Source Code

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

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

044484,000002:                                                                                                 #  Copyright:    Public domain.
044485,000003:                                                                                                 #  Filename:      CM_ENTRY_DIGITAL_AUTOPILOT.agc
044486,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
044487,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
044488,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
044489,000007:                                                                                                 #  Assembler:    yaYUL
044490,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
044491,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
044492,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
044493,000011:                                                                                                 #  Mod history:  2011-04-09 JL    Adapted from corresponding Colossus 249 file.
044494,000012:                                                                                                 #                 2011-04-17 JL   Removed temporary line.
044495,000013:                                                                                                 #                 2011-04-27 JL   Fixed symbol name.
044496,000014:                                                                                                 #                 2011-04-29 JL   Had = instead of DEC.
044497,000015: 
044498,000016:                                                                                                 # # Page 1031
044499,000017:                                                                                                 #  SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES.   GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
044500,000018:                                                                                                 #  DIFFERENCES ARE IN 1S COMP.     ENTER AND READ ANGLES EACH .1 SEC.
044501,000019: 
044502,000020:                                                                                                 #           CM/DSTBY = 1  FOR DAP OPERATION
044503,000021:                                                                                                 #           CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
044504,000022: 
044505,000023: 15,2454                                          BANK     15                                    
044506,000024: 
044507,000025: 15,2000                                          SETLOC   ETRYDAP                               
044508,000026: 15,2000                                          BANK                                           
044509,000027: 
044510,000028: 15,2454                                          COUNT    15/DAPEN                              
044511,000029: 
044512,000030: 15,2454  E6,1661                                 EBANK=   AOG                                   
044513,000031: 
044514,000032: 15,2454           34377        READGYMB          CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
044515,000033: 15,2455           27725                          ADS      CM/GYMDT                              #  PIPTIME. (GROUP 6)
044516,000034: 
044517,000035:                                                                                                 #                                IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
044518,000036:                                                                                                 #                                PHASCHNG PROTECTION IS IN CM/DAPIC.
044519,000037: 
044520,000038: 15,2456           34705                          CA       BIT6                                  #  CHECK FOR FINE ALIGN MODE OF CDU.
044521,000039: 15,2457           71321                          MASK     IMODES33                              #  ( PROTECT AOG/PIP ETC AS WELL AS
044522,000040: 15,2460           00006                          EXTEND                                         #   GIMBAL DIFFERENCES)
044523,000041: 15,2461           12467                          BZF      READGYM1                              #  OK
044524,000042: 
044525,000043: 15,2462           44712                          CS       BIT1                                  #  NOT IN FINE ALIGN, SO IDLE.
044526,000044: 15,2463           70102                          MASK     CM/FLAGS                              #  SET GYMDIFSW = 0
044527,000045: 15,2464           54102                          TS       CM/FLAGS                              
044528,000046: 15,2465           06000                          TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
044529,000047: 15,2466           02534                          TC       CM/GYMIC   +2                         
044530,000048: 
044531,000049: 15,2467           30032        READGYM1          CA       CDUX                                  
044532,000050: 15,2470           57661                          XCH      AOG                                   
044533,000051: 15,2471           00006                          EXTEND                                         
044534,000052: 15,2472           21661                          MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
044535,000053: 15,2473           55675                          TS       -DELAOG                               
044536,000054: 
044537,000055: 15,2474           30033                          CA       CDUY                                  
044538,000056: 15,2475           57662                          XCH      AIG                                   
044539,000057: 15,2476           00006                          EXTEND                                         
044540,000058: 15,2477           21662                          MSU      AIG                                   
044541,000059: 15,2500           55676                          TS       -DELAIG                               
044542,000060: 
044543,000061: 15,2501           30034                          CA       CDUZ                                  
044544,000062: 15,2502           57663                          XCH      AMG                                   
044545,000063: 15,2503           00006                          EXTEND                                         
044546,000064: 15,2504           21663                          MSU      AMG                                   
044547,000065: 15,2505           55677                          TS       -DELAMG                               
044548,000066: 
044549,000067:                                                                                                 # # Page 1032
044550,000068: 15,2506           40102        DOBRATE?          CS       CM/FLAGS                              #  CM/DSTBY=103D BIT2  GYMDIFSW=104D BIT1
044551,000069: 15,2507           76214                          MASK     THREE                                 
044552,000070: 15,2510           50000                          INDEX    A                                     
044553,000071: 15,2511           02512                          TC       +1                                    
044554,000072: 15,2512           02521                          TC       DOBRATE                               #  OK, GO ON
044555,000073: 15,2513           02532                          TC       CM/GYMIC                              #  DONT CALC BODYRATE ON FIRST PASS.
044556,000074: 15,2514           12515                          NOOP                                           
044557,000075: 15,2515           06000                          TC       FLUSHJET                              #  TURN OFF ALL JETS
044558,000076: 
044559,000077: 15,2516           05301                          TC       PHASCHNG                              
044560,000078: 15,2517           00006                          OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
044561,000079: 
044562,000080: 15,2520           05213                          TC       TASKOVER                              
044563,000081: 
044564,000082: 15,2521           34712        DOBRATE           CA       ONE                                   #  DO BODYRATE
044565,000083: 15,2522           55720        DOBRATE1          TS       JETEM                                 #  SKIP BODYRATE.
044566,000084: 
044567,000085: 15,2523           34377                          CA       TEN                                   #  KEEP CDU READ GOING.
044568,000086: 15,2524           05140                          TC       WAITLIST                              
044569,000087: 15,2525  E6,1661                                 EBANK=   AOG                                   
044570,000088: 15,2525           02454 32066                    2CADR    READGYMB                              
044571,000089: 
044572,000090:                                                                                                 #                                DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
044573,000091: 
044574,000092: 15,2527           11720                          CCS      JETEM                                 
044575,000093: 15,2530           02556                          TC       BODYRATE                              
044576,000094: 15,2531           05213                          TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS. (PASSES)
044577,000095: 
044578,000096: 15,2532           26102        CM/GYMIC          ADS      CM/FLAGS                              #  GYMDIFSW: C(A)=1, KNOW BIT IS 0
044579,000097: 15,2533           34714                          CAF      ZERO                                  
044580,000098: 15,2534           55711                          TS       JETAG                                 
044581,000099: 15,2535           55706                          TS       OLDELP                                
044582,000100: 15,2536           55707                          TS       OLDELQ                                
044583,000101: 15,2537           55710                          TS       OLDELR                                
044584,000102: 15,2540           55723                          TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
044585,000103: 15,2541           02522                          TC       DOBRATE1                              
044586,000104: 
044587,000105:                                                                                                 # # Page 1033
044588,000106:                                                                                                 #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
044589,000107: 
044590,000108: 15,2542           54001        ANGOVCOR          TS       L                                     #  THIS COSTS 2 MCT TO USE.
044591,000109: 15,2543           00002                          TC       Q                                     #  NO OVFL
044592,000110: 15,2544           50000                          INDEX    A                                     
044593,000111: 15,2545           34673                          CAF      LIMITS                                
044594,000112: 15,2546           26001                          ADS      L                                     
044595,000113: 15,2547           00002                          TC       Q                                     
044596,000114: 
044597,000115:    6000                                          BLOCK    3                                     
044598,000116: 
044599,000117:    6000                                          COUNT    03/DAPEN                              
044600,000118: 
044601,000119:    6000           30007        FLUSHJET          CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
044602,000120:    6001           00006                          EXTEND                                         
044603,000121:    6002           01006                          WRITE    ROLLJETS                              #  ZERO CHANNEL 6
044604,000122:    6003           00006                          EXTEND                                         
044605,000123:    6004           01005                          WRITE    PYJETS                                #  ZERO CHANNEL 5
044606,000124:    6005           00002                          TC       Q                                     
044607,000125: 
044608,000126: 15,2550                                          BANK     15                                    
044609,000127: 
044610,000128: 15,2550                                          COUNT    15/DAPEN                              
044611,000129: 
044612,000130: 15,2000                                          SETLOC   ETRYDAP                               
044613,000131: 15,2000                                          BANK                                           
044614,000132: 
044615,000133: 15,2550           40000        RATEAVG           COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
044616,000134: 15,2551           61720                          AD       JETEM                                 #  OF CONSTANT ACCELERATION.
044617,000135: 15,2552           00006                          EXTEND                                         
044618,000136: 15,2553           74675                          MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
044619,000137: 15,2554           61720                          AD       JETEM                                 
044620,000138: 15,2555           00002                          TC       Q                                     
044621,000139: 
044622,000140:                                                                                                 # # Page 1034
044623,000141:                                                                                                 #   THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
044624,000142: 
044625,000143: 20,3550                                          BANK     20                                    
044626,000144: 20,2000                                          SETLOC   DAPS1                                 
044627,000145: 20,2000                                          BANK                                           
044628,000146: 
044629,000147: 20,3550                                          COUNT    20/DAPEN                              
044630,000148: 
044631,000149: 20,3550  E6,1661                                 EBANK=   AOG                                   
044632,000150: 
044633,000151: 20,3550           34752        CM/DAPON          CA       EBAOG                                 
044634,000152: 20,3551           54003                          TS       EBANK                                 
044635,000153: 
044636,000154: 20,3552           05447                          TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
044637,000155: 20,3553           00132                          ADRES    DAPBIT1                               #  BIT 15  FLAG 6           CM FLAGS.
044638,000156: 20,3554           05447                          TC       DOWNFLAG                              #  RESET DAPBIT2
044639,000157: 20,3555           00133                          ADRES    DAPBIT2                               #  BIT 14  FLAG 6
044640,000158: 20,3556           00006                          EXTEND                                         
044641,000159: 20,3557           33675                          DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
044642,000160: 20,3560           53313                          DXCH     T5LOC                                 
044643,000161: 20,3561           00006                          EXTEND                                         
044644,000162: 20,3562           33675                          DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
044645,000163: 20,3563           53311                          DXCH     T6LOC                                 
044646,000164: 
044647,000165: 20,3564           06000                          TC       FLUSHJET                              #  JETS DEPARTED  ON SM. ZERO JET BITS.
044648,000166: 
044649,000167: 20,3565           47707                          CS       13,14,15                              
044650,000168: 20,3566           71466                          MASK     DAPDATR1                              #  SET  CONFIG  BITS =0 FOR ENTRY
044651,000169: 20,3567           55466                          TS       DAPDATR1                              
044652,000170: 20,3570           03574                          TC       +4                                    
044653,000171: 
044654,000172: 20,3571           34731        NOTYET            CA       .5SEC                                 
044655,000173: 20,3572           04555                          TC       BANKCALL                              
044656,000174: 20,3573           01730                          CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
044657,000175: 20,3574           34700        +4                CA       BIT11                                 #  GAMDIFSW = 94D BIT11,  INITLY=0
044658,000176: 20,3575           70102                          MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
044659,000177: 20,3576           00006                          EXTEND                                         
044660,000178: 20,3577           13571                          BZF      NOTYET                                
044661,000179: 
044662,000180: 20,3600           44712                          CS       ONE                                   #  ACTIVATE CM/DAP
044663,000181: 20,3601           55501                          TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
044664,000182:                                                                                                 #                                           NEXT PASS.
044665,000183: 20,3602           55727                          TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
044666,000184:                                                                                                 #                                           HEADSUP IS SET IN P62.
044667,000185:                                                                                                 #                                FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
044668,000186: 
044669,000187: 20,3603           30007                          CA       7                                     
044670,000188: 20,3604           55711                          TS       JETAG                                 
044671,000189: 20,3605           55713                          TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
044672,000190:                                                                                                 #                                           IN CASE CMDAPMOD IS NOT +1.
044673,000191:                                                                                                 # # Page 1035
044674,000192: 20,3606           00004                          INHINT                                         
044675,000193: 20,3607           00006                          EXTEND                                         
044676,000194: 20,3610           31666                          DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD
044677,000195: 20,3611           53604                          DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
044678,000196: 20,3612           31664                          CA       ROLL/180                              
044679,000197: 20,3613           55717                          TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
044680,000198: 20,3614           00006                          EXTEND                                         
044681,000199: 20,3615           74675                          MP       HALF                                  
044682,000200: 20,3616           55715                          TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
044683,000201: 
044684,000202: 20,3617           40102                          CS       CM/FLAGS                              
044685,000203: 20,3620           74677                          MASK     BIT12                                 #  CMDAPARM =93D BIT12  INITLY=0
044686,000204: 20,3621           26102                          ADS      CM/FLAGS                              #  SET BIT TO 1.
044687,000205: 
044688,000206: 20,3622           40076                          CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
044689,000207: 20,3623           74712                          MASK     BIT1                                  #  V 37 ENTRIES.
044690,000208: 20,3624           26076                          ADS      FLAGWRD2                              
044691,000209: 
044692,000210: 20,3625           00003                          RELINT                                         
044693,000211: 
044694,000212: 20,3626           04574                          TC       POSTJUMP                              
044695,000213: 20,3627           54342                          CADR     P62.1                                 
044696,000214: 
044697,000215:                                                                                                 # # Page 1036
044698,000216:                                                                                                 #  INITIALIZE CM/DAP.   WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
044699,000217:                                                                                                 #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG  .
044700,000218:                                                                                                 #   CMDAPARM  = 0   , SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
044701,000219:                                                                                                 #  SET AVEGEXIT TO CONTINUE AT CM/POSE
044702,000220: 
044703,000221: 
044704,000222: 20,3630           34752        CM/DAPIC          CA       EBAOG                                 
044705,000223: 20,3631           54003                          TS       EBANK                                 
044706,000224: 
044707,000225: 20,3632           00004                          INHINT                                         
044708,000226: 20,3633           41205        CM/DAP2C          CS       PIPTIME    +1                         
044709,000227:                                                                                                 #                                           PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
044710,000228: 20,3634           55720                          TS       JETEM                                 
044711,000229: 
044712,000230: 20,3635           34675                          CA       POS1/2                                
044713,000231: 20,3636           64675                          AD       POS1/2                                
044714,000232: 20,3637           60025                          AD       TIME1                                 #  OVFL GUARANTEED
044715,000233: 20,3640           27720                          ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
044716,000234: 
044717,000235: 20,3641           44715                          CS       FIVE                                  
044718,000236: 20,3642           61720                          AD       JETEM                                 
044719,000237: 20,3643           10000                          CCS      A                                     
044720,000238: 20,3644           63673                          AD       -CDUT+1                               
044721,000239: 20,3645           13643                          TCF      -2                                    
044722,000240: 20,3646           13647                          NOOP                                           
044723,000241: 20,3647           64712                          AD       ONE                                   #  SEND NO ZERO TO WTLST
044724,000242: 20,3650           55725                          TS       CM/GYMDT                              #  FOR RESTART
044725,000243: 20,3651           05140                          TC       WAITLIST                              
044726,000244: 20,3652  E6,1661                                 EBANK=   AOG                                   
044727,000245: 20,3652           02454 32066                    2CADR    READGYMB                              
044728,000246: 
044729,000247: 20,3654           43672                          CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
044730,000248: 20,3655           70102                          MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
044731,000249: 20,3656           64377                          AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
044732,000250:                                                                                                 #                                           DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
044733,000251:                                                                                                 #                                           CALC. (P62.3) GOES TO ENDEXIT.
044734,000252: 20,3657           54102                          TS       CM/FLAGS                              
044735,000253: 
044736,000254: 20,3660           30007                          CA       7                                     
044737,000255: 20,3661           55666                          TS       BETA/180                              #  NECESSARY: NO OVFL CORRECTION
044738,000256: 20,3662           34712                          CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
044739,000257: 20,3663           54305                          TS       SW/NDX                                #    UPBUFF.
044740,000258: 
044741,000259: 20,3664           05261                          TC       2PHSCHNG                              #  DOES INHINT/RELINT
044742,000260: 20,3665           40116                          OCT      40116                                 #  SAVE TBASE6
044743,000261: 20,3666           05024                          OCT      05024                                 
044744,000262: 20,3667           13000                          OCT      13000                                 
044745,000263: 
044746,000264: 20,3670           04574                          TC       POSTJUMP                              
044747,000265:                                                                                                 # # Page 1037
044748,000266: 20,3671           54326                          CADR     P62.2                                 
044749,000267: 
044750,000268: 20,3672           16017        CM/SWIC1          OCT      16017                                 
044751,000269: 20,3673     4377               CM/SWIC2          =        TEN                                   #  00012 : CM/DSTBY, LATSW
044752,000270: 20,3673           77766        -CDUT+1           OCT      77766                                 
044753,000271: 20,3674     1312                                 EBANK=   T5LOC                                 
044754,000272: 20,3674           03132 12062  T5IDLER1          2CADR    T5IDLOC                               
044755,000273: 
044756,000274:                                                                                                 # # Page 1038
044757,000275:                                                                                                 #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
044758,000276:                                                                                                 #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED  P, Q, R.       REQUIREMENT:  TEMPORARY ERASE. JETEM, JETEM +1
044759,000277: 
044760,000278:                                                                                                 #           SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE  ENTRY DAPS. THAT IS,
044761,000279:                                                                                                 #  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
044762,000280:                                                                                                 #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE  SECTION TIMETST HAS
044763,000281:                                                                                                 #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
044764,000282:                                                                                                 #  THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
044765,000283: 
044766,000284: 20,3676  E6,1661                                 EBANK=   AOG                                   
044767,000285: 15,2556                                          BANK     15                                    
044768,000286: 15,2000                                          SETLOC   ETRYDAP                               
044769,000287: 15,2000                                          BANK                                           
044770,000288: 
044771,000289: 15,2556                                          COUNT    15/DAPEN                              
044772,000290: 
044773,000291: 15,2556           31663        BODYRATE          CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
044774,000292: 15,2557           04767                          TC       SPCOS                                 
044775,000293: 15,2560           55511                          TS       COSM                                  
044776,000294: 
044777,000295: 15,2561           31661                          CA       AOG                                   #  C(AOG) = AOG/180
044778,000296: 15,2562           04770                          TC       SPSIN                                 #  SINO
044779,000297: 15,2563           55512                          TS       SINO                                  #  SINO = SIN(AOG)
044780,000298: 
044781,000299: 15,2564           00006                          EXTEND                                         
044782,000300: 15,2565           71511                          MP       COSM                                  
044783,000301: 15,2566           55514                          TS       SINOCOSM                              #  SO CM
044784,000302: 
044785,000303: 15,2567           31661                          CA       AOG                                   
044786,000304: 15,2570           04767                          TC       SPCOS                                 #  COSO
044787,000305: 15,2571           55513                          TS       COSO                                  
044788,000306: 
044789,000307: 15,2572           00006                          EXTEND                                         
044790,000308: 15,2573           71511                          MP       COSM                                  
044791,000309: 15,2574           55515                          TS       COSOCOSM                              #  CO CM
044792,000310: 
044793,000311:                                                                                                 #  PITCHDOT:    Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
044794,000312: 
044795,000313: 15,2575           41677                          CS       -DELAMG                               
044796,000314: 15,2576           00006                          EXTEND                                         
044797,000315: 15,2577           71512                          MP       SINO                                  
044798,000316: 15,2600           53721                          DXCH     JETEM                                 #  2 LOCS _
044799,000317: 15,2601           41676                          CS       -DELAIG                               
044800,000318: 15,2602           00006                          EXTEND                                         
044801,000319: 15,2603           71515                          MP       COSOCOSM                              
044802,000320: 15,2604           21721                          DAS      JETEM                                 
044803,000321: 15,2605           31720                          CA       JETEM                                 
044804,000322: 15,2606           57707                          XCH      OLDELQ                                
044805,000323: 15,2607           02550                          TC       RATEAVG                               
044806,000324: 15,2610           55702                          TS       QREL                                  #  PITCHDOT = Q TCDU/180
044807,000325: 
044808,000326:                                                                                                 # # Page 1039
044809,000327:                                                                                                 #  YAWDOT:   R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
044810,000328: 
044811,000329: 15,2611           41677                          CS       -DELAMG                               
044812,000330: 15,2612           00006                          EXTEND                                         
044813,000331: 15,2613           71513                          MP       COSO                                  
044814,000332: 15,2614           53721                          DXCH     JETEM                                 
044815,000333: 15,2615           31676                          CA       -DELAIG                               
044816,000334: 15,2616           00006                          EXTEND                                         
044817,000335: 15,2617           71514                          MP       SINOCOSM                              
044818,000336: 15,2620           21721                          DAS      JETEM                                 
044819,000337: 15,2621           31720                          CA       JETEM                                 
044820,000338: 15,2622           57710                          XCH      OLDELR                                
044821,000339: 15,2623           02550                          TC       RATEAVG                               
044822,000340: 15,2624           55703                          TS       RREL                                  #  YAWDOT = R TCDU/180
044823,000341: 
044824,000342:                                                                                                 #  ROLLDOT:   P TCDU/180 = CDOT TCDU/180 + IDOT/180 SINM
044825,000343: 
044826,000344: 15,2625           31663                          CA       AMG                                   
044827,000345: 15,2626           04770                          TC       SPSIN                                 
044828,000346: 15,2627           55510                          TS       SINM                                  
044829,000347: 
044830,000348: 15,2630           00006                          EXTEND                                         
044831,000349: 15,2631           71676                          MP       -DELAIG                               
044832,000350: 15,2632           55720                          TS       JETEM                                 
044833,000351: 15,2633           34714                          CA       ZERO                                  
044834,000352: 15,2634           20001                          DDOUBL                                         #  ROUND L INTO A
044835,000353: 15,2635           61675                          AD       -DELAOG                               
044836,000354: 15,2636           61720                          AD       JETEM                                 
044837,000355: 15,2637           40000                          CS       A                                     
044838,000356: 15,2640           55720                          TS       JETEM                                 
044839,000357: 15,2641           57706                          XCH      OLDELP                                
044840,000358: 15,2642           02550                          TC       RATEAVG                               
044841,000359: 15,2643           55701                          TS       PREL                                  #  ROLLDOT = P TCDU/180
044842,000360: 
044843,000361:                                                                                                 #                                IF GAMDOT  < 0.5 DEG/SEC, THEN GAMDOT =0
044844,000362: 
044845,000363: 15,2644           11723                          CCS      GAMDOT                                
044846,000364: 15,2645           02647                          TC       +2                                    
044847,000365: 15,2646           02671                          TC       NOGAMDUT                              
044848,000366: 15,2647           41664                          CS       ROLL/180                              
044849,000367: 15,2650           04770                          TC       SPSIN                                 
044850,000368: 15,2651           00006                          EXTEND                                         
044851,000369: 15,2652           71723                          MP       GAMDOT                                
044852,000370: 15,2653           55721                          TS       JETEM      +1                         #  -SR GAMDOT
044853,000371: 15,2654           00006                          EXTEND                                         
044854,000372: 15,2655           71507                          MP       SALFA                                 #  SIN(ALFA)
044855,000373: 15,2656           27701                          ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
044856,000374: 
044857,000375: 15,2657           31664                          CA       ROLL/180                              
044858,000376: 15,2660           04767                          TC       SPCOS                                 
044859,000377:                                                                                                 # # Page 1040
044860,000378: 15,2661           40000                          COM                                            
044861,000379: 15,2662           00006                          EXTEND                                         
044862,000380: 15,2663           71723                          MP       GAMDOT                                
044863,000381: 15,2664           27702                          ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
044864,000382: 
044865,000383: 15,2665           41721                          CS       JETEM      +1                         #  B( ) = -SR GAMDOT
044866,000384: 15,2666           00006                          EXTEND                                         
044867,000385: 15,2667           71506                          MP       CALFA                                 #  COS(ALFA)
044868,000386: 15,2670           27703                          ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
044869,000387: 
044870,000388: 15,2671           34677        NOGAMDUT          CA       BIT12                                 #  CMDAPARM = 93D  BIT 12
044871,000389: 15,2672           70102                          MASK     CM/FLAGS                              
044872,000390: 15,2673           00006                          EXTEND                                         
044873,000391: 15,2674           15213        STBYDUMP          BZF      TASKOVER                              #  DAP NOT ARMED.
044874,000392: 
044875,000393: 15,2675           34672                          CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
044876,000394: 15,2676           54030                          TS       TIME5                                 
044877,000395: 
044878,000396: 15,2677           00006                          EXTEND                                         
044879,000397: 15,2700           32704                          DCA      ATDOTCAD                              
044880,000398: 15,2701           53313                          DXCH     T5LOC                                 
044881,000399:                                                                                                 #                                DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
044882,000400: 
044883,000401: 15,2702           05213                          TC       TASKOVER                              
044884,000402: 
044885,000403: 15,2703  E6,1661                                 EBANK=   AOG                                   
044886,000404: 15,2703           02705 32066  ATDOTCAD          2CADR    ATTRATES                              
044887,000405: 
044888,000406:                                                                                                 # # Page 1041
044889,000407:                                                                                                 #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
044890,000408: 
044891,000409:                                                                                                 #           CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
044892,000410:                                                                                                 #           BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
044893,000411:                                                                                                 #           ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
044894,000412: 
044895,000413: 15,2705           22016        ATTRATES          LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
044896,000414: 15,2706           00006                          EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
044897,000415: 15,2707           22012                          QXCH     QRUPT                                 
044898,000416: 15,2710           30021                          CA       SR                                    
044899,000417: 15,2711           60000                          DOUBLE                                         
044900,000418: 15,2712           55623                          TS       CM/SAVE                               
044901,000419:                                                                                                 #                                DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
044902,000420: 
044903,000421: 15,2713           31702                          CA       QREL                                  
044904,000422: 15,2714           61665                          AD       ALFA/180                              
044905,000423: 15,2715           02542                          TC       ANGOVCOR                              
044906,000424: 15,2716           55665                          TS       ALFA/180                              
044907,000425: 15,2717           04767                          TC       SPCOS                                 
044908,000426: 15,2720           55506                          TS       CALFA                                 #  CALFA
044909,000427: 15,2721           55705                          TS       PHIDOT                                
044910,000428: 
044911,000429: 15,2722           00006                          EXTEND                                         
044912,000430: 15,2723           71701                          MP       PREL                                  
044913,000431: 15,2724           57705                          XCH      PHIDOT                                #  CA PREL
044914,000432: 15,2725           00006                          EXTEND                                         
044915,000433: 15,2726           71703                          MP       RREL                                  #  CA RREL
044916,000434: 15,2727           55704                          TS       BETADOT                               
044917,000435: 
044918,000436: 15,2730           31665                          CA       ALFA/180                              
044919,000437: 15,2731           04770                          TC       SPSIN                                 
044920,000438: 15,2732           55507                          TS       SALFA                                 #  SIN(ALFA)
044921,000439: 
044922,000440: 15,2733           00006                          EXTEND                                         
044923,000441: 15,2734           71703                          MP       RREL                                  #  SA RREL
044924,000442: 15,2735           27705                          ADS      PHIDOT                                #  CB PHIDOT, SAVED.
044925,000443: 
044926,000444: 15,2736           41507                          CS       SALFA                                 
044927,000445: 15,2737           00006                          EXTEND                                         
044928,000446: 15,2740           71701                          MP       PREL                                  
044929,000447: 15,2741           27704                          ADS      BETADOT                               #  SAVE BETADOT TCDU/180
044930,000448: 15,2742           27666                          ADS      BETA/180                              #  BETA DONE.
044931,000449: 
044932,000450: 15,2743           04770                          TC       SPSIN                                 
044933,000451: 15,2744           00006                          EXTEND                                         
044934,000452: 15,2745           71705                          MP       PHIDOT                                #  NEGLECT CB IN  CB PHIDOT
044935,000453: 15,2746           61665                          AD       ALFA/180                              
044936,000454: 15,2747           02542                          TC       ANGOVCOR                              
044937,000455: 15,2750           55665                          TS       ALFA/180                              #  ALFA DONE.
044938,000456: 
044939,000457:                                                                                                 # # Page 1042
044940,000458: 15,2751           40000                          COM                                            
044941,000459: 15,2752           61603                          AD       ALFACOM                               
044942,000460: 15,2753           02542                          TC       ANGOVCOR                              #  JUST IN CASE ...
044943,000461: 15,2754           55477                          TS       AK1                                   
044944,000462: 15,2755           55572                          TS       QAXERR                                #  FOR PITCH FDAI   AND EDIT.
044945,000463: 
044946,000464: 15,2756           31705                          CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
044947,000465: 15,2757           61664                          AD       ROLL/180                              
044948,000466: 15,2760           02542                          TC       ANGOVCOR                              
044949,000467: 15,2761           55714                          TS       ROLLTM                                #  ROLL/180 FOR TM.
044950,000468: 15,2762           55664                          TS       ROLL/180                              #  ROLL DONE.
044951,000469: 
044952,000470:                                                                                                 #      START YAW AUTOPILOT HERE .  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
044953,000471: 
044954,000472: 15,2763           34710                          CA       BIT3                                  #  .05GSW =102D BIT3        SW=0, LESS .05G
044955,000473: 15,2764           70102                          MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
044956,000474: 15,2765           00006                          EXTEND                                         
044957,000475: 15,2766           13053                          BZF      EXDAP                                 #  IF G LESS THAN .05
044958,000476: 15,2767           44712                          CS       ONE                                   #  IF G GEQ  THAN .05
044959,000477: 15,2770           55700                          TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
044960,000478: 
044961,000479: 15,2771           55477                          TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
044962,000480: 15,2772           55500                          TS       AK2                                   #  IN ATM.  (MODE =-1)
044963,000481: 
044964,000482: 15,2773           31704                          CA       BETADOT                               
044965,000483: 15,2774           00006                          EXTEND                                         
044966,000484: 15,2775           11506                          DV       CALFA                                 
044967,000485: 15,2776           03043                          TC       2D/SDZ                                #  GO TEST DZ. GET TAG: +0 IF IN DZ
044968,000486: 15,2777           50000                          INDEX    A                                     #  +/- 1 IF NOT
044969,000487: 15,3000           33215                          CAF      YJETCODE                              
044970,000488: 
044971,000489: 15,3001           55720                          TS       JETEM                                 
044972,000490: 
044973,000491:                                                                                                 #     START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
044974,000492: 
044975,000493: 15,3002           31702                          CA       QREL                                  
044976,000494: 15,3003           03043                          TC       2D/SDZ                                
044977,000495: 15,3004           50000        EXDAPIN           INDEX    A                                     #  COME HERE FROM EX ATM DAP
044978,000496: 15,3005           33220                          CAF      P/RJCODE                              
044979,000497: 15,3006           27720                          ADS      JETEM                                 #  COMBINE ALL NEW BITS.
044980,000498: 
044981,000499: 15,3007           00006                          EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.
044982,000500: 15,3010           01005                          WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
044983,000501: 
044984,000502: 15,3011           11711                          CCS      JETAG                                 
044985,000503: 15,3012           03231                          TC       CM/RCS                                
044986,000504: 15,3013           03677                          TC       CM/FDAI                               
044987,000505: 15,3014           03677                          TC       CM/FDAI                               
044988,000506: 
044989,000507:                                                                                                 # # Page 1043
044990,000508:                                                                                                 #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
044991,000509: 
044992,000510: 15,3015           10000        3DDZ              CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
044993,000511: 15,3016           63212                          AD       YAWLIM                                
044994,000512: 15,3017           13047                          TCF      DZCOM                                 
044995,000513: 15,3020           63212                          AD       YAWLIM                                
044996,000514: 15,3021           13050                          TCF      DZNOCOM                               
044997,000515: 
044998,000516:                                                                                                 #                                BIASED DZ FOR EXT ATM DAP.
044999,000517: 15,3022           55624        BIASEDZ           TS       JETEM2                                #  SAVE RATE/180. ERROR/180 IS IN L.
045000,000518: 15,3023           10000                          CCS      A                                     #  START ERROR DZ.
045001,000519: 15,3024           43211                          CS       CM/BIAS                               #  = .6/180
045002,000520: 15,3025           13027                          TCF      +2                                    
045003,000521: 15,3026           33211                          CA       CM/BIAS                               
045004,000522: 15,3027           60001                          AD       L                                     #  BIAS THE ERROR.
045005,000523: 15,3030           22002                          LXCH     Q                                     #  SAVE CALLERS RETURN ADDRES.
045006,000524: 15,3031           03015                          TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
045007,000525: 15,3032           52002                          DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
045008,000526: 15,3033           11624        4D/SDZ            CCS      JETEM2                                #  CAME HERE IN EXT ATM. C(L) = ERROR BIT
045009,000527: 15,3034           63207                          AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
045010,000528: 15,3035           13037                          TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
045011,000529: 15,3036           63207                          AD       4D/SLIM                               
045012,000530: 15,3037           54000                          TS       A                                     
045013,000531: 15,3040           13042                          TCF      +2                                    #  RATE OK. CONTINUE
045014,000532: 15,3041           22007                          ZL                                             #  RATE GEQ 4 D/S. OVER RIDE ERROR BIT
045015,000533: 15,3042           57624                          XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
045016,000534: 
045017,000535: 15,3043           10000        2D/SDZ            CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
045018,000536: 15,3044           63210                          AD       YDOTLIM                               #  1.0 - YDOT DZ        ( OR PDOT)
045019,000537: 15,3045           13050                          TCF      +3                                    
045020,000538: 15,3046           63210                          AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
045021,000539: 15,3047           40000        DZCOM             COM                                            
045022,000540: 15,3050           55721        DZNOCOM           TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
045023,000541: 15,3051           34714                          CA       ZERO                                  #  SET C(A) = +0 INSIDE
045024,000542: 15,3052           00002                          TC       Q                                     
045025,000543: 
045026,000544:                                                                                                 # # Page 1044
045027,000545:                                                                                                 #           EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
045028,000546: 
045029,000547:                                                                                                 #           1.    IF ABS(CALF) -C(45) POS, USE                             IF CALFA POS, CMDAPMOD= +0
045030,000548:                                                                                                 #             BETA:   YAW ERROR = SGN(CALF) (BETACOM -BETA)                IF CALFA NEG, CMDAPMOD =-0
045031,000549:                                                                                                 #                          RATE = BETADOT                                  IF CMDAPMOD =-0, RATE =  RREL
045032,000550:                                                                                                 #                        R-AXIS = CONTROL
045033,000551: 
045034,000552:                                                                                                 #             ROLL:   ROLL ERROR = SGN(CALF) (ROLLC - ROLL)                IF CMDAPMOD = -0, RATE DAMP ONLY.
045035,000553:                                                                                                 #                          RATE = PREL
045036,000554:                                                                                                 #                        P-AXIS = CONTROL
045037,000555: 
045038,000556:                                                                                                 #           2.    IF C(45) GEQ CALFA GEQ -C(45), USE                       CMDAPMOD = +1
045039,000557:                                                                                                 #             BETA:   ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
045040,000558:                                                                                                 #                          RATE = BETADOT
045041,000559:                                                                                                 #                        P-AXIS = CONTROL
045042,000560: 
045043,000561:                                                                                                 #             ROLL:   YAW ERROR = SGN(SALF) (ROLLC - ROLL)                 RATE DAMP ONLY.
045044,000562:                                                                                                 #                          RATE = RREL
045045,000563:                                                                                                 #                        R-AXIS = CONTROL
045046,000564: 
045047,000565:                                                                                                 #           3.    FOR ALL CASES, USE
045048,000566:                                                                                                 #             ALFA:   PITCH ERROR = (ALFACOM - ALFA)
045049,000567:                                                                                                 #                          RATE = QREL
045050,000568:                                                                                                 #                        Q-AXIS = CONTROL
045051,000569: 
045052,000570: 
045053,000571: 
045054,000572: 15,3053           55700        EXDAP             TS       CMDAPMOD                              #  +0 FOR NOW
045055,000573: 15,3054           41666                          CS       BETA/180                              
045056,000574: 15,3055           61604                          AD       BETACOM                               
045057,000575: 15,3056           55721                          TS       JETEM      +1                         #  PRESERV THIS FOR A WHILE.
045058,000576: 
045059,000577: 15,3057           11506                          CCS      CALFA                                 
045060,000578: 15,3060           63213                          AD       C45LIM                                #  =1.0-COS(45)
045061,000579: 15,3061           13063                          TCF      +2                                    
045062,000580: 15,3062           63213                          AD       C45LIM                                
045063,000581: 15,3063           54000                          TS       A                                     
045064,000582: 15,3064           13143                          TCF      EXDAP2                                #  HERE IF ABS(CALFA)  L  COS(45)
045065,000583: 
045066,000584: 15,3065           11727                          CCS      P63FLAG                               
045067,000585: 15,3066           03101                          TC       EXDAP4                                
045068,000586: 15,3067           03071                          TC       +2                                    
045069,000587: 15,3070           03101                          TC       EXDAP4                                
045070,000588: 15,3071           05301                          TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
045071,000589: 15,3072           40334                          OCT      40334                                 
045072,000590: 15,3073           44712                          CS       ONE                                   
045073,000591: 15,3074           55727                          TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
045074,000592: 15,3075           33206                          CA       NSEC                                  
045075,000593: 15,3076           05140                          TC       WAITLIST                              
045076,000594: 15,3077  E6,1661                                 EBANK=   AOG                                   
045077,000595:                                                                                                 # # Page 1045
045078,000596: 15,3077           02374 54066                    2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.
045079,000597: 
045080,000598:                                                                                                 #                                           65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
045081,000599:                                                                                                 #                                           TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
045082,000600: 
045083,000601: 15,3101           11711        EXDAP4            CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
045084,000602: 15,3102           13110                          TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
045085,000603: 15,3103           13110                          TCF      EXDAP3                                
045086,000604: 15,3104           34714                          CA       ZERO                                  
045087,000605: 15,3105           00006                          EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
045088,000606: 15,3106           01006                          WRITE    ROLLJETS                              #  UNTIL START OF 2 SEC CM/RCS CYCLE
045089,000607: 15,3107           55711                          TS       JETAG                                 #  RESTORE PROPER VALUE +0
045090,000608: 
045091,000609:                                                                                                 #                                ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
045092,000610: 15,3110           11506        EXDAP3            CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
045093,000611: 15,3111           31721                          CA       JETEM      +1                         
045094,000612: 15,3112           13116                          TCF      EXDAP1                                
045095,000613: 15,3113           44714                          CS       ZERO                                  
045096,000614: 15,3114           55700                          TS       CMDAPMOD                              #  FOR CM/RCS
045097,000615: 15,3115           41721                          CS       JETEM      +1                         
045098,000616: 15,3116           55573        EXDAP1            TS       RAXERR                                #  FOR YAW FDAI
045099,000617: 15,3117           55500                          TS       AK2                                   #  WANT RAXERR FOR TM.
045100,000618: 15,3120           54001                          TS       L                                     
045101,000619: 15,3121           11700                          CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
045102,000620: 15,3122           03125                          TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
045103,000621: 15,3123           34712                          CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
045104,000622: 15,3124           50000                          INDEX    A                                     #  OTHERWISE USE RREL.
045105,000623: 15,3125           31703                          CA       RREL                                  
045106,000624: 15,3126           03022                          TC       BIASEDZ                               #  GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
045107,000625:                                                                                                 #                                           IF GEQ 4D/S, SET ERROR BIT IN L =0)
045108,000626: 15,3127           00006                          EXTEND                                         
045109,000627: 15,3130           04001                          ROR      LCHAN                                 #  L HAS BETA BIT
045110,000628: 15,3131           50000                          INDEX    A                                     
045111,000629: 15,3132           33215                          CAF      YJETCODE                              
045112,000630: 15,3133           55720                          TS       JETEM                                 
045113,000631: 
045114,000632: 15,3134           31572                          CA       QAXERR                                #  ALFA ERROR.
045115,000633: 15,3135           54001                          TS       L                                     
045116,000634: 15,3136           31702                          CA       QREL                                  #  FOR ALPHADOT USE QREL
045117,000635: 15,3137           03022                          TC       BIASEDZ                               
045118,000636: 15,3140           00006                          EXTEND                                         
045119,000637: 15,3141           04001                          ROR      LCHAN                                 
045120,000638: 15,3142           13004                          TCF      EXDAPIN                               #  CONTINUE ON IN DAP
045121,000639: 
045122,000640: 15,3143           25700        EXDAP2            INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
045123,000641: 
045124,000642: 15,3144           44712                          CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
045125,000643: 15,3145           55711                          TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
045126,000644:                                                                                                 #                                           =0 AND JETAG =-1, QUENCHES JETS IF ON)
045127,000645: 
045128,000646:                                                                                                 # # Page 1046
045129,000647: 15,3146           11727                          CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
045130,000648: 15,3147           55727                          TS       P63FLAG                               
045131,000649: 15,3150           13151                          NOOP                                           
045132,000650: 
045133,000651: 15,3151           11507                          CCS      SALFA                                 #  BETA CONTROL WITH P JETS
045134,000652: 15,3152           41721                          CS       JETEM      +1                         
045135,000653: 15,3153           13155                          TCF      +2                                    
045136,000654: 15,3154           31721                          CA       JETEM      +1                         
045137,000655: 15,3155           55713                          TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
045138,000656: 15,3156           00006                          EXTEND                                         
045139,000657: 15,3157           74675                          MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
045140,000658: 15,3160           57713                          XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
045141,000659: 15,3161           54001                          TS       L                                     
045142,000660: 15,3162           11507                          CCS      SALFA                                 
045143,000661: 15,3163           41704                          CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
045144,000662: 15,3164           03166                          TC       +2                                    
045145,000663: 15,3165           31704                          CA       BETADOT                               
045146,000664: 15,3166           03022                          TC       BIASEDZ                               
045147,000665: 15,3167           00006                          EXTEND                                         
045148,000666: 15,3170           04001                          ROR      LCHAN                                 
045149,000667: 15,3171           50000                          INDEX    A                                     
045150,000668: 15,3172           33220                          CAF      P/RJCODE                              #  GET ROLL CODE
045151,000669: 15,3173           00006                          EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
045152,000670: 15,3174           01006                          WRITE    ROLLJETS                              #  WE,LL SKIP REGULAR ROLL SYST
045153,000671: 
045154,000672: 15,3175           31717                          CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
045155,000673: 15,3176           00006                          EXTEND                                         
045156,000674: 15,3177           21664                          MSU      ROLL/180                              #  1,S COMPL, BUT SO WHATS A BIT.?
045157,000675: 15,3200           54001                          TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
045158,000676: 15,3201           11507                          CCS      SALFA                                 
045159,000677: 15,3202           30001                          CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
045160,000678: 15,3203           03116                          TC       EXDAP1                                
045161,000679: 15,3204           40001                          CS       L                                     
045162,000680: 15,3205           03116                          TC       EXDAP1                                
045163,000681: 
045164,000682: 15,3206           04064        NSEC              DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
045165,000683:                                                                                                 #                                IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
045166,000684: 15,3207           37734        4D/SLIM           DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
045167,000685: 15,3210           37756        YDOTLIM           DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
045168,000686:                                                                                                 #                                           YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
045169,000687: 
045170,000688: 15,3211           00067        CM/BIAS           DEC      55         B-14                       #  =.6/180 B14  = 55
045171,000689: 15,3212           37267        YAWLIM            DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
045172,000690: 15,3213           11277        C45LIM            DEC      .29289                                #  =1.0-COS(45)
045173,000691: 
045174,000692:                                                                                                 #  JET CODE TABLES FOLLOW _
045175,000693: 
045176,000694: 15,3214           00120                          OCTAL    00120                                 #  POS Y
045177,000695: 15,3215           00000        YJETCODE          OCTAL    00000                                 #  RCS JET BITS
045178,000696: 15,3216           00240                          OCTAL    00240                                 #  NEG Y
045179,000697:                                                                                                 # # Page 1047
045180,000698: 15,3217           00005                          OCTAL    00005                                 #  POS R JET BITS    ALSO POS P JET BITS
045181,000699: 15,3220           00000        P/RJCODE          OCTAL    00000                                 
045182,000700: 15,3221           00012                          OCTAL    00012                                 #  NEG R             ALSO NEG P
045183,000701: 
045184,000702:                                                                                                 # # Page 1048
045185,000703:                                                                                                 #  RCS        THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
045186,000704:                                                                                                 #  THE TASK SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE WILL BE
045187,000705:                                                                                                 #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.   THE
045188,000706:                                                                                                 #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
045189,000707:                                                                                                 #  NEXT UPDATE.
045190,000708: 
045191,000709: 15,3222           40025        SETJTAG           CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
045192,000710: 15,3223           55712                          TS       TUSED                                 
045193,000711:                                                                                                 #                                            THE 5 CS APPEARS IN TIMETST.
045194,000712: 15,3224           34712                          CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
045195,000713: 15,3225           55711                          TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
045196,000714: 15,3226           05301                          TC       PHASCHNG                              
045197,000715: 15,3227           00001                          OCT      00001                                 
045198,000716: 
045199,000717: 15,3230           05213                          TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
045200,000718: 
045201,000719:                                                                                                 #  PREDICTIVE ROLL SYSTEM    ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
045202,000720:                                                                                                 #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
045203,000721:                                                                                                 #  THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T  (2 SEC) ARE ENTERED IN
045204,000722:                                                                                                 #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
045205,000723: 
045206,000724: 15,3231     4674               HALFPR            EQUALS   NEG1/2     +1                         
045207,000725: 
045208,000726:                                                                                                 #                                CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
045209,000727:                                                                                                 #                                ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
045210,000728:                                                                                                 #                                MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
045211,000729:                                                                                                 #                                IF A RESTART OCCURS AFTER TIMETST COMMENCES.
045212,000730: 
045213,000731: 15,3231           44712        CM/RCS            CS       ONE                                   
045214,000732: 15,3232           55617                          TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
045215,000733: 
045216,000734: 15,3233           44726                          CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
045217,000735: 15,3234           00006                          EXTEND                                         
045218,000736: 15,3235           71701                          MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
045219,000737: 15,3236           60001                          AD       L                                     #  -2 RDOT T/180 IN L
045220,000738: 15,3237           55613                          TS       -VT/180                               #  SAVE -2VT/180 HERE
045221,000739: 
045222,000740: 15,3240           41664                          CS       ROLL/180                              
045223,000741: 15,3241           54021                          TS       SR                                    #  SAVE (-R/180) /2
045224,000742: 
045225,000743: 15,3242           40102                          CS       CM/FLAGS                              
045226,000744: 15,3243           74707                          MASK     BIT4                                  #  LATSW = 101D BIT4
045227,000745: 15,3244           00006                          EXTEND                                         #  ROLL OVER TOP $
045228,000746: 15,3245           13253                          BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
045229,000747: 15,3246           26102                          ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
045230,000748: 15,3247           31715                          CA       ROLLC                                 #  (ROLLC/180) /2
045231,000749: 15,3250           60021                          AD       SR                                    #  -(R/180) /2
045232,000750: 15,3251           57614                          XCH      LCX/360                               #  DIFFERENT X REQD HERE. DISCONT AT 180.
045233,000751: 15,3252           13313                          TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
045234,000752: 
045235,000753:                                                                                                 # # Page 1049
045236,000754: 15,3253           34675        GETLCX            CA       POS1/2                                #  FORM RCOM/360
045237,000755: 15,3254           60000                          DOUBLE                                         
045238,000756: 15,3255           61715                          AD       ROLLC                                 
045239,000757: 15,3256           57614                          XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
045240,000758: 
045241,000759: 15,3257           30021                          CA       SR                                    #  FORM -R/360
045242,000760: 15,3260           64673                          AD       NEG1/2                                
045243,000761: 15,3261           64673                          AD       NEG1/2                                #  IGNORE OVFL
045244,000762: 15,3262           57614                          XCH      LCX/360                               #  -R/360
045245,000763: 15,3263           27614                          ADS      LCX/360                               #  LCX/360 = RCOM/360 -R/360  RANGE (-1,1)
045246,000764: 
045247,000765:                                                                                                 #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2            OVFL   ?
045248,000766: 
045249,000767: 15,3264           11613                          CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
045250,000768: 15,3265           64712                          AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
045251,000769: 15,3266           13270                          TCF      +2                                    
045252,000770: 15,3267           64712                          AD       ONE                                   
045253,000771: 15,3270           00006                          EXTEND                                         
045254,000772: 15,3271           71613                          MP       -VT/180                               #  C(-VT/180) = -2 VT/180
045255,000773: 15,3272           00006                          EXTEND                                         
045256,000774: 15,3273           73754                          MP       1/16A1                                #  = 180/(16 A1 TT )
045257,000775: 15,3274           00006                          EXTEND                                         
045258,000776: 15,3275           11506                          DV       CALFA                                 
045259,000777: 15,3276           54001                          TS       L                                     
045260,000778: 15,3277           11614                          CCS      LCX/360                               
045261,000779: 15,3300           34675                          CAF      POS1/2                                
045262,000780: 15,3301           13303                          TCF      +2                                    
045263,000781: 15,3302           44675                          CS       POS1/2                                
045264,000782: 15,3303           61614                          AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG  $
045265,000783: 15,3304           60001                          AD       L                                     
045266,000784: 15,3305           54001                          TS       L                                     
045267,000785: 15,3306           13313                          TCF      COMPAT                                #  YES, GO ON.
045268,000786: 15,3307           50000        TRTAGXPI          INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
045269,000787: 15,3310           44674                          CS       HALFPR                                #  +A YIELDS -1/2
045270,000788: 15,3311           60000                          DOUBLE                                         
045271,000789: 15,3312           27614                          ADS      LCX/360                               
045272,000790: 
045273,000791: 15,3313           31614        COMPAT            CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
045274,000792: 15,3314           00006                          EXTEND                                         
045275,000793: 15,3315           71506                          MP       CALFA                                 #  COS ALFA
045276,000794: 15,3316           55614                          TS       LCX/360                               #  SCALED LCX OK HERE.
045277,000795: 
045278,000796: 15,3317           11700                          CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
045279,000797: 15,3320           03675                          TC       DZCALL1                               #  EXIT, SETTING JETAG=0.(C(A)=0)
045280,000798:                                                                                                 #                                           ALL 3 AXES ALREADY DONE.
045281,000799: 15,3321           03322                          TC       +1                                    #  G LESS THAN .05. CA POS. CONTINUE
045282,000800: 15,3322           31614                          CA       LCX/360                               #  G GEQ .05. CONTINUE IN CM/RCS
045283,000801: 15,3323           55614                          TS       LCX/360                               #  CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
045284,000802: 15,3324           55713                          TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.(  /360)
045285,000803: 
045286,000804:                                                                                                 # # Page 1050
045287,000805: 15,3325           31613                          CA       -VT/180                               #  GET - 2 VT/180
045288,000806: 15,3326           54021                          TS       SR                                    
045289,000807: 15,3327           30021                          CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
045290,000808: 15,3330           55570                          TS       -VT/180E                              #                         DIAGNOSTIC  ****
045291,000809: 15,3331           57613                          XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
045292,000810: 15,3332           00006                          EXTEND                                         
045293,000811: 15,3333           71613                          MP       -VT/180                               #  B(A) = -ZVT/180
045294,000812: 15,3334           00006                          EXTEND                                         
045295,000813: 15,3335           73754                          MP       180/8ATT                              
045296,000814: 15,3336           55616                          TS       VSQ/4API                              
045297,000815: 
045298,000816:                                                                                                 #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     - .5 BUFLIM/360   POS  ?
045299,000817: 
045300,000818: 15,3337           60000        WHICHALF          DOUBLE                                         #  FOR SECOND BURN,  A1
045301,000819: 15,3340           40000                          COM                                            
045302,000820: 15,3341           63761                          AD       BUFLIM                                #  =BUFLIM/(2 360)
045303,000821: 15,3342           54001                          TS       L                                     
045304,000822: 15,3343           11613                          CCS      -VT/180                               
045305,000823: 15,3344           40001                          CS       L                                     
045306,000824: 15,3345           13347                          TCF      +2                                    
045307,000825: 15,3346           30001                          CA       L                                     
045308,000826: 15,3347           61614                          AD       LCX/360                               
045309,000827: 15,3350           63761                          AD       BUFLIM                                
045310,000828: 15,3351           00006                          EXTEND                                         
045311,000829: 15,3352           63367                          BZMF     REFLECT                               #  POINT (X,V) IN LHP.
045312,000830: 
045313,000831:                                                                                                 #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     + .5 BUFLIM/360   NEG  ?
045314,000832: 
045315,000833: 15,3353           40000                          COM                                            
045316,000834: 15,3354           63761                          AD       BUFLIM                                
045317,000835: 15,3355           63761                          AD       BUFLIM                                
045318,000836: 15,3356           00006                          EXTEND                                         
045319,000837: 15,3357           63376                          BZMF     DZ1                                   #  POINT (X,V) IN RHP.
045320,000838: 
045321,000839:                                                                                                 #    IS POINT WITHIN VELOCITY DZ ?
045322,000840: 
045323,000841: 15,3360           43753                          CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  ?
045324,000842: 15,3361           61616                          AD       VSQ/4API                              
045325,000843: 15,3362           00006                          EXTEND                                         
045326,000844: 15,3363           63671                          BZMF     DZCALL                                #  YES.
045327,000845: 
045328,000846:                                                                                                 #        POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
045329,000847: 
045330,000848: 15,3364           41617                          CS       JNDX                                  
045331,000849: 15,3365           55620                          TS       JNDX1                                 
045332,000850: 15,3366           03451                          TC       OVRLINE1                              
045333,000851: 
045334,000852: 15,3367           41613        REFLECT           CS       -VT/180                               #  RELFECT LHP INTO RHP REL TO TERM CONTR
045335,000853: 15,3370           55613                          TS       -VT/180                               
045336,000854: 15,3371           54021                          TS       SR                                    #  -VT/360  SAVED FOR DZ.
045337,000855:                                                                                                 # # Page 1051
045338,000856: 15,3372           41614                          CS       LCX/360                               
045339,000857: 15,3373           55614                          TS       LCX/360                               
045340,000858: 15,3374           41617                          CS       JNDX                                  
045341,000859: 15,3375           55617                          TS       JNDX                                  
045342,000860: 
045343,000861:                                                                                                 #   IS VSQ/4API - (VSQ/4API) MIN  NEG   $
045344,000862: 
045345,000863: 15,3376           43753        DZ1               CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  $
045346,000864: 15,3377           61616                          AD       VSQ/4API                              
045347,000865: 15,3400           00006                          EXTEND                                         
045348,000866: 15,3401           63403                          BZMF     DZ2                                   #  YES, GO TEST FURTHER.
045349,000867: 15,3402           13410                          TCF      MAXVTEST                              #  NO
045350,000868: 
045351,000869:                                                                                                 #   IS X/360 - XMIN/360 -VT/360  NEG  $
045352,000870: 
045353,000871: 15,3403           43757        DZ2               CS       XMIN/360                              #  XMIN/360 = 4/360
045354,000872: 15,3404           61614                          AD       LCX/360                               
045355,000873: 15,3405           60021                          AD       SR                                    #  C(SR) = -VT/360
045356,000874: 15,3406           00006                          EXTEND                                         #  IS X/360 - XMIN/360 -VT/360  NEG  $
045357,000875: 15,3407           63671                          BZMF     DZCALL                                #  YES,IN DZ. EXIT SETTING JETAG=0.
045358,000876: 
045359,000877:                                                                                                 #   IS XD/360 - VM/360K - XS/360   POS   ?
045360,000878: 
045361,000879: 15,3410           41617        MAXVTEST          CS       JNDX                                  
045362,000880: 15,3411           55620                          TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
045363,000881: 15,3412           43761                          CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
045364,000882: 15,3413           61616                          AD       VSQ/4API                              
045365,000883: 15,3414           61614                          AD       LCX/360                               
045366,000884: 15,3415           55615                          TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
045367,000885:                                                                                                 #                                           BUT C(XD/360) = (XD - XS) /360
045368,000886: 15,3416           63760                          AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
045369,000887: 15,3417           40000                          COM                                            
045370,000888: 15,3420           00006                          EXTEND                                         
045371,000889: 15,3421           63427                          BZMF     MAXVTIM1                              #  YES, THRUST TO VM
045372,000890: 15,3422           31615                          CA       XD/360                                
045373,000891: 15,3423           00006                          EXTEND                                         
045374,000892: 15,3424           74675                          MP       KTRCS                                 
045375,000893: 15,3425           20001                          DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
045376,000894: 
045377,000895: 15,3426           03432                          TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
045378,000896: 15,3427           00006        MAXVTIM1          EXTEND                                         
045379,000897: 15,3430           22007                          ZQ                                             #  SET +0 AS TAG
045380,000898: 15,3431           33755                          CA       VMT/180                               
045381,000899: 15,3432           55567        GETON1            TS       VDT/180                               #  VDT/180 OR VMT/180.
045382,000900: 15,3433           61613                          AD       -VT/180                               
045383,000901: 15,3434           60000                          DOUBLE                                         
045384,000902: 15,3435           00006                          EXTEND                                         
045385,000903: 15,3436           73754                          MP       180/8ATT                              
045386,000904: 15,3437           55621                          TS       TON1                                  #  TON1 / 4T
045387,000905: 
045388,000906:                                                                                                 # # Page 1052
045389,000907: 15,3440           00006                          EXTEND                                         
045390,000908: 15,3441           63443                          BZMF     OVRLINE                               
045391,000909: 15,3442           03455                          TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
045392,000910: 
045393,000911: 15,3443           10002        OVRLINE           CCS      Q                                     
045394,000912: 15,3444           13451                          TCF      OVRLINE1                              
045395,000913: 15,3445           31620        MAXVTIM2          CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
045396,000914: 15,3446           55617                          TS       JNDX                                  
045397,000915: 15,3447           41621                          CS       TON1                                  
045398,000916: 15,3450           13454                          TCF      OVRLINE2   +1                         
045399,000917: 
045400,000918: 15,3451           41613        OVRLINE1          CS       -VT/180                               #  DRIFT AT V
045401,000919: 15,3452           55567                          TS       VDT/180                               
045402,000920: 15,3453           34714        OVRLINE2          CA       ZERO                                  
045403,000921: 15,3454           55621                          TS       TON1                                  
045404,000922: 15,3455           31567        GETON2            CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
045405,000923: 15,3456           60000                          DOUBLE                                         
045406,000924: 15,3457           00006                          EXTEND                                         
045407,000925: 15,3460           73754                          MP       180/8ATT                              
045408,000926: 15,3461           60000                          DOUBLE                                         #  FOR SECOND BURN, A1
045409,000927: 15,3462           55607                          TS       TON2                                  #  = TON2 / 4T
045410,000928: 
045411,000929: 15,3463           40000                          COM                                            
045412,000930: 15,3464           00006                          EXTEND                                         
045413,000931: 15,3465           63471                          BZMF     GETOFF                                
045414,000932: 15,3466           55607                          TS       TON2                                  
045415,000933: 15,3467           31617                          CA       JNDX                                  
045416,000934: 15,3470           55620                          TS       JNDX1                                 
045417,000935: 
045418,000936: 15,3471           41607        GETOFF            CS       TON2                                  #  TON2 / 4T
045419,000937: 15,3472           00006                          EXTEND                                         
045420,000938: 15,3473           71567                          MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
045421,000939: 15,3474           55615                          TS       XD/360                                #  USE AS TEMP
045422,000940: 15,3475           41567                          CS       VDT/180                               
045423,000941: 15,3476           00006                          EXTEND                                         
045424,000942: 15,3477           13513                          BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
045425,000943: 15,3500           61613                          AD       -VT/180                               
045426,000944: 15,3501           00006                          EXTEND                                         
045427,000945: 15,3502           71621                          MP       TON1                                  #  TON1 /4T
045428,000946: 15,3503           61615                          AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
045429,000947: 15,3504           61614                          AD       LCX/360                               
045430,000948: 15,3505           22007                          ZL                                             
045431,000949: 15,3506           56001                          XCH      L                                     #  TEST THE DIVIDE
045432,000950: 15,3507           00006                          EXTEND                                         
045433,000951: 15,3510           11567                          DV       VDT/180                               
045434,000952: 15,3511           00006                          EXTEND                                         
045435,000953: 15,3512           13515                          BZF      GETOFF2                               #  DIVIDE OK
045436,000954: 
045437,000955: 15,3513           34740        TOFFOVFL          CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
045438,000956: 15,3514           13522                          TCF      TIMSCAL                               
045439,000957:                                                                                                 # # Page 1053
045440,000958: 15,3515           56001        GETOFF2           XCH      L                                     #  GET NUMERATOR.
045441,000959: 15,3516           00006                          EXTEND                                         
045442,000960: 15,3517           11567                          DV       VDT/180                               #  C(A) = TOFF / 2T
045443,000961: 15,3520           00006                          EXTEND                                         
045444,000962: 15,3521           74740                          MP       2JETT                                 
045445,000963: 15,3522           55605        TIMSCAL           TS       TOFF                                  #  IN CS
045446,000964: 
045447,000965: 15,3523           33756                          CAF      4JETT                                 
045448,000966: 15,3524           00006                          EXTEND                                         
045449,000967: 15,3525           71621                          MP       TON1                                  #  C(TON1) = TON1 / 4T
045450,000968: 15,3526           55621                          TS       TON1                                  #   IN CS
045451,000969: 
045452,000970: 15,3527           33756                          CAF      4JETT                                 
045453,000971: 15,3530           00006                          EXTEND                                         
045454,000972: 15,3531           71607                          MP       TON2                                  #  C(TON2) = TON2 / 4T
045455,000973: 15,3532           55607                          TS       TON2                                  #  IN CS
045456,000974: 
045457,000975: 15,3533           34714                          CA       ZERO                                  #  CANNOT REDO AFTER TIMETST. TUSED GONE
045458,000976: 15,3534           55711                          TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
045459,000977: 
045460,000978:                                                                                                 #                                CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
045461,000979:                                                                                                 #                                INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
045462,000980:                                                                                                 #                                AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
045463,000981: 
045464,000982: 15,3535           34712                          CA       ONE                                   
045465,000983: 15,3536           54305                          TS       SW/NDX                                
045466,000984: 
045467,000985:                                                                                                 # # Page 1054
045468,000986:                                                                                                 #  TIMETEST SECTION FOR RCS
045469,000987:                                                                                                 #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
045470,000988:                                                                                                 #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
045471,000989:                                                                                                 #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS  2 CS) AND
045472,000990:                                                                                                 #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T  (2 SEC).
045473,000991:                                                                                                 #  TIMETST  ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME  INTERVALS. THUS: TON1, T1BITS,
045474,000992:                                                                                                 #  TOFF, TBITS,  TON2, T2BITS.   OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
045475,000993:                                                                                                 #  SECTION JETCALL  BELOW PROCESSES THIS LIST.
045476,000994: 
045477,000995: 15,3537           30025        TIMETST           CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
045478,000996: 15,3540           64675                          AD       POS1/2                                
045479,000997: 15,3541           64675                          AD       POS1/2                                #  OVFL GUARANTEED.
045480,000998: 15,3542           27712                          ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
045481,000999: 
045482,001000: 15,3543           33752                          CA       -T-3                                  #  =-T +2 -5  (SEE SETJTAG)
045483,001001:                                                                                                 #                                           THE +2 REQUIRED FOR PROPER BRANCH.
045484,001002: 15,3544           27712                          ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
045485,001003: 
045486,001004: 15,3545           44711                          CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
045487,001005: 15,3546           61621                          AD       TON1                                  
045488,001006: 15,3547           00006                          EXTEND                                         
045489,001007: 15,3550           63562                          BZMF     TIMETST1                              
045490,001008: 15,3551           51617                          INDEX    JNDX                                  
045491,001009: 15,3552           33220                          CAF      P/RJCODE                              
045492,001010: 15,3553           55622                          TS       T1BITS                                
045493,001011: 
045494,001012: 15,3554           31621                          CA       TON1                                  
045495,001013: 15,3555           27712                          ADS      TUSED                                 
045496,001014: 15,3556           00006                          EXTEND                                         
045497,001015: 15,3557           63564                          BZMF     TOFFTEST                              
045498,001016: 15,3560           34714                          CA       ZERO                                  
045499,001017: 15,3561           13615                          TCF      TIMETST3                              
045500,001018: 15,3562           44712        TIMETST1          CS       ONE                                   
045501,001019: 15,3563           55621                          TS       TON1                                  
045502,001020: 15,3564           44711        TOFFTEST          CS       TWO                                   
045503,001021: 15,3565           61605                          AD       TOFF                                  
045504,001022: 15,3566           00006                          EXTEND                                         
045505,001023: 15,3567           63576                          BZMF     TIMETST2                              
045506,001024: 15,3570           31605                          CA       TOFF                                  
045507,001025: 15,3571           27712                          ADS      TUSED                                 
045508,001026: 15,3572           00006                          EXTEND                                         
045509,001027: 15,3573           63600                          BZMF     TON2TEST                              
045510,001028: 15,3574           34714                          CA       ZERO                                  
045511,001029: 15,3575           13617                          TCF      TIMETST4                              
045512,001030: 15,3576           44712        TIMETST2          CS       ONE                                   
045513,001031: 15,3577           55605                          TS       TOFF                                  
045514,001032: 15,3600           44711        TON2TEST          CS       TWO                                   
045515,001033: 15,3601           61607                          AD       TON2                                  
045516,001034: 15,3602           00006                          EXTEND                                         
045517,001035: 15,3603           63620                          BZMF     TIMETST5                              
045518,001036:                                                                                                 # # Page 1055
045519,001037: 15,3604           51620                          INDEX    JNDX1                                 
045520,001038: 15,3605           33220                          CAF      P/RJCODE                              
045521,001039: 15,3606           55610                          TS       T2BITS                                
045522,001040: 15,3607           31607                          CA       TON2                                  
045523,001041: 15,3610           27712                          ADS      TUSED                                 
045524,001042: 15,3611           00006                          EXTEND                                         
045525,001043: 15,3612           63622                          BZMF     JETCALL1                              
045526,001044: 15,3613           34714                          CA       ZERO                                  
045527,001045: 15,3614           13621                          TCF      TIMETST5   +1                         
045528,001046: 15,3615           55621        TIMETST3          TS       TON1                                  
045529,001047: 15,3616           44712                          CS       ONE                                   
045530,001048: 15,3617           55605        TIMETST4          TS       TOFF                                  
045531,001049: 15,3620           44712        TIMETST5          CS       ONE                                   
045532,001050: 15,3621           55607                          TS       TON2                                  
045533,001051: 
045534,001052:                                                                                                 #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
045535,001053:                                                                                                 #  JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
045536,001054:                                                                                                 #  EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE  CORRESPONDING JET BITS ARE TO BE
045537,001055:                                                                                                 #  EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE 
045538,001056:                                                                                                 #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
045539,001057:                                                                                                 #  THAN ONE REGISTER.
045540,001058: 
045541,001059: 15,3622           34714        JETCALL1          CA       ZERO                                  
045542,001060: 15,3623           55611                          TS       OUTTAG                                
045543,001061: 15,3624           55612                          TS       NUJET                                 
045544,001062: 15,3625           55606                          TS       TBITS                                 
045545,001063: 15,3626           53622                          DXCH     TON1                                  
045546,001064: 15,3627           10000                          CCS      A                                     
045547,001065: 15,3630           13645                          TCF      JETCALL2                              #  CALL WTLST
045548,001066: 15,3631           23612        JETCALL3          LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
045549,001067: 15,3632           44712                          CS       ONE                                   
045550,001068: 15,3633           53606                          DXCH     TOFF                                  
045551,001069: 15,3634           10000                          CCS      A                                     
045552,001070: 15,3635           13645                          TCF      JETCALL2                              #  CALL WTLST
045553,001071: 15,3636           23612                          LXCH     NUJET                                 
045554,001072: 15,3637           44712                          CS       ONE                                   
045555,001073: 15,3640           53610                          DXCH     TON2                                  
045556,001074: 15,3641           10000                          CCS      A                                     
045557,001075: 15,3642           13645                          TCF      JETCALL2                              #  CALL WTLST
045558,001076: 15,3643           23612                          LXCH     NUJET                                 
045559,001077: 15,3644           03654                          TC       JETACTN                               #  C(A) = +0
045560,001078: 15,3645           56001        JETCALL2          XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
045561,001079: 15,3646           27612                          ADS      NUJET                                 
045562,001080: 15,3647           56001                          XCH      L                                     
045563,001081: 15,3650           64712                          AD       ONE                                   #  RESTORE FOR CCS
045564,001082: 15,3651           05140                          TC       WAITLIST                              
045565,001083: 15,3652  E6,1661                                 EBANK=   AOG                                   
045566,001084: 15,3652           03662 32066                    2CADR    JETCALL                               
045567,001085: 15,3654           31612        JETACTN           CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN
045568,001086:                                                                                                 # # Page 1056
045569,001087: 15,3655           00006                          EXTEND                                         #  NO NEED TO SAVE OLD CODES
045570,001088: 15,3656           01006                          WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.
045571,001089: 
045572,001090: 15,3657           11611                          CCS      OUTTAG                                
045573,001091: 15,3660           05213                          TC       TASKOVER                              
045574,001092: 15,3661           03711        ROLLDUMP          TC       CM/FDAIR                              
045575,001093: 
045576,001094:                                                                                                 #                                EDIT DUMP AT ABOVE LOCATION.
045577,001095: 
045578,001096:                                                                                                 #   WAITLIST ENTRIES COME HERE.
045579,001097: 
045580,001098: 15,3662           34711        JETCALL           CAF      BIT2                                  #  CM/DSTBY =103D BIT2
045581,001099: 15,3663           55611                          TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
045582,001100: 15,3664           70102                          MASK     CM/FLAGS                              #  IS SYSTEM DISABLED  $
045583,001101: 15,3665           00006                          EXTEND                                         
045584,001102: 15,3666           13655                          BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS,IF ON AND EXIT.
045585,001103: 15,3667           22007                          ZL                                             #  NO, CONTINUE.
045586,001104: 15,3670           13631                          TCF      JETCALL3                              #  C(A) POS, C(L) =+0
045587,001105: 
045588,001106:                                                                                                 #   DEAD ZONE ENTRIES COME HERE.
045589,001107: 
045590,001108: 15,3671           34714        DZCALL            CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCELL JETS
045591,001109: 15,3672           00006                          EXTEND                                         #  INHINT NOT NEEDED HERE.
045592,001110: 15,3673           01006                          WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
045593,001111: 15,3674           55567                          TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
045594,001112: 15,3675           55711        DZCALL1           TS       JETAG                                 #  COME HERE WITH C(A)=0.
045595,001113: 15,3676           03661                          TC       ROLLDUMP                              
045596,001114: 
045597,001115:                                                                                                 # # Page 1057
045598,001116:                                                                                                 #   CM ENTRY FDAI DISPLAY
045599,001117: 
045600,001118:                                                                                                 #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
045601,001119:                                                                                                 #           ATM DAP:    DISPLAY ONLY ROLL ATTITUDE ERROR.
045602,001120:                                                                                                 #           EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
045603,001121:                                                                                                 #                                         ROLL    ROLL-ROLL
045604,001122:                                                                                                 #                                         PITCH   ALFAC-ALFA
045605,001123:                                                                                                 #                                         YAW     BETAC-BETA
045606,001124: 
045607,001125:                                                                                                 #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND  16.875 DEG IN PITCH AND YAW.
045608,001126:                                                                                                 #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG   FULL SCALE.
045609,001127: 
045610,001128: 15,3677           11700        CM/FDAI           CCS      CMDAPMOD                              #  COME HERE EACH .1 SEC.
045611,001129: 15,3700           13710                          TCF      CM/FDAIR   -1                         #   C(A) =0, FOR DUMP.
045612,001130: 15,3701           13703                          TCF      +2                                    
045613,001131: 15,3702           13703                          TCF      +1                                    #  (IN ATM, COME HERE TO   )
045614,001132: 15,3703           41705                          CS       PHIDOT                                #  INTEGRATE ROLL ERROR.BETWEEN 2 SEC
045615,001133: 15,3704           00006                          EXTEND                                         
045616,001134: 15,3705           71506                          MP       CALFA                                 #  FOR ASSUMED COORDINATION.
045617,001135: 15,3706           00006                          EXTEND                                         
045618,001136: 15,3707           74675                          MP       HALF                                  
045619,001137: 15,3710           27713                          ADS      PAXERR1                               #  ROLL ERROR/360.    OVFL OK.
045620,001138: 
045621,001139:                                                                                                 #                                EDIT DUMP AT ABOVE LOCATION.
045622,001140: 15,3711           34675        CM/FDAIR          CA       HALF                                  
045623,001141: 15,3712           00006                          EXTEND                                         
045624,001142: 15,3713           71713                          MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
045625,001143: 15,3714           55476                          TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
045626,001144: 
045627,001145:                                                                                                 #                                PROGRAM TO FILE BODY  RATES FOR TM ON ONE PASS AND
045628,001146:                                                                                                 #                                TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
045629,001147:                                                                                                 #                                SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
045630,001148:                                                                                                 #                                IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
045631,001149:                                                                                                 #                                THE SUBSEQUENT PASS.
045632,001150: 
045633,001151: 
045634,001152: 15,3715           40305        CM/DUMPR          CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
045635,001153: 15,3716           54305                          TS       SW/NDX                                
045636,001154: 15,3717           00006                          EXTEND                                         #  INDEX.
045637,001155: 15,3720           63724                          BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
045638,001156:                                                                                                 #                                           ENDBUF.
045639,001157:                                                                                                 #                                           INDEX IS POS FOR NEEDLES
045640,001158: 
045641,001159: 15,3721           04633                          TC       IBNKCALL                              
045642,001160: 15,3722           42404                          CADR     NEEDLER                               
045643,001161: 
045644,001162: 15,3723           03742                          TC       CM/END                                
045645,001163: 
045646,001164:                                                                                                 #                                           INDEX IS NEG FOR TM FILE
045647,001165: 
045648,001166:                                                                                                 # # Page 1058
045649,001167: 15,3724           66214        CMTMFILE          AD       THREE                                 
045650,001168: 15,3725           00006                          EXTEND                                         
045651,001169: 15,3726           63732                          BZMF     SAVENDX                               
045652,001170: 
045653,001171: 15,3727           30025                          CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
045654,001172: 15,3730           54304                          TS       CMTMTIME                              
045655,001173: 15,3731           44720                          CS       THIRTEEN                              #   INITIALIZE COUNTER
045656,001174: 15,3732           54305        SAVENDX           TS       SW/NDX                                #  A NEGATIVE NUMBER.
045657,001175: 15,3733           00006                          EXTEND                                         
045658,001176: 15,3734           31702                          DCA      PREL                                  
045659,001177: 15,3735           50305                          INDEX    SW/NDX                                
045660,001178: 15,3736           52324                          DXCH     ENDBUF     -1                         
045661,001179: 15,3737           31703                          CA       RREL                                  
045662,001180: 15,3740           50305                          INDEX    SW/NDX                                
045663,001181: 15,3741           54325                          TS       ENDBUF     +1                         
045664,001182: 
045665,001183: 15,3742           31623        CM/END            CA       CM/SAVE                               
045666,001184: 15,3743           54021                          TS       SR                                    
045667,001185:                                                                                                 #                                DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
045668,001186: 
045669,001187: 15,3744           00006                          EXTEND                                         
045670,001188: 15,3745           33751                          DCA      T5IDLER2                              
045671,001189: 15,3746           53313                          DXCH     T5LOC                                 
045672,001190: 15,3747           05222                          TC       RESUME                                
045673,001191: 
045674,001192: 15,3750     1312                                 EBANK=   T5LOC                                 
045675,001193: 15,3750           03132 12062  T5IDLER2          2CADR    T5IDLOC                               
045676,001194:                                                                                                 #                                DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
045677,001195:                                                                                                 #                                USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
045678,001196:                                                                                                 #                                THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
045679,001197:                                                                                                 #                                DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
045680,001198:                                                                                                 #                                EACH 2 SECONDS.
045681,001199: 
045682,001200:                                                                                                 #                                THE SEQUENCE IS:    SP TIME       INITIAL TIME
045683,001201:                                                                                                 #                                                    SWITCH         ALSO INDEX.
045684,001202:                                                                                                 #                                                    P              ROLL RATE
045685,001203:                                                                                                 #                                                    Q              PITCH RATE
045686,001204:                                                                                                 #                                                    R              YAW RATE
045687,001205:                                                                                                 #                                                    ETC.
045688,001206: 
045689,001207:                                                                                                 # CMTMTIME        =       UPBUFF
045690,001208:                                                                                                 # SW/NDX          =       UPBUFF  +1
045691,001209:                                                                                                 # ENDBUF          =       UPBUFF  +16D
045692,001210: 
045693,001211:                                                                                                 #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:     
045694,001212:                                                                                                 #  CONSTANTS ARE THE FOLLOWING:  A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC,       T = 2 SEC, TCDU = .1 SEC,
045695,001213:                                                                                                 #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ,           VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
045696,001214:                                                                                                 #  XBUF = 4DEG
045697,001215: 
045698,001216:                                                                                                 # # Page 1059
045699,001217: 15,3752           77464        -T-3              DEC      -203       B-14                       #  CS
045700,001218: 15,3753           00012        VSQMIN            DEC      .61050061  E-3                        #  VSQ MIN/4 A PI = 4/(4  (9.1)  180)
045701,001219: 15,3754     4726               2T/TCDU           =        OCT50                                 #  T/TCDU  EXP-14   TCDU =.1SEC
045702,001220: 15,3754           23617        180/8ATT          DEC      .61813187                             #  180/(8  (9.1) 4)=(180/ATT)  EXP -3
045703,001221: 15,3755           07071        VMT/180           DEC      .222222222                            #  20 (2) / 180
045704,001222: 15,3756     4740               2JETT             =        4SECS                                 #  CS           2 (2) 100   INTEGER
045705,001223: 15,3756           01440        4JETT             DEC      800        B-14                       #  CS           4 (2) 100   INTEGER
045706,001224: 15,3757           00266        XMIN/360          DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
045707,001225: 15,3760           70706        -VM/360K          DEC      -.22222222                            #  =-20/( 360  (.25))
045708,001226: 15,3761  15,3754               1/16A1            =        180/8ATT                              
045709,001227:                                                                                                 #                                   1/16A1  = 180/(16 A1 TT)
045710,001228:                                                                                                 #                                           =180/(16  4.55  4)
045711,001229: 15,3761           00133        XS/360            DEC      91         B-14                       #  =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
045712,001230: 15,3762  15,3761               BUFLIM            =        XS/360                                #  4/(2  360)
045713,001231: 
045714,001232: 15,3762     4675               KTRCS             =        HALF                                  #  KT = (.25) 2 = .5

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