147:                                                                                                 #            ATM DAP:    DISPLAY ONLY ROLL ATTITUDE ERROR.
047476,001148:                                                                                                 #            EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047477,001149:                                                                                                 #                                          ROLL    ROLLC-ROLL
047478,001150:                                                                                                 #                                          PITCH   ALFAC-ALFA
047479,001151:                                                                                                 #                                          YAW     BETAC-BETA
047480,001152: 
047481,001153:                                                                                                 #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND  16.875 DEG IN PITCH AND YAW.
047482,001154:                                                                                                 #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG   FULL SCALE.
047483,001155: 
047484,001156:                                                                                                 #  COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047485,001157: 15,3325           41705        CM/FDAI           CS       PHIDOT                                #  INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047486,001158: 15,3326           00006                          EXTEND                                         
047487,001159: 15,3327           71506                          MP       CALFA                                 #  FOR ASSUMED COORDINATION.
047488,001160: 15,3330           00006                          EXTEND                                         
047489,001161: 15,3331           74753                          MP       HALF                                  
047490,001162: 15,3332           27713                 -1       ADS      PAXERR1                               #  ROLL ERROR/360.        OVFL OK.
047491,001163: 
047492,001164:                                                                                                 #  EDIT DUMP AT ABOVE LOCATION.
047493,001165: 15,3333           34753        CM/FDAIR          CA       HALF                                  
047494,001166: 15,3334           00006                          EXTEND                                         
047495,001167: 15,3335           71713                          MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047496,001168: 15,3336           55476                          TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047497,001169: 
047498,001170:                                                                                                 #  PROGRAM TO FILE BODY  RATES FOR TM ON ONE PASS AND
047499,001171:                                                                                                 #  TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047500,001172:                                                                                                 #  SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047501,001173:                                                                                                 #  IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047502,001174:                                                                                                 #  THE SUBSEQUENT PASS.
047503,001175: 
047504,001176: 
047505,001177: 15,3337           40305        CM/DUMPR          CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
047506,001178: 15,3340           54305                          TS       SW/NDX                                
047507,001179: 15,3341           00006                          EXTEND                                         #  INDEX.
047508,001180: 15,3342           63346                          BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
047509,001181:                                                                                                 #  ENDBUF.                        
047510,001182:                                                                                                 #  INDEX IS POS FOR NEEDLES.
047511,001183: 
047512,001184: 15,3343           04714                          TC       IBNKCALL                              
047513,001185: 15,3344           42425                          CADR     NEEDLER                               
047514,001186: 
047515,001187: 15,3345           03364                          TC       CM/END                                
047516,001188: 
047517,001189:                                                                                                 #  INDEX IS NEG FOR TM FILE
047518,001190: 
047519,001191: 15,3346           66214        CMTMFILE          AD       THREE                                 
047520,001192: 15,3347           00006                          EXTEND                                         
047521,001193: 15,3350           63354                          BZMF     SAVENDX                               
047522,001194: 
047523,001195:                                                                                                 # # Page 1091
047524,001196: 15,3351           30025                          CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
047525,001197: 15,3352           54304                          TS       CMTMTIME                              
047526,001198: 15,3353           44776                          CS       THIRTEEN                              #   INITIALIZE COUNTER
047527,001199: 15,3354           54305        SAVENDX           TS       SW/NDX                                #  A NEGATIVE NUMBER.
047528,001200: 15,3355           00006                          EXTEND                                         
047529,001201: 15,3356           31702                          DCA      PREL                                  
047530,001202: 15,3357           50305                          INDEX    SW/NDX                                
047531,001203: 15,3360           52324                          DXCH     ENDBUF     -1                         
047532,001204: 15,3361           31703                          CA       RREL                                  
047533,001205: 15,3362           50305                          INDEX    SW/NDX                                
047534,001206: 15,3363           54325                          TS       ENDBUF     +1                         
047535,001207: 
047536,001208: 15,3364           31623        CM/END            CA       CM/SAVE                               
047537,001209: 15,3365           54021                          TS       SR                                    
047538,001210:                                                                                                 #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047539,001211: 
047540,001212: 15,3366           00006                          EXTEND                                         
047541,001213: 15,3367           33373                          DCA      T5IDLER2                              
047542,001214: 15,3370           52113                          DXCH     T5LOC                                 
047543,001215: 15,3371           05323                          TC       RESUME                                
047544,001216: 
047545,001217: 15,3372     0112                                 EBANK=   T5LOC                                 
047546,001218: 15,3372           03226 12060  T5IDLER2          2CADR    T5IDLOC                               
047547,001219: 
047548,001220:                                                                                                 #  DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047549,001221:                                                                                                 #  USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047550,001222:                                                                                                 #  THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047551,001223:                                                                                                 #  DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
047552,001224:                                                                                                 #  EACH 2 SECONDS.
047553,001225: 
047554,001226:                                                                                                 #  THE SEQUENCE IS:       SP TIME         INITIAL TIME
047555,001227:                                                                                                 #                         SWITCH           ALSO INDEX.
047556,001228:                                                                                                 #                         P                ROLL RATE
047557,001229:                                                                                                 #                         Q                PITCH RATE
047558,001230:                                                                                                 #                         R                YAW RATE
047559,001231:                                                                                                 #                         ETC.
047560,001232: 
047561,001233:                                                                                                 # CMTMTIME        =       UPBUFF
047562,001234:                                                                                                 # SW/NDX          =       UPBUFF +1
047563,001235:                                                                                                 # ENDBUF          =       UPBUFF +16D
047564,001236: 
047565,001237:                                                                                                 # # Page 1092
047566,001238: 
047567,001239:                                                                                                 #  SPACER
047568,001240: 
047569,001241:                                                                                                 #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:     
047570,001242:                                                                                                 #  CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC,       T = 2 SEC,  TCDU = .1 SEC,
047571,001243:                                                                                                 #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ,  VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047572,001244:                                                                                                 #  XBUF = 4DEG
047573,001245: 
047574,001246: 15,3374           77464        -T-3              DEC      -203       B-14                       #  CS
047575,001247:                                                                                                 # VSQMIN          DEC     .61050061 E-3   # VSQ MIN/4 A PI = 4/(4  (9.1)  180)
047576,001248: 15,3375     4355               VSQMIN            =        OCT12                                 
047577,001249: 15,3375     5004               2T/TCDU           =        OCT50                                 #  T/TCDU  EXP-14   TCDU = .1SEC
047578,001250: 15,3375           23617        180/8ATT          DEC      .61813187                             #  180/(8  (9.1) 4)=(180/ATT)  EXP -3
047579,001251: 15,3376  15,3400               -VMT/180          =        -VM/360K                              #  = 20  (2) / 180
047580,001252: 15,3376     5020               2JETT             =        4SECS                                 #  CS           2 (2) 100   INTEGER
047581,001253: 15,3376           01440        4JETT             DEC      800        B-14                       #  CS           4 (2) 100   INTEGER
047582,001254: 15,3377           00266        XMIN/360          DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
047583,001255: 15,3400           70706        -VM/360K          DEC      -.22222222                            #  =-20/( 360  (.25))
047584,001256: 15,3401  15,3375               1/16A1            =        180/8ATT                              
047585,001257:                                                                                                 #  1/16A1  = 180/(16 A1 TT)
047586,001258:                                                                                                 #          =180/(16  4.55  4)
047587,001259: 15,3401           00133        XS/360            DEC      91         B-14                       #  =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047588,001260: 15,3402  15,3401               BUFLIM            =        XS/360                                #  4/(2  360)
047589,001261: 
047590,001262: 15,3402     4753               KTRCS             =        HALF                                  #  KT = (.25) 2 = .5
047591,001263: 
047592,001264:                                                                                                 #  *** END OF ULYSSES .029 ***

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