Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. 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
Note that the date is the date of the printout, not the date of the program revision.

040026,000002:                                                                                                  ## Copyright:   Public domain.
040027,000003:                                                                                                  ## Filename:    TVCDAPS.agc
040028,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
040029,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
040030,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
040031,000007:                                                                                                  ## Assembler:   yaYUL
040032,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
040033,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
040034,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
040035,000011:                                                                                                  ## Mod history: 2011-03-06 JL   Adapted from corresponding Colossus 249 file.
040036,000012:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
040037,000013:                                                                                                  ##                              and fixed errors found.
040038,000014: 

Page 918

040040,000016:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
040041,000017:                                                                                                  #  LOG SECTION....TVCDAP           SUBROUTINE....DAPCSM
040042,000018:                                                                                                  #  MOD BY ENGEL                    DATE....27 OCT, 1967
040043,000019: 
040044,000020:                                                                                                  #  FUNCTIONAL DESCRIPTION....
040045,000021: 
040046,000022:                                                                                                  #       SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
040047,000023:                                                                                                  #       FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
040048,000024:                                                                                                  #       IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
040049,000025:                                                                                                  #       (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
040050,000026:                                                                                                  #       ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
040051,000027: 
040052,000028:                                                                                                  #       THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
040053,000029:                                                                                                  #       EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
040054,000030:                                                                                                  #       GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
040055,000031:                                                                                                  #       INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER  OR THE BRANCH
040056,000032:                                                                                                  #       POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER,  OUTPUT LIMITER,
040057,000033:                                                                                                  #       CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
040058,000034: 
040059,000035:                                                                                                  #       THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2  THE DAP SAMPLE
040060,000036:                                                                                                  #       TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
040061,000037:                                                                                                  #       REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
040062,000038:                                                                                                  #       TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
040063,000039:                                                                                                  #       MODING.
040064,000040: 
040065,000041:                                                                                                  #       REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY  STUBBS
040066,000042:                                                                                                  #       (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
040067,000043:                                                                                                  #       REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
040068,000044:                                                                                                  #       LU  (MIT IL JUNE 1966).
040069,000045: 
040070,000046:                                                                                                  #       OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
040071,000047:                                                                                                  #       NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
040072,000048:                                                                                                  #       (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
040073,000049: 
040074,000050:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
040075,000051: 
040076,000052:                                                                                                  #       T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
040077,000053:                                                                                                  #       T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
040078,000054:                                                                                                  #       T5 CALL OF DAPINIT BY DAPINIT
040079,000055:                                                                                                  #       T5 CALL OF PITCHDAP BY DAPINIT
040080,000056:                                                                                                  #       T5 CALL OF YAWDAP BY PITCHDAP
040081,000057:                                                                                                  #       T5 CALL OF PITCHDAP BY YAWDAP
040082,000058:                                                                                                  #                  ETC.
040083,000059:                                                                                                  #       (AUTOMATIC SEQUENCING FROM TVCDAPON)
040084,000060: 
040085,000061:                                                                                                  #  NORMAL EXIT MODE....RESUME
040086,000062: 
040087,000063:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
040088,000064: 
040089,000065:                                                                                                  #  SUBROUTINES CALLED....

Page 919

040091,000067:                                                                                                  #           HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
040092,000068:                                                                                                  #           NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
040093,000069:                                                                                                  #           PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
040094,000070:                                                                                                  #           DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
040095,000071:                                                                                                  #           ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
040096,000072:                                                                                                  #                 OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
040097,000073:                                                                                                  #                 YAW DAPS
040098,000074:                                                                                                  #           OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
040099,000075:                                                                                                  #                 PITCH AND YAW DAPS
040100,000076:                                                                                                  #           RESUME
040101,000077: 
040102,000078:                                                                                                  #  OTHER INTERFACES....
040103,000079: 
040104,000080:                                                                                                  #       S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
040105,000081:                                                                                                  #       S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
040106,000082:                                                                                                  #       TVCEXECUTIVE  FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
040107,000083:                                                                                                  #           GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
040108,000084:                                                                                                  #           AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
040109,000085:                                                                                                  #       TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
040110,000086: 
040111,000087:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
040112,000088: 
040113,000089:                                                                                                  #       29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
040114,000090:                                                                                                  #       KP/KPDN  (KPGEN3)  AS IN S40.15  (R03)
040115,000091:                                                                                                  #       CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
040116,000092:                                                                                                  #       ENGINE-ON BIT (11.13) FOR RESTARTS
040117,000093:                                                                                                  #       TVCPHASE FOR RESTARTS  (SEE IGNOVER, AND TVCINIT4)
040118,000094:                                                                                                  #       T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
040119,000095:                                                                                                  #       MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
040120,000096:                                                                                                  #             INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
040121,000097:                                                                                                  #       CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
040122,000098:                                                                                                  #           UPDATES EVERY 1/2 SECOND)
040123,000099:                                                                                                  #       ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
040124,000100:                                                                                                  #           UNLESS BENCH-TESTING.
040125,000101: 
040126,000102:                                                                                                  #  OUTPUT....
040127,000103: 
040128,000104:                                                                                                  #       TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
040129,000105:                                                                                                  #           TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
040130,000106:                                                                                                  #           AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
040131,000107:                                                                                                  #           OFFSET-TRACKER-FILTER OUTPUTS, ETC.
040132,000108:                                                                                                  #  DEBRIS....
040133,000109: 
040134,000110:                                                                                                  #       MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
040135,000111: 
040136,000112: 
040137,000113: 17,2215                                           BANK     17                                    
040138,000114: 20,2000                                           SETLOC   DAPS2                                 
040139,000115: 20,2000                                           BANK                                           
040140,000116: 

Page 920

040142,000118: 20,2326  E6,1742                                  EBANK=   BZERO                                 
040143,000119: 
040144,000120: 
040145,000121: 20,2326                                           COUNT*   $$/DAPS                               
040146,000122: 

Page 921

040148,000124:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
040149,000125: 
040150,000126: 
040151,000127: 20,2326           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL OR VIA DAPINIT
040152,000128: 20,2327           00006                           EXTEND                                         
040153,000129: 20,2330           22012                           QXCH     QRUPT                                 
040154,000130: 
040155,000131: 20,2331           33403                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
040156,000132: 20,2332           55312                           TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
040157,000133: 20,2333           31635                           CAE      T5TVCDT                               
040158,000134: 20,2334           54030                           TS       TIME5                                 
040159,000135: 
040160,000136: 20,2335           11614        PSTROKER           CCS      STROKER                               #  (STRKFLG)  CHECK FOR STROKE TEST
040161,000137: 20,2336           03471                           TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
040162,000138: 20,2337           12341                           TCF      +2                                    #  NO-TEST
040163,000139: 20,2340           03471                           TC       HACK                                  #  TEST-IN-PROGRESS
040164,000140: 
040165,000141: 20,2341           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
040166,000142: 20,2342           57655                           XCH      PCDUYPST                              #       FOR PITCH AUTOPILOT
040167,000143: 20,2343           00006                           EXTEND                                         
040168,000144: 20,2344           21655                           MSU      PCDUYPST                              
040169,000145: 20,2345           55657                           TS       MCDUYDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
040170,000146: 
040171,000147: 20,2346           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
040172,000148: 20,2347           57656                           XCH      PCDUZPST                              #       FOR PITCH AUTOPILOT
040173,000149: 20,2350           00006                           EXTEND                                         
040174,000150: 20,2351           21656                           MSU      PCDUZPST                              
040175,000151: 20,2352           55660                           TS       MCDUZDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
040176,000152: 
040177,000153: 20,2353           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
040178,000154: 20,2354           31616                           DCA      PERRB                                 #       ERROR, SC.AT B-1 REVS
040179,000155: 20,2355           53743                           DXCH     ERRBTMP                               
040180,000156: 
040181,000157: 20,2356           00006                           EXTEND                                         
040182,000158: 20,2357           31530                           DCA      OMEGAYC                               
040183,000159: 20,2360           21743                           DAS      ERRBTMP                               
040184,000160: 
040185,000161: 20,2361           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
040186,000162: 20,2362           00006                           EXTEND                                         
040187,000163: 20,2363           70750                           MP       COSCDUX                               
040188,000164: 20,2364           20001                           DDOUBL                                         
040189,000165: 20,2365           00006                           EXTEND                                         
040190,000166: 20,2366           71657                           MP       MCDUYDOT                              
040191,000167: 20,2367           20001                           DDOUBL                                         
040192,000168: 20,2370           53536                           DXCH     OMEGAYB                               
040193,000169: 
040194,000170: 20,2371           41660                           CS       MCDUZDOT                              
040195,000171: 20,2372           00006                           EXTEND                                         
040196,000172: 20,2373           70742                           MP       SINCDUX                               
040197,000173: 20,2374           20001                           DDOUBL                                         

Page 922

040199,000175: 20,2375           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
040200,000176: 
040201,000177: 20,2376           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
040202,000178: 20,2377           41536                           DCS      OMEGAYB                               
040203,000179: 20,2400           21743                           DAS      ERRBTMP                               
040204,000180: 
040205,000181: 20,2401           03112        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
040206,000182: 
040207,000183: 20,2402           31466        P1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040208,000184: 20,2403           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040209,000185: 20,2404           10000                           CCS      A                                     
040210,000186: 20,2405           12410                           TCF      +3                                    #  USE LEM-ON FILTER
040211,000187: 20,2406           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040212,000188: 20,2407           36215                           CADR     NP0NODE                               
040213,000189: 
040214,000190: 20,2410           00006        PFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS.
040215,000191: 20,2411           41544                           DCS      PDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040216,000192: 20,2412           53745                           DXCH     JZERO                                 
040217,000193: 
040218,000194: 20,2413           31742                           CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040219,000195: 20,2414           61541                           AD       PNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040220,000196: 20,2415           00006                           EXTEND                                         
040221,000197: 20,2416           74727                           MP       KPDN                                  #  KPDN, SC.AT B+1 SPASCREV
040222,000198: 20,2417           21745                           DAS      JZERO                                 
040223,000199: 20,2420           31542                           CAE      PNSUM      +1                         
040224,000200: 20,2421           00006                           EXTEND                                         
040225,000201: 20,2422           74727                           MP       KPDN                                  
040226,000202: 20,2423           27745                           ADS      JZERO      +1                         
040227,000203: 20,2424           54001                           TS       L                                     
040228,000204: 20,2425           12427                           TCF      +2                                    
040229,000205: 20,2426           27744                           ADS      JZERO                                 #  (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040230,000206: 
040231,000207: 20,2427           00006        JZSTORE            EXTEND                                         #  PREPARE JZERO FOR DENOMINATOR LADDER
040232,000208: 20,2430           31745                           DCA      JZERO                                 #       SC.AT B+0 SPASCREV
040233,000209: 20,2431           20001                           DDOUBL                                         
040234,000210: 20,2432           20001                           DDOUBL                                         
040235,000211: 20,2433           20001                           DDOUBL                                         
040236,000212: 20,2434           53727                           DXCH     J1TMP                                 #       SC.AT B-3 SPASCREV
040237,000213: 
040238,000214: 20,2435           03125        OPTVARKP           TCR      OPTVARK                               #  PITCH VARIABLE-GAIN PACKAGE
040239,000215: 
040240,000216: 20,2436           00006        POFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040241,000217: 20,2437           41745                           DCS      CMDTMP                                #       (GEN3DAP RETURNS AT POFFSET)
040242,000218: 20,2440           53745                           DXCH     CMDTMP                                
040243,000219: 20,2441           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040244,000220: 20,2442           31626                           DCA      PDELOFF                               
040245,000221: 20,2443           21745                           DAS      CMDTMP                                
040246,000222: 
040247,000223: 20,2444           31745        PROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040248,000224: 20,2445           60000                           DOUBLE                                         

Page 923

040250,000226: 20,2446           54001                           TS       L                                     
040251,000227: 20,2447           34714                           CAF      ZERO                                  
040252,000228: 20,2450           61744                           AD       CMDTMP                                
040253,000229: 
040254,000230: 20,2451           03145        PACLIM             TCR      ACTLIM                                #  PITCH ACTUATOR-COMMAND-LIMITER
040255,000231: 
040256,000232: 20,2452           41631        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
040257,000233: 20,2453           61744                           AD       CMDTMP                                
040258,000234: 20,2454           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
040259,000235:                                                                                                  #                                               PROTECT, SINCE ERROR CNTR ZEROED)
040260,000236: 
040261,000237: 20,2455           34700                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
040262,000238: 20,2456           00006                           EXTEND                                         
040263,000239: 20,2457           05014                           WOR      CHAN14                                
040264,000240: 20,2460           31466        P2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040265,000241: 20,2461           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040266,000242: 20,2462           10000                           CCS      A                                     
040267,000243: 20,2463           12466                           TCF      +3                                    #  USE LEM-ON FILTER
040268,000244: 20,2464           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040269,000245: 20,2465           36250                           CADR     NP1NODE                               
040270,000246: 
040271,000247: 
040272,000248: 20,2466           31742        BZSTORE            CAE      ERRBTMP                               #  PREPARE BZERO  (UPPER WORD OF ERRBTMP)
040273,000249: 20,2467           60000                           DOUBLE                                         #       FOR NUMERATOR LADDER....SC.AT B-1
040274,000250: 20,2470           55717                           TS       B1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040275,000251: 
040276,000252: 
040277,000253: 20,2471           00006        PNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040278,000254: 20,2472           31546                           DCA      B1                                    #       NUMERATOR LADDER
040279,000255: 20,2473           53721                           DXCH     B2TMP                                 
040280,000256: 20,2474           00006                           EXTEND                                         
040281,000257: 20,2475           31550                           DCA      B3                                    
040282,000258: 20,2476           53723                           DXCH     B4TMP                                 
040283,000259: 20,2477           00006                           EXTEND                                         
040284,000260: 20,2500           31552                           DCA      B5                                    
040285,000261: 20,2501           53725                           DXCH     B6TMP                                 
040286,000262: 
040287,000263: 20,2502           03157        PNSUMC             TCR      NSUM                                  #  PITCH NUMERATOR SUM
040288,000264: 
040289,000265: 20,2503           00006        PDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040290,000266: 20,2504           31554                           DCA      J1                                    #       DENOMINATOR LADDER
040291,000267: 20,2505           53731                           DXCH     J2TMP                                 
040292,000268: 20,2506           00006                           EXTEND                                         
040293,000269: 20,2507           31556                           DCA      J2                                    
040294,000270: 20,2510           53733                           DXCH     J3TMP                                 
040295,000271: 20,2511           00006                           EXTEND                                         
040296,000272: 20,2512           31560                           DCA      J3                                    
040297,000273: 20,2513           53735                           DXCH     J4TMP                                 
040298,000274: 20,2514           00006                           EXTEND                                         

Page 924

040300,000276: 20,2515           31562                           DCA      J4                                    
040301,000277: 20,2516           53737                           DXCH     J5TMP                                 
040302,000278: 20,2517           00006                           EXTEND                                         
040303,000279: 20,2520           31564                           DCA      J5                                    
040304,000280: 20,2521           53741                           DXCH     J6TMP                                 
040305,000281: 
040306,000282: 20,2522           03217        PDSUMC             TCR      DSUM                                  #  PITCH DENOMINATOR SUM
040307,000283: 
040308,000284: 20,2523           31744        DELBARP            CAE      CMDTMP                                #  UPDATE PITCH OFFSET-TRACKER-FILTER
040309,000285: 20,2524           00006                           EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARP..  )
040310,000286: 20,2525           73404                           MP       1-E(-AT)                              
040311,000287: 20,2526           53716                           DXCH     DELBRTMP                              
040312,000288: 20,2527           31621                           CAE      DELPBAR                               
040313,000289: 20,2530           00006                           EXTEND                                         
040314,000290: 20,2531           73405                           MP       E(-AT)                                
040315,000291: 20,2532           21716                           DAS      DELBRTMP                              
040316,000292: 20,2533           31622                           CAE      DELPBAR    +1                         
040317,000293: 20,2534           00006                           EXTEND                                         
040318,000294: 20,2535           73405                           MP       E(-AT)                                
040319,000295: 20,2536           27716                           ADS      DELBRTMP   +1                         
040320,000296: 20,2537           54001                           TS       L                                     
040321,000297: 20,2540           12542                           TCF      +2                                    
040322,000298: 20,2541           27715                           ADS      DELBRTMP                              
040323,000299: 
040324,000300: 20,2542           02544        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
040325,000301: 
040326,000302: 20,2543           15222        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
040327,000303: 

Page 925

040329,000305:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
040330,000306: 
040331,000307: 20,2544           25654        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040332,000308:                                                                                                  #                                               NOTE POSSIBLE RE-ENTRY FROM RESTART
040333,000309:                                                                                                  #                                               PACKAGE, SHOULD A RESTART OCCUR
040334,000310:                                                                                                  #                                               DURING PITCH COPYCYCLE.
040335,000311: 
040336,000312: 20,2545           00006        NEWB(S)            EXTEND                                         #  UPDATE PITCH NUMERATOR LADDER FROM
040337,000313: 20,2546           31720                           DCA      B1TMP                                 #       TEMPORARIES
040338,000314: 20,2547           53546                           DXCH     B1                                    
040339,000315: 20,2550           00006                           EXTEND                                         
040340,000316: 20,2551           31722                           DCA      B3TMP                                 
040341,000317: 20,2552           53550                           DXCH     B3                                    
040342,000318: 20,2553           00006                           EXTEND                                         
040343,000319: 20,2554           31724                           DCA      B5TMP                                 
040344,000320: 20,2555           53552                           DXCH     B5                                    
040345,000321: 
040346,000322: 20,2556           00006        NEWJ(S)            EXTEND                                         #  UPDATE PITCH DENOMINATOR LADDER FROM
040347,000323: 20,2557           31727                           DCA      J1TMP                                 #       TEMPORARIES
040348,000324: 20,2560           53554                           DXCH     J1                                    
040349,000325: 20,2561           00006                           EXTEND                                         
040350,000326: 20,2562           31731                           DCA      J2TMP                                 
040351,000327: 20,2563           53556                           DXCH     J2                                    
040352,000328: 20,2564           00006                           EXTEND                                         
040353,000329: 20,2565           31733                           DCA      J3TMP                                 
040354,000330: 20,2566           53560                           DXCH     J3                                    
040355,000331: 20,2567           00006                           EXTEND                                         
040356,000332: 20,2570           31735                           DCA      J4TMP                                 
040357,000333: 20,2571           53562                           DXCH     J4                                    
040358,000334: 20,2572           00006                           EXTEND                                         #       (ALSO NP1TMP,+1 TO NP1,+1)
040359,000335: 20,2573           31737                           DCA      J5TMP                                 
040360,000336: 20,2574           53564                           DXCH     J5                                    
040361,000337: 
040362,000338: 20,2575           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
040363,000339: 20,2576           31743                           DCA      ERRBTMP                               
040364,000340: 20,2577           55477                           TS       AK1                                   #       FOR PITCH NEEDLES, SC.AT B-1 REVS
040365,000341: 20,2600           53616                           DXCH     PERRB                                 
040366,000342: 
040367,000343: 20,2601           00006                           EXTEND                                         #       PITCH NUMERATOR SUM
040368,000344: 20,2602           31712                           DCA      NSUMTMP                               #            (ALSO NP2TMP,+1 TO NP2,+1)
040369,000345: 20,2603           53542                           DXCH     PNSUM                                 
040370,000346: 
040371,000347: 20,2604           00006                           EXTEND                                         #       PITCH DENOMINATOR SUM
040372,000348: 20,2605           31714                           DCA      DSUMTMP                               #            (ALSO NP3TMP,+1 TO NP3,+1)
040373,000349: 20,2606           53544                           DXCH     PDSUM                                 
040374,000350: 
040375,000351: 20,2607           31744                           CAE      CMDTMP                                #       PITCH ACTUATOR COMMAND
040376,000352: 20,2610           55631                           TS       PCMD                                  
040377,000353: 
040378,000354: 20,2611           00006                           EXTEND                                         #       PITCH OFFSET-TRACKER-FILTER

Page 926

040380,000356: 20,2612           31716                           DCA      DELBRTMP                              
040381,000357: 20,2613           53622                           DXCH     DELPBAR                               
040382,000358: 
040383,000359: 20,2614           25654                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED
040384,000360: 
040385,000361: 20,2615           00002                           TC       Q                                     
040386,000362: 

Page 927

040388,000364:                                                                                                  #  YAW   TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
040389,000365: 
040390,000366: 20,2616           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
040391,000367: 20,2617           00006                           EXTEND                                         
040392,000368: 20,2620           22012                           QXCH     QRUPT                                 
040393,000369: 
040394,000370: 20,2621           33401                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
040395,000371: 20,2622           55312                           TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
040396,000372: 20,2623           31635                           CAE      T5TVCDT                               
040397,000373: 20,2624           54030                           TS       TIME5                                 
040398,000374: 
040399,000375: 20,2625           11614        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
040400,000376: 20,2626           03471                           TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
040401,000377: 20,2627           12631                           TCF      +2                                    #  NO-TEST
040402,000378: 20,2630           03471                           TC       HACK                                  #  TEST-IN-PROGRESS
040403,000379: 
040404,000380:                                                                                                  #                                          USE BODY RATES FROM PITCHDAP (PCDUDOTS)
040405,000381: 
040406,000382: 20,2631           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
040407,000383: 20,2632           31620                           DCA      YERRB                                 #       ERROR, SC.AT B-1 REVS
040408,000384: 20,2633           53743                           DXCH     ERRBTMP                               
040409,000385: 
040410,000386: 20,2634           00006                           EXTEND                                         
040411,000387: 20,2635           31532                           DCA      OMEGAZC                               
040412,000388: 20,2636           21743                           DAS      ERRBTMP                               
040413,000389: 
040414,000390: 20,2637           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
040415,000391: 20,2640           00006                           EXTEND                                         
040416,000392: 20,2641           70742                           MP       SINCDUX                               
040417,000393: 20,2642           20001                           DDOUBL                                         
040418,000394: 20,2643           00006                           EXTEND                                         
040419,000395: 20,2644           71657                           MP       MCDUYDOT                              
040420,000396: 20,2645           20001                           DDOUBL                                         
040421,000397: 20,2646           53540                           DXCH     OMEGAZB                               
040422,000398: 
040423,000399: 20,2647           41660                           CS       MCDUZDOT                              
040424,000400: 20,2650           00006                           EXTEND                                         
040425,000401: 20,2651           70750                           MP       COSCDUX                               
040426,000402: 20,2652           20001                           DDOUBL                                         
040427,000403: 20,2653           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
040428,000404: 
040429,000405: 20,2654           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
040430,000406: 20,2655           41540                           DCS      OMEGAZB                               
040431,000407: 20,2656           21743                           DAS      ERRBTMP                               
040432,000408: 
040433,000409: 20,2657           03112        YERORLIM           TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
040434,000410: 
040435,000411: 20,2660           31466        Y1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040436,000412: 20,2661           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040437,000413: 

Page 928

040439,000415: 20,2662           10000                           CCS      A                                     
040440,000416: 20,2663           12666                           TCF      +3                                    #  USE LEM-ON FILTER
040441,000417: 20,2664           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040442,000418: 20,2665           36407                           CADR     NY0NODE                               
040443,000419: 
040444,000420: 20,2666           00006        YFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS
040445,000421: 20,2667           41570                           DCS      YDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040446,000422: 20,2670           53745                           DXCH     YZERO                                 
040447,000423: 
040448,000424: 20,2671           31742                           CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040449,000425: 20,2672           61565                           AD       YNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040450,000426: 20,2673           00006                           EXTEND                                         
040451,000427: 20,2674           74727                           MP       KYDN                                  #  KYDN, SC.AT B+1 SPASCREV
040452,000428: 20,2675           21745                           DAS      YZERO                                 
040453,000429: 20,2676           31566                           CAE      YNSUM      +1                         
040454,000430: 20,2677           00006                           EXTEND                                         
040455,000431: 20,2700           74727                           MP       KYDN                                  
040456,000432: 20,2701           27745                           ADS      YZERO      +1                         
040457,000433: 20,2702           54001                           TS       L                                     
040458,000434: 20,2703           12705                           TCF      +2                                    
040459,000435: 20,2704           27744                           ADS      YZERO                                 #  (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
040460,000436: 
040461,000437: 20,2705           00006        YZSTORE            EXTEND                                         #  PREPARE YZERO FOR DENOMINATOR LADDER
040462,000438: 20,2706           31745                           DCA      YZERO                                 #       SC.AT B+0 SPASCREV
040463,000439: 20,2707           20001                           DDOUBL                                         
040464,000440: 20,2710           20001                           DDOUBL                                         
040465,000441: 20,2711           20001                           DDOUBL                                         
040466,000442: 20,2712           53727                           DXCH     Y1TMP                                 #       SC.AT B-3 SPASCREV
040467,000443: 
040468,000444: 20,2713           03125        OPTVARKY           TCR      OPTVARK                               #  YAW   VARIABLE-GAIN PACKAGE
040469,000445: 
040470,000446: 20,2714           00006        YOFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040471,000447: 20,2715           41745                           DCS      CMDTMP                                #       (GEN3DAP RETURNS AT YOFFSET)
040472,000448: 20,2716           53745                           DXCH     CMDTMP                                
040473,000449: 20,2717           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040474,000450: 20,2720           31630                           DCA      YDELOFF                               
040475,000451: 20,2721           21745                           DAS      CMDTMP                                
040476,000452: 
040477,000453: 20,2722           31745        YROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040478,000454: 20,2723           60000                           DOUBLE                                         
040479,000455: 20,2724           54001                           TS       L                                     
040480,000456: 20,2725           34714                           CAF      ZERO                                  
040481,000457: 20,2726           61744                           AD       CMDTMP                                
040482,000458: 
040483,000459: 20,2727           03145        YACLIM             TCR      ACTLIM                                #  YAW   ACTUATOR-COMMAND-LIMITER
040484,000460: 
040485,000461: 20,2730           41632        YOUT               CS       YCMD                                  #  INCREMENTAL YAW   COMMAND
040486,000462: 20,2731           61744                           AD       CMDTMP                                
040487,000463: 20,2732           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
040488,000464:                                                                                                  #                                               PROTECT, SINCE ERROR CNTR ZEROED)
040489,000465: 

Page 929

040491,000467: 20,2733           34677                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
040492,000468: 20,2734           00006                           EXTEND                                         
040493,000469: 20,2735           05014                           WOR      CHAN14                                
040494,000470: 20,2736           31466        Y2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040495,000471: 20,2737           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040496,000472: 20,2740           10000                           CCS      A                                     
040497,000473: 20,2741           12744                           TCF      +3                                    #  USE LEM-ON FILTER
040498,000474: 20,2742           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040499,000475: 20,2743           36442                           CADR     NY1NODE                               
040500,000476: 
040501,000477: 
040502,000478: 20,2744           31742        CZSTORE            CAE      ERRBTMP                               #  PREPARE CZERO  (UPPER WORD OF ERRBTMP)
040503,000479: 20,2745           60000                           DOUBLE                                         #       FOR NUMERATOR LADDER....SC.AT B-1
040504,000480: 20,2746           55717                           TS       C1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040505,000481: 
040506,000482: 
040507,000483: 20,2747           00006        YNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040508,000484: 20,2750           31572                           DCA      C1                                    #       NUMERATOR LADDER
040509,000485: 20,2751           53721                           DXCH     C2TMP                                 
040510,000486: 20,2752           00006                           EXTEND                                         
040511,000487: 20,2753           31574                           DCA      C3                                    
040512,000488: 20,2754           53723                           DXCH     C4TMP                                 
040513,000489: 20,2755           00006                           EXTEND                                         
040514,000490: 20,2756           31576                           DCA      C5                                    
040515,000491: 20,2757           53725                           DXCH     C6TMP                                 
040516,000492: 
040517,000493: 20,2760           03157        YNSUMC             TCR      NSUM                                  #  YAW   NUMERATOR SUM
040518,000494: 
040519,000495: 
040520,000496: 20,2761           00006        YDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040521,000497: 20,2762           31600                           DCA      Y1                                    #       DENOMINATOR LADDER
040522,000498: 20,2763           53731                           DXCH     Y2TMP                                 
040523,000499: 20,2764           00006                           EXTEND                                         
040524,000500: 20,2765           31602                           DCA      Y2                                    
040525,000501: 20,2766           53733                           DXCH     Y3TMP                                 
040526,000502: 20,2767           00006                           EXTEND                                         
040527,000503: 20,2770           31604                           DCA      Y3                                    
040528,000504: 20,2771           53735                           DXCH     Y4TMP                                 
040529,000505: 20,2772           00006                           EXTEND                                         
040530,000506: 20,2773           31606                           DCA      Y4                                    
040531,000507: 20,2774           53737                           DXCH     Y5TMP                                 
040532,000508: 20,2775           00006                           EXTEND                                         
040533,000509: 20,2776           31610                           DCA      Y5                                    
040534,000510: 20,2777           53741                           DXCH     Y6TMP                                 
040535,000511: 
040536,000512: 20,3000           03217        YDSUMC             TCR      DSUM                                  #  YAW   DENOMINATOR SUM
040537,000513: 
040538,000514: 20,3001           31744        DELBARY            CAE      CMDTMP                                #  UPDATE YAW   OFFSET-TRACKER-FILTER
040539,000515: 20,3002           00006                           EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARY..  )
040540,000516: 20,3003           73404                           MP       1-E(-AT)                              

Page 930

040542,000518: 20,3004           53716                           DXCH     DELBRTMP                              
040543,000519: 20,3005           31623                           CAE      DELYBAR                               
040544,000520: 20,3006           00006                           EXTEND                                         
040545,000521: 20,3007           73405                           MP       E(-AT)                                
040546,000522: 20,3010           21716                           DAS      DELBRTMP                              
040547,000523: 20,3011           31624                           CAE      DELYBAR    +1                         
040548,000524: 20,3012           00006                           EXTEND                                         
040549,000525: 20,3013           73405                           MP       E(-AT)                                
040550,000526: 20,3014           27716                           ADS      DELBRTMP   +1                         
040551,000527: 20,3015           54001                           TS       L                                     
040552,000528: 20,3016           13020                           TCF      +2                                    
040553,000529: 20,3017           27715                           ADS      DELBRTMP                              
040554,000530: 
040555,000531: 20,3020           03022        YCOPYCYC           TCR      YCOPY                                 #  YAW   COPYCYCLE
040556,000532: 
040557,000533: 20,3021           15222        YDAPEND            TCF      RESUME                                #  YAW   DAP COMPLETED
040558,000534: 

Page 931

040560,000536:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
040561,000537: 
040562,000538: 20,3022           25654        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040563,000539:                                                                                                  #                                                NOTE POSSIBLE RE-ENTRY FROM RESTART
040564,000540:                                                                                                  #                                                PACKAGE, SHOULD A RESTART OCCUR
040565,000541:                                                                                                  #                                                DURING YAW   COPYCYCLE.
040566,000542: 
040567,000543: 20,3023           00006        NEWC(S)            EXTEND                                         #  UPDATE YAW   NUMERATOR LADDER FROM
040568,000544: 20,3024           31720                           DCA      C1TMP                                 #       TEMPORARIES
040569,000545: 20,3025           53572                           DXCH     C1                                    
040570,000546: 20,3026           00006                           EXTEND                                         
040571,000547: 20,3027           31722                           DCA      C3TMP                                 
040572,000548: 20,3030           53574                           DXCH     C3                                    
040573,000549: 20,3031           00006                           EXTEND                                         
040574,000550: 20,3032           31724                           DCA      C5TMP                                 
040575,000551: 20,3033           53576                           DXCH     C5                                    
040576,000552: 
040577,000553: 20,3034           00006        NEWY(S)            EXTEND                                         #  UPDATE YAW   DENOMINATOR LADDER FROM
040578,000554: 20,3035           31727                           DCA      Y1TMP                                 #       TEMPORARIES
040579,000555: 20,3036           53600                           DXCH     Y1                                    
040580,000556: 20,3037           00006                           EXTEND                                         
040581,000557: 20,3040           31731                           DCA      Y2TMP                                 
040582,000558: 20,3041           53602                           DXCH     Y2                                    
040583,000559: 20,3042           00006                           EXTEND                                         
040584,000560: 20,3043           31733                           DCA      Y3TMP                                 
040585,000561: 20,3044           53604                           DXCH     Y3                                    
040586,000562: 20,3045           00006                           EXTEND                                         
040587,000563: 20,3046           31735                           DCA      Y4TMP                                 
040588,000564: 20,3047           53606                           DXCH     Y4                                    
040589,000565: 20,3050           00006                           EXTEND                                         #       (ALSO NY1TMP,+1 TO NY1,+1)
040590,000566: 20,3051           31737                           DCA      Y5TMP                                 
040591,000567: 20,3052           53610                           DXCH     Y5                                    
040592,000568: 
040593,000569: 20,3053           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
040594,000570: 20,3054           31743                           DCA      ERRBTMP                               
040595,000571: 20,3055           55500                           TS       AK2                                   #       FOR YAW   NEEDLES, SC.AT B-1 REVS
040596,000572: 20,3056           53620                           DXCH     YERRB                                 
040597,000573: 
040598,000574: 20,3057           00006                           EXTEND                                         #       YAW   NUMERATOR SUM
040599,000575: 20,3060           31712                           DCA      NSUMTMP                               #            (ALSO NY2TMP,+1 TO NY2,+1)
040600,000576: 20,3061           53566                           DXCH     YNSUM                                 
040601,000577: 
040602,000578: 20,3062           00006                           EXTEND                                         #       YAW   DENOMINATOR SUM
040603,000579: 20,3063           31714                           DCA      DSUMTMP                               #            (ALSO NY3TMP,+1 TO NY3,+1)
040604,000580: 20,3064           53570                           DXCH     YDSUM                                 
040605,000581: 
040606,000582: 20,3065           31744                           CAE      CMDTMP                                #       YAW   ACTUATOR COMMAND
040607,000583: 20,3066           55632                           TS       YCMD                                  
040608,000584: 
040609,000585: 20,3067           00006                           EXTEND                                         #       YAW   OFFSET-TRACKER-FILTER

Page 932

040611,000587: 20,3070           31716                           DCA      DELBRTMP                              
040612,000588: 20,3071           53624                           DXCH     DELYBAR                               
040613,000589: 
040614,000590: 20,3072           34714                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
040615,000591: 20,3073           55654                           TS       TVCPHASE                              #       RESET TVCPHASE
040616,000592: 
040617,000593: 20,3074           00002                           TC       Q                                     
040618,000594: 

Page 933

040620,000596:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
040621,000597: 
040622,000598: 
040623,000599:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
040624,000600: 
040625,000601: 20,3075           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
040626,000602: 
040627,000603: 20,3076           37716                           CAF      NEGONE                                #       SET UP
040628,000604: 20,3077           61635                           AD       T5TVCDT                               #       T5 CALL FOR PITCHDAP IN TVCDT SECS
040629,000605: 20,3100           64674                           AD       NEGMAX                                #       (T5TVCDT = POSMAX - TVCDT/2 +1)
040630,000606: 20,3101           61635                           AD       T5TVCDT                               
040631,000607: 20,3102           54030                           TS       TIME5                                 
040632,000608: 20,3103           33401                           CAF      PITCHT5                               #       (BBCON ALREADY THERE)
040633,000609: 20,3104           55312                           TS       T5LOC                                 
040634,000610: 
040635,000611: 20,3105           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
040636,000612: 20,3106           55655                           TS       PCDUYPST                              #       PAST-VALUES
040637,000613: 20,3107           30034                           CAE      CDUZ                                  
040638,000614: 20,3110           55656                           TS       PCDUZPST                              
040639,000615: 
040640,000616: 20,3111           15224                           TCF      NOQRSM                                
040641,000617: 
040642,000618: 
040643,000619:                                                                                                  #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
040644,000620: 
040645,000621: 20,3112           31742        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
040646,000622: 20,3113           00006                           EXTEND                                         #       CHECKS UPPER WORD ONLY
040647,000623: 20,3114           74710                           MP       1/ERRLIM                              
040648,000624: 20,3115           00006                           EXTEND                                         
040649,000625: 20,3116           13124                           BZF      +6                                    
040650,000626: 20,3117           11742                           CCS      ERRBTMP                               
040651,000627: 20,3120           34676                           CAF      ERRLIM                                
040652,000628: 20,3121           13123                           TCF      +2                                    
040653,000629: 20,3122           44676                           CS       ERRLIM                                
040654,000630: 20,3123           55742                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
040655,000631: 
040656,000632: 20,3124           00002                           TC       Q                                     
040657,000633: 
040658,000634: 
040659,000635:                                                                                                  #  VARIABLE-GAIN PACKAGE....
040660,000636: 
040661,000637: 20,3125           31744        OPTVARK            CAE      CMDTMP                                #  VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
040662,000638: 20,3126           00006                           EXTEND                                         #       JZERO OR YZERO
040663,000639: 20,3127           71651                           MP       VARK                                  #  VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
040664,000640: 20,3130           53745                           DXCH     CMDTMP                                
040665,000641: 20,3131           22000                           LXCH     A                                     #  LO-ORDER WORD OF INPUT CMDTMP
040666,000642: 20,3132           00006                           EXTEND                                         
040667,000643: 20,3133           71651                           MP       VARK                                  
040668,000644: 20,3134           27745                           ADS      CMDTMP     +1                         
040669,000645: 20,3135           54001                           TS       L                                     

Page 934

040671,000647: 20,3136           13140                           TCF      +2                                    
040672,000648: 20,3137           27744                           ADS      CMDTMP                                
040673,000649: 
040674,000650: 20,3140           53745                           DXCH     CMDTMP                                #  FIX UP SCALING
040675,000651: 20,3141           20001                           DDOUBL                                         
040676,000652: 20,3142           20001                           DDOUBL                                         
040677,000653: 20,3143           53745                           DXCH     CMDTMP                                
040678,000654: 
040679,000655: 20,3144           00002                           TC       Q                                     
040680,000656: 
040681,000657: 
040682,000658:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
040683,000659: 
040684,000660: 20,3145           00006        ACTLIM             EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
040685,000661: 20,3146           73400                           MP       1/ACTSAT                              
040686,000662: 20,3147           00006                           EXTEND                                         
040687,000663: 20,3150           13156                           BZF      +6                                    
040688,000664: 20,3151           11744                           CCS      CMDTMP                                #  APPLY LIMITS
040689,000665: 20,3152           33377                           CAF      ACTSAT                                
040690,000666: 20,3153           13155                           TCF      +2                                    
040691,000667: 20,3154           43377                           CS       ACTSAT                                
040692,000668: 20,3155           55744                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
040693,000669: 
040694,000670: 20,3156           00002                           TC       Q                                     
040695,000671: 
040696,000672: 
040697,000673:                                                                                                  #  NUMERATOR-SUM COMPUTATION....
040698,000674: 
040699,000675: 20,3157           31717        NSUM               CAE      B1TMP                                 #  PREPARE NUMERATOR SUM, SCALING IS AT
040700,000676: 20,3160           00006                           EXTEND                                         #       B+0 REVS  ( = B+2 X B-2 )
040701,000677: 20,3161           73406                           MP       N1                                    
040702,000678: 20,3162           53712                           DXCH     NSUMTMP                               
040703,000679: 
040704,000680: 20,3163           31720                           CAE      B2TMP                                 
040705,000681: 20,3164           00006                           EXTEND                                         
040706,000682: 20,3165           73407                           MP       N2                                    
040707,000683: 20,3166           21712                           DAS      NSUMTMP                               
040708,000684: 
040709,000685: 20,3167           31721                           CAE      B3TMP                                 
040710,000686: 20,3170           00006                           EXTEND                                         
040711,000687: 20,3171           73410                           MP       N3                                    
040712,000688: 20,3172           21712                           DAS      NSUMTMP                               
040713,000689: 
040714,000690: 20,3173           31722                           CAE      B4TMP                                 
040715,000691: 20,3174           00006                           EXTEND                                         
040716,000692: 20,3175           73411                           MP       N4                                    
040717,000693: 20,3176           21712                           DAS      NSUMTMP                               
040718,000694: 
040719,000695: 20,3177           31723                           CAE      B5TMP                                 
040720,000696: 20,3200           00006                           EXTEND                                         

Page 935

040722,000698: 20,3201           73412                           MP       N5                                    
040723,000699: 20,3202           21712                           DAS      NSUMTMP                               
040724,000700: 
040725,000701: 20,3203           31724                           CAE      B6TMP                                 
040726,000702: 20,3204           00006                           EXTEND                                         
040727,000703: 20,3205           73413                           MP       N6                                    
040728,000704: 20,3206           21712                           DAS      NSUMTMP                               
040729,000705: 
040730,000706: 20,3207           31725                           CAE      B7TMP                                 
040731,000707: 20,3210           00006                           EXTEND                                         
040732,000708: 20,3211           73414                           MP       N7                                    
040733,000709: 20,3212           21712                           DAS      NSUMTMP                               
040734,000710: 
040735,000711: 20,3213           53712        NSUMSC             DXCH     NSUMTMP                               #  FIX UP SCALING (NOW AT B+0 REVS)
040736,000712: 20,3214           20001                           DDOUBL                                         
040737,000713: 20,3215           53712                           DXCH     NSUMTMP                               #  SC.AT B-1 REV
040738,000714: 
040739,000715: 20,3216           00002                           TC       Q                                     
040740,000716: 
040741,000717: 
040742,000718:                                                                                                  #  DENOMINATOR-SUM COMPUTATION....
040743,000719: 
040744,000720: 20,3217           31726        DSUM               CAE      J1TMP                                 #  PREPARE DENOMINATOR SUM, SCALED
040745,000721: 20,3220           00006                           EXTEND                                         #       AT B+1 SPASCREVS ( = B+4 X B-3 )
040746,000722: 20,3221           73415                           MP       D1                                    #       (J1TMP = J,YZERO,  SC.AT  B-3 REVS)
040747,000723: 20,3222           53714                           DXCH     DSUMTMP                               
040748,000724: 20,3223           31726                           CAE      J1TMP                                 
040749,000725: 20,3224           00006                           EXTEND                                         
040750,000726: 20,3225           73416                           MP       D1         +1                         
040751,000727: 20,3226           27714                           ADS      DSUMTMP    +1                         
040752,000728: 20,3227           54001                           TS       L                                     
040753,000729: 20,3230           13232                           TCF      +2                                    
040754,000730: 20,3231           27713                           ADS      DSUMTMP                               
040755,000731: 20,3232           31727                           CAE      J1TMP      +1                         
040756,000732: 20,3233           00006                           EXTEND                                         
040757,000733: 20,3234           73415                           MP       D1                                    
040758,000734: 20,3235           27714                           ADS      DSUMTMP    +1                         
040759,000735: 20,3236           54001                           TS       L                                     
040760,000736: 20,3237           13241                           TCF      +2                                    
040761,000737: 20,3240           27713                           ADS      DSUMTMP                               
040762,000738: 
040763,000739: 20,3241           31730        D2J2               CAE      J2TMP                                 
040764,000740: 20,3242           00006                           EXTEND                                         
040765,000741: 20,3243           73417                           MP       D2                                    
040766,000742: 20,3244           21714                           DAS      DSUMTMP                               
040767,000743: 20,3245           31730                           CAE      J2TMP                                 
040768,000744: 20,3246           00006                           EXTEND                                         
040769,000745: 20,3247           73420                           MP       D2         +1                         
040770,000746: 20,3250           27714                           ADS      DSUMTMP    +1                         
040771,000747: 20,3251           54001                           TS       L                                     

Page 936

040773,000749: 20,3252           13254                           TCF      +2                                    
040774,000750: 20,3253           27713                           ADS      DSUMTMP                               
040775,000751: 20,3254           31731                           CAE      J2TMP      +1                         
040776,000752: 20,3255           00006                           EXTEND                                         
040777,000753: 20,3256           73417                           MP       D2                                    
040778,000754: 20,3257           27714                           ADS      DSUMTMP    +1                         
040779,000755: 20,3260           54001                           TS       L                                     
040780,000756: 20,3261           13263                           TCF      +2                                    
040781,000757: 20,3262           27713                           ADS      DSUMTMP                               
040782,000758: 
040783,000759: 20,3263           31732        D3J3               CAE      J3TMP                                 
040784,000760: 20,3264           00006                           EXTEND                                         
040785,000761: 20,3265           73421                           MP       D3                                    
040786,000762: 20,3266           21714                           DAS      DSUMTMP                               
040787,000763: 20,3267           31732                           CAE      J3TMP                                 
040788,000764: 20,3270           00006                           EXTEND                                         
040789,000765: 20,3271           73422                           MP       D3         +1                         
040790,000766: 20,3272           27714                           ADS      DSUMTMP    +1                         
040791,000767: 20,3273           54001                           TS       L                                     
040792,000768: 20,3274           13276                           TCF      +2                                    
040793,000769: 20,3275           27713                           ADS      DSUMTMP                               
040794,000770: 20,3276           31733                           CAE      J3TMP      +1                         
040795,000771: 20,3277           00006                           EXTEND                                         
040796,000772: 20,3300           73421                           MP       D3                                    
040797,000773: 20,3301           27714                           ADS      DSUMTMP    +1                         
040798,000774: 20,3302           54001                           TS       L                                     
040799,000775: 20,3303           13305                           TCF      +2                                    
040800,000776: 20,3304           27713                           ADS      DSUMTMP                               
040801,000777: 
040802,000778: 20,3305           31734        D4J4               CAE      J4TMP                                 
040803,000779: 20,3306           00006                           EXTEND                                         
040804,000780: 20,3307           73423                           MP       D4                                    
040805,000781: 20,3310           21714                           DAS      DSUMTMP                               
040806,000782: 20,3311           31734                           CAE      J4TMP                                 
040807,000783: 20,3312           00006                           EXTEND                                         
040808,000784: 20,3313           73424                           MP       D4         +1                         
040809,000785: 20,3314           27714                           ADS      DSUMTMP    +1                         
040810,000786: 20,3315           54001                           TS       L                                     
040811,000787: 20,3316           13320                           TCF      +2                                    
040812,000788: 20,3317           27713                           ADS      DSUMTMP                               
040813,000789: 20,3320           31735                           CAE      J4TMP      +1                         
040814,000790: 20,3321           00006                           EXTEND                                         
040815,000791: 20,3322           73423                           MP       D4                                    
040816,000792: 20,3323           27714                           ADS      DSUMTMP    +1                         
040817,000793: 20,3324           54001                           TS       L                                     
040818,000794: 20,3325           13327                           TCF      +2                                    
040819,000795: 20,3326           27713                           ADS      DSUMTMP                               
040820,000796: 
040821,000797: 20,3327           31736        D5J5               CAE      J5TMP                                 
040822,000798: 20,3330           00006                           EXTEND                                         

Page 937

040824,000800: 20,3331           73425                           MP       D5                                    
040825,000801: 20,3332           21714                           DAS      DSUMTMP                               
040826,000802: 20,3333           31736                           CAE      J5TMP                                 
040827,000803: 20,3334           00006                           EXTEND                                         
040828,000804: 20,3335           73426                           MP       D5         +1                         
040829,000805: 20,3336           27714                           ADS      DSUMTMP    +1                         
040830,000806: 20,3337           54001                           TS       L                                     
040831,000807: 20,3340           13342                           TCF      +2                                    
040832,000808: 20,3341           27713                           ADS      DSUMTMP                               
040833,000809: 20,3342           31737                           CAE      J5TMP      +1                         
040834,000810: 20,3343           00006                           EXTEND                                         
040835,000811: 20,3344           73425                           MP       D5                                    
040836,000812: 20,3345           27714                           ADS      DSUMTMP    +1                         
040837,000813: 20,3346           54001                           TS       L                                     
040838,000814: 20,3347           13351                           TCF      +2                                    
040839,000815: 20,3350           27713                           ADS      DSUMTMP                               
040840,000816: 
040841,000817: 20,3351           31740        D6J6               CAE      J6TMP                                 
040842,000818: 20,3352           00006                           EXTEND                                         
040843,000819: 20,3353           73427                           MP       D6                                    
040844,000820: 20,3354           21714                           DAS      DSUMTMP                               
040845,000821: 20,3355           31740                           CAE      J6TMP                                 
040846,000822: 20,3356           00006                           EXTEND                                         
040847,000823: 20,3357           73430                           MP       D6         +1                         
040848,000824: 20,3360           27714                           ADS      DSUMTMP    +1                         
040849,000825: 20,3361           54001                           TS       L                                     
040850,000826: 20,3362           13364                           TCF      +2                                    
040851,000827: 20,3363           27713                           ADS      DSUMTMP                               
040852,000828: 20,3364           31741                           CAE      J6TMP      +1                         
040853,000829: 20,3365           00006                           EXTEND                                         
040854,000830: 20,3366           73427                           MP       D6                                    
040855,000831: 20,3367           27714                           ADS      DSUMTMP    +1                         
040856,000832: 20,3370           54001                           TS       L                                     
040857,000833: 20,3371           13373                           TCF      +2                                    
040858,000834: 20,3372           27713                           ADS      DSUMTMP                               
040859,000835: 
040860,000836: 20,3373           53714        DSUMSC             DXCH     DSUMTMP                               #  FIX UP SCALING  (NOW AT B+1 SPASCREV)
040861,000837: 20,3374           20001                           DDOUBL                                         
040862,000838: 20,3375           53714                           DXCH     DSUMTMP                               #  SC.AT B+0 SPASCREV
040863,000839: 
040864,000840: 20,3376           00002                           TC       Q                                     
040865,000841: 

Page 938

040867,000843:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
040868,000844: 
040869,000845: 
040870,000846:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT  OR  1.07975111 REVS (85.41X16384/3600/360)
040871,000847: 
040872,000848:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
040873,000849: 
040874,000850: 20,3377           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
040875,000851: 20,3400           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
040876,000852: 
040877,000853: 20,3401     4676               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
040878,000854: 20,3401     4710               1/ERRLIM           EQUALS   BIT3                                  #       SC.AT B-1 REV, AND ITS RECIPROCAL
040879,000855: 
040880,000856: 20,3401     4727               KPDN               =        DEC45                                 #  DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
040881,000857: 20,3401     4727               KYDN               =        KPDN                                  #       SPASCREV (FOR DEC45 BITS EXACTLY)
040882,000858:                                                                                                  #                                                    KPDN = .005747 DEG/DEG
040883,000859:                                                                                                  #                                                    SCALED KPDN = DEC45
040884,000860:                                                                                                  #                                                    1SPASCREV = KPDN(B+14)/(2X45)
040885,000861:                                                                                                  #                                                               = 1.04620942 REVS
040886,000862: 
040887,000863: 
040888,000864: 20,3401           02326        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
040889,000865: 20,3402           03075        DAPT5              GENADR   DAPINIT                               #       (BBCON) ALREADY THERE.  ORDER IS
040890,000866: 20,3403           02616        YAWT5              GENADR   YAWDAP                                #       REQUIRED.
040891,000867: 
040892,000868: 
040893,000869: 20,3404           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
040894,000870: 20,3405           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
040895,000871: 
040896,000872: 20,3406           50166        N1                 DEC      -2.9708385 B-2                        #  NUMERATOR COEFS (CSM/LEM), SC.AT B+2
040897,000873: 20,3407           31436        N2                 DEC      3.1947342  B-2                        
040898,000874: 20,3410           74561        N3                 DEC      -0.40962906 B-2                        
040899,000875: 20,3411           53277        N4                 DEC      -2.5780275 B-2                        
040900,000876: 20,3412           27550        N5                 DEC      2.9629319  B-2                        
040901,000877: 20,3413           63725        N6                 DEC      -1.5101470 B-2                        
040902,000878: 20,3414           02400        N7                 DEC      0.31243224 B-2                        
040903,000879: 
040904,000880: 20,3415           66341 54237  D1                 2DEC     -4.7798977 B-4                        #  DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
040905,000881: 
040906,000882: 20,3417           22707 36641  D2                 2DEC     9.4452763  B-4                        

Page 939

040908,000884: 20,3421           54220 40714  D3                 2DEC     -9.8593475 B-4                        
040909,000885: 20,3423           13344 21146  D4                 2DEC     5.7231811  B-4                        
040910,000886: 20,3425           74401 61760  D5                 2DEC     -1.7484750 B-4                        
040911,000887: 20,3427           00340 23073  D6                 2DEC     0.21933335 B-4                        

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