Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
041201,000002: ## Copyright: Public domain.
041202,000003: ## Filename: TVCDAPS.agc
041203,000004: ## Purpose: Part of the source code for Colossus, build 249.
041204,000005: ## It is part of the source code for the Command Module's (CM)
041205,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
041206,000007: ## Assembler: yaYUL
041207,000008: ## Reference: Begins at p. 921.
041208,000009: ## Contact: Ron Burkey <info@sandroid.org>.
041209,000010: ## Website: www.ibiblio.org/apollo.
041210,000011: ## Mod history: 08/23/04 RSB. Began transcribing.
041211,000012: ## 2010-10-25 JL Fixed page number.
041212,000013: ## 2017-01-06 RSB Page numbers now agree with those on the
041213,000014: ## original harcopy, as opposed to the PDF page
041214,000015: ## numbers in 1701.pdf.
041215,000016: ## 2017-01-20 RSB Cross-diff'd comment text (not whitespace)
041216,000017: ## vs the already-proofed corresponding Colossus
041217,000018: ## 237 and Comanche 55 source-code files
041218,000019: ## and corrected errors found.
041219,000020: ##
041220,000021: ## The contents of the "Colossus249" files, in general, are transcribed
041221,000022: ## from a scanned copy of the program listing. Notations on this
041222,000023: ## document read, in part:
041223,000024: ##
041224,000025: ## Assemble revision 249 of AGC program Colossus by NASA
041225,000026: ## 2021111-041. October 28, 1968.
041226,000027: ##
041227,000028: ## This AGC program shall also be referred to as
041228,000029: ## Colossus 1A
041229,000030: ##
041230,000031: ## Prepared by
041231,000032: ## Massachusetts Institute of Technology
041232,000033: ## 75 Cambridge Parkway
041233,000034: ## Cambridge, Massachusetts
041234,000035: ## under NASA contract NAS 9-4065.
041235,000036: ##
041236,000037: ## Refer directly to the online document mentioned above for further information.
041237,000038: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
041238,000039: ##
041239,000040: ## In some cases, where the source code for Luminary 131 overlaps that of
041240,000041: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
041241,000042: ## source file, and then is proofed to incorporate any changes.
041242,000043:
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Page 921 |
041244,000045: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
041245,000046: # LOG SECTION....TVCDAP SUBROUTINE....DAPCSM
041246,000047: # MOD BY ENGEL DATE....27 OCT, 1967
041247,000048:
041248,000049: # FUNCTIONAL DESCRIPTION....
041249,000050:
041250,000051: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
041251,000052: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
041252,000053: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
041253,000054: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
041254,000055: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
041255,000056:
041256,000057: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
041257,000058: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
041258,000059: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
041259,000060: # INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
041260,000061: # POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
041261,000062: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
041262,000063:
041263,000064: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
041264,000065: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
041265,000066: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
041266,000067: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
041267,000068: # MODING.
041268,000069:
041269,000070: # REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
041270,000071: # (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
041271,000072: # REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
041272,000073: # LU (MIT IL JUNE 1966).
041273,000074:
041274,000075: # OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
041275,000076: # NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
041276,000077: # (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
041277,000078:
041278,000079: # CALLING SEQUENCE.... (TYPICALLY)
041279,000080:
041280,000081: # T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
041281,000082: # T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
041282,000083: # T5 CALL OF DAPINIT BY DAPINIT
041283,000084: # T5 CALL OF PITCHDAP BY DAPINIT
041284,000085: # T5 CALL OF YAWDAP BY PITCHDAP
041285,000086: # T5 CALL OF PITCHDAP BY YAWDAP
041286,000087: # ETC.
041287,000088: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
041288,000089:
041289,000090: # NORMAL EXIT MODE....RESUME
041290,000091:
041291,000092: # ALARM OR ABORT EXIT MODES....NONE
041292,000093:
041293,000094: # SUBROUTINES CALLED....
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Page 922 |
041295,000096:
041296,000097: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
041297,000098: # NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
041298,000099: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
041299,000100: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
041300,000101: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
041301,000102: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
041302,000103: # YAW DAPS
041303,000104: # OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
041304,000105: # PITCH AND YAW DAPS
041305,000106: # RESUME
041306,000107:
041307,000108: # OTHER INTERFACES....
041308,000109:
041309,000110: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
041310,000111: # S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
041311,000112: # TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
041312,000113: # GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
041313,000114: # AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
041314,000115: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
041315,000116:
041316,000117: # ERASABLE INITIALIZATION REQUIRED....
041317,000118:
041318,000119: # 29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
041319,000120: # KP/KPDN (KPGEN3) AS IN S40.15 (R03)
041320,000121: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
041321,000122: # ENGINE-ON BIT (11.13) FOR RESTARTS
041322,000123: # TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
041323,000124: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
041324,000125: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
041325,000126: # INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
041326,000127: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
041327,000128: # UPDATES EVERY 1/2 SECOND)
041328,000129: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
041329,000130: # UNLESS BENCH-TESTING.
041330,000131:
041331,000132: # OUTPUT....
041332,000133:
041333,000134: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
041334,000135: # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
041335,000136: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
041336,000137: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
041337,000138:
041338,000139: # DEBRIS....
041339,000140:
041340,000141: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041341,000142:
041342,000143: 17,2213 BANK 17
041343,000144: 20,2000 SETLOC DAPS2
041344,000145: 20,2000 BANK
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Page 923 |
041346,000147: 20,2327 E6,1742 EBANK= BZERO
041347,000148: 20,2327 COUNT* $$/DAPS
041348,000149:
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Page 924 |
041350,000151: # PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041351,000152:
041352,000153: 20,2327 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
041353,000154: 20,2330 00006 EXTEND
041354,000155: 20,2331 22012 QXCH QRUPT
041355,000156:
041356,000157: 20,2332 33420 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
041357,000158: 20,2333 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
041358,000159: 20,2334 31635 CAE T5TVCDT
041359,000160: 20,2335 54030 TS TIME5
041360,000161:
041361,000162: 20,2336 11614 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
041362,000163: 20,2337 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS
041363,000164: 20,2340 12342 TCF +2 # NO-TEST
041364,000165: 20,2341 03506 TC HACK # TEST-IN-PROGRESS
041365,000166:
041366,000167: 20,2342 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT
041367,000168: 20,2343 57655 XCH PCDUYPST # FOR PITCH AUTOPILOT
041368,000169: 20,2344 00006 EXTEND
041369,000170: 20,2345 21655 MSU PCDUYPST
041370,000171: 20,2346 02547 TCR RLIMTEST # RATE TEST
041371,000172: 20,2347 55657 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041372,000173:
041373,000174: 20,2350 30034 CAE CDUZ # COMPUTE CDUZDOT
041374,000175: 20,2351 57656 XCH PCDUZPST # FOR PITCH AUTOPILOT
041375,000176: 20,2352 00006 EXTEND
041376,000177: 20,2353 21656 MSU PCDUZPST
041377,000178: 20,2354 02547 TCR RLIMTEST # RATE TEST
041378,000179: 20,2355 55660 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041379,000180:
041380,000181: 20,2356 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
041381,000182: 20,2357 31616 DCA PERRB # ERROR, SC.AT B-1 REVS
041382,000183: 20,2360 53743 DXCH ERRBTMP
041383,000184:
041384,000185: 20,2361 00006 EXTEND
041385,000186: 20,2362 31530 DCA OMEGAYC
041386,000187: 20,2363 21743 DAS ERRBTMP
041387,000188:
041388,000189: 20,2364 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
041389,000190: 20,2365 00006 EXTEND
041390,000191: 20,2366 70750 MP COSCDUX
041391,000192: 20,2367 20001 DDOUBL
041392,000193: 20,2370 00006 EXTEND
041393,000194: 20,2371 71657 MP MCDUYDOT
041394,000195: 20,2372 20001 DDOUBL
041395,000196: 20,2373 53536 DXCH OMEGAYB
041396,000197:
041397,000198: 20,2374 41660 CS MCDUZDOT
041398,000199: 20,2375 00006 EXTEND
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Page 925 |
041400,000201: 20,2376 70742 MP SINCDUX
041401,000202: 20,2377 20001 DDOUBL
041402,000203: 20,2400 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
041403,000204:
041404,000205: 20,2401 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
041405,000206: 20,2402 41536 DCS OMEGAYB
041406,000207: 20,2403 21743 DAS ERRBTMP
041407,000208:
041408,000209: 20,2404 03126 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
041409,000210:
041410,000211: 20,2405 31466 P1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041411,000212: 20,2406 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041412,000213: 20,2407 10000 CCS A
041413,000214: 20,2410 12413 TCF +3 # USE LEM-ON FILTER
041414,000215: 20,2411 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041415,000216: 20,2412 36213 CADR NP0NODE
041416,000217:
041417,000218: 20,2413 00006 PFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS.
041418,000219: 20,2414 41544 DCS PDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041419,000220: 20,2415 53745 DXCH JZERO
041420,000221:
041421,000222: 20,2416 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
041422,000223: 20,2417 61541 AD PNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
041423,000224: 20,2420 00006 EXTEND
041424,000225: 20,2421 74727 MP KPDN # KPDN, SC.AT B+1 SPASCREV
041425,000226: 20,2422 21745 DAS JZERO
041426,000227: 20,2423 31542 CAE PNSUM +1
041427,000228: 20,2424 00006 EXTEND
041428,000229: 20,2425 74727 MP KPDN
041429,000230: 20,2426 27745 ADS JZERO +1
041430,000231: 20,2427 54001 TS L
041431,000232: 20,2430 12432 TCF +2
041432,000233: 20,2431 27744 ADS JZERO # (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
041433,000234:
041434,000235: 20,2432 00006 JZSTORE EXTEND # PREPARE JZERO FOR DENOMINATOR LADDER
041435,000236: 20,2433 31745 DCA JZERO # SC.AT B+0 SPASCREV
041436,000237: 20,2434 20001 DDOUBL
041437,000238: 20,2435 20001 DDOUBL
041438,000239: 20,2436 20001 DDOUBL
041439,000240: 20,2437 53727 DXCH J1TMP # SC.AT B-3 SPASCREV
041440,000241:
041441,000242: 20,2440 03141 OPTVARKP TCR OPTVARK # PITCH VARIABLE-GAIN PACKAGE
041442,000243:
041443,000244: 20,2441 00006 POFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
041444,000245: 20,2442 41745 DCS CMDTMP # (GEN3DAP RETURNS AT POFFSET)
041445,000246: 20,2443 53745 DXCH CMDTMP
041446,000247: 20,2444 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
041447,000248: 20,2445 31626 DCA PDELOFF
041448,000249: 20,2446 21745 DAS CMDTMP
041449,000250:
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Page 926 |
041451,000252: 20,2447 31745 PROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
041452,000253: 20,2450 60000 DOUBLE
041453,000254: 20,2451 54001 TS L
041454,000255: 20,2452 34714 CAF ZERO
041455,000256: 20,2453 61744 AD CMDTMP
041456,000257:
041457,000258: 20,2454 03161 PACLIM TCR ACTLIM # PITCH ACTUATOR-COMMAND-LIMITER
041458,000259:
041459,000260: 20,2455 41631 POUT CS PCMD # INCREMENTAL PITCH COMMAND
041460,000261: 20,2456 61744 AD CMDTMP
041461,000262: 20,2457 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
041462,000263: # PROTECT, SINCE ERROR CNTR ZEROED)
041463,000264:
041464,000265: 20,2460 34700 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
041465,000266: 20,2461 00006 EXTEND
041466,000267: 20,2462 05014 WOR CHAN14
041467,000268: 20,2463 31466 P2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041468,000269: 20,2464 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041469,000270: 20,2465 10000 CCS A
041470,000271: 20,2466 12471 TCF +3 # USE LEM-ON FILTER
041471,000272: 20,2467 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041472,000273: 20,2470 36246 CADR NP1NODE
041473,000274: 20,2471 31742 BZSTORE CAE ERRBTMP # PREPARE BZERO (UPPER WORD OF ERRBTMP)
041474,000275: 20,2472 60000 DOUBLE # FOR NUMERATOR LADDER....SC.AT B-1
041475,000276: 20,2473 55717 TS B1TMP # SC.AT B-2 REVS FOR LADDER
041476,000277: 20,2474 00006 PNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
041477,000278: 20,2475 31546 DCA B1 # NUMERATOR LADDER
041478,000279: 20,2476 53721 DXCH B2TMP
041479,000280: 20,2477 00006 EXTEND
041480,000281: 20,2500 31550 DCA B3
041481,000282: 20,2501 53723 DXCH B4TMP
041482,000283: 20,2502 00006 EXTEND
041483,000284: 20,2503 31552 DCA B5
041484,000285: 20,2504 53725 DXCH B6TMP
041485,000286:
041486,000287: 20,2505 03173 PNSUMC TCR NSUM # PITCH NUMERATOR SUM
041487,000288: 20,2506 00006 PDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
041488,000289: 20,2507 31554 DCA J1 # DENOMINATOR LADDER
041489,000290: 20,2510 53731 DXCH J2TMP
041490,000291: 20,2511 00006 EXTEND
041491,000292: 20,2512 31556 DCA J2
041492,000293: 20,2513 53733 DXCH J3TMP
041493,000294: 20,2514 00006 EXTEND
041494,000295: 20,2515 31560 DCA J3
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Page 927 |
041496,000297: 20,2516 53735 DXCH J4TMP
041497,000298: 20,2517 00006 EXTEND
041498,000299: 20,2520 31562 DCA J4
041499,000300: 20,2521 53737 DXCH J5TMP
041500,000301: 20,2522 00006 EXTEND
041501,000302: 20,2523 31564 DCA J5
041502,000303: 20,2524 53741 DXCH J6TMP
041503,000304:
041504,000305: 20,2525 03233 PDSUMC TCR DSUM # PITCH DENOMINATOR SUM
041505,000306:
041506,000307: 20,2526 31744 DELBARP CAE CMDTMP # UPDATE PITCH OFFSET-TRACKER-FILTER
041507,000308: 20,2527 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARP..)
041508,000309: 20,2530 73421 MP 1-E(-AT)
041509,000310: 20,2531 53716 DXCH DELBRTMP
041510,000311: 20,2532 31621 CAE DELPBAR
041511,000312: 20,2533 00006 EXTEND
041512,000313: 20,2534 73422 MP E(-AT)
041513,000314: 20,2535 21716 DAS DELBRTMP
041514,000315: 20,2536 31622 CAE DELPBAR +1
041515,000316: 20,2537 00006 EXTEND
041516,000317: 20,2540 73422 MP E(-AT)
041517,000318: 20,2541 27716 ADS DELBRTMP +1
041518,000319: 20,2542 54001 TS L
041519,000320: 20,2543 12545 TCF +2
041520,000321: 20,2544 27715 ADS DELBRTMP
041521,000322:
041522,000323: 20,2545 02560 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
041523,000324:
041524,000325: 20,2546 15222 PDAPEND TCF RESUME # PITCH DAP COMPLETED
041525,000326: 20,2547 55744 RLIMTEST TS CMDTMP # TEST FOR EXCESSIVE CDU RATES
041526,000327: 20,2550 00006 EXTEND # IF CDU DIFFERENCE EXCEEDS 2.33 DEG
041527,000328: 20,2551 73415 MP 1/RTLIM # IF ONE SAMPLE PERIOD, SET CDURATE=0
041528,000329: 20,2552 00006 EXTEND
041529,000330: 20,2553 12556 BZF +3
041530,000331: 20,2554 34714 CAF ZERO
041531,000332: 20,2555 55744 TS CMDTMP
041532,000333: 20,2556 31744 CAE CMDTMP
041533,000334: 20,2557 00002 TC Q
041534,000335:
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Page 928 |
041536,000337: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041537,000338:
041538,000339: 20,2560 25654 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
041539,000340: # NOTE POSSIBLE RE-ENTRY FROM RESTART
041540,000341: # PACKAGE, SHOULD A RESTART OCCUR
041541,000342: # DURING PITCH COPYCYCLE.
041542,000343:
041543,000344: 20,2561 00006 NEWB(S) EXTEND # UPDATE PITCH NUMERATOR LADDER FROM
041544,000345: 20,2562 31720 DCA B1TMP # TEMPORARIES
041545,000346: 20,2563 53546 DXCH B1
041546,000347: 20,2564 00006 EXTEND
041547,000348: 20,2565 31722 DCA B3TMP
041548,000349: 20,2566 53550 DXCH B3
041549,000350: 20,2567 00006 EXTEND
041550,000351: 20,2570 31724 DCA B5TMP
041551,000352: 20,2571 53552 DXCH B5
041552,000353:
041553,000354: 20,2572 00006 NEWJ(S) EXTEND # UPDATE PITCH DENOMINATOR LADDER FROM
041554,000355: 20,2573 31727 DCA J1TMP # TEMPORARIES
041555,000356: 20,2574 53554 DXCH J1
041556,000357: 20,2575 00006 EXTEND
041557,000358: 20,2576 31731 DCA J2TMP
041558,000359: 20,2577 53556 DXCH J2
041559,000360: 20,2600 00006 EXTEND
041560,000361: 20,2601 31733 DCA J3TMP
041561,000362: 20,2602 53560 DXCH J3
041562,000363: 20,2603 00006 EXTEND
041563,000364: 20,2604 31735 DCA J4TMP
041564,000365: 20,2605 53562 DXCH J4
041565,000366: 20,2606 00006 EXTEND # (ALSO NP1TMP,+1 TO NP1,+1)
041566,000367: 20,2607 31737 DCA J5TMP
041567,000368: 20,2610 53564 DXCH J5
041568,000369:
041569,000370: 20,2611 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
041570,000371: 20,2612 31743 DCA ERRBTMP
041571,000372: 20,2613 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
041572,000373: 20,2614 53616 DXCH PERRB
041573,000374:
041574,000375: 20,2615 00006 EXTEND # PITCH NUMERATOR SUM
041575,000376: 20,2616 31712 DCA NSUMTMP # (ALSO NP2TMP,+1 TO NP2,+1)
041576,000377: 20,2617 53542 DXCH PNSUM
041577,000378:
041578,000379: 20,2620 00006 EXTEND # PITCH DENOMINATOR SUM
041579,000380: 20,2621 31714 DCA DSUMTMP # (ALSO NP3TMP,+1 TO NP3,+1)
041580,000381: 20,2622 53544 DXCH PDSUM
041581,000382:
041582,000383: 20,2623 31744 CAE CMDTMP # PITCH ACTUATOR COMMAND
041583,000384: 20,2624 55631 TS PCMD
041584,000385:
041585,000386: 20,2625 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
![]() |
Page 929 |
041587,000388: 20,2626 31716 DCA DELBRTMP
041588,000389: 20,2627 53622 DXCH DELPBAR
041589,000390:
041590,000391: 20,2630 25654 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED
041591,000392:
041592,000393: 20,2631 00002 TC Q
041593,000394:
![]() |
Page 930 |
041595,000396: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041596,000397:
041597,000398: 20,2632 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
041598,000399: 20,2633 00006 EXTEND
041599,000400: 20,2634 22012 QXCH QRUPT
041600,000401:
041601,000402: 20,2635 33416 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041602,000403: 20,2636 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
041603,000404: 20,2637 31635 CAE T5TVCDT
041604,000405: 20,2640 54030 TS TIME5
041605,000406:
041606,000407: 20,2641 11614 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
041607,000408: 20,2642 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS
041608,000409: 20,2643 12645 TCF +2 # NO-TEST
041609,000410: 20,2644 03506 TC HACK # TEST-IN-PROGRESS
041610,000411:
041611,000412: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
041612,000413:
041613,000414: 20,2645 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041614,000415: 20,2646 31620 DCA YERRB # ERROR, SC.AT B-1 REVS
041615,000416: 20,2647 53743 DXCH ERRBTMP
041616,000417:
041617,000418: 20,2650 00006 EXTEND
041618,000419: 20,2651 31532 DCA OMEGAZC
041619,000420: 20,2652 21743 DAS ERRBTMP
041620,000421:
041621,000422: 20,2653 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041622,000423: 20,2654 00006 EXTEND
041623,000424: 20,2655 70742 MP SINCDUX
041624,000425: 20,2656 20001 DDOUBL
041625,000426: 20,2657 00006 EXTEND
041626,000427: 20,2660 71657 MP MCDUYDOT
041627,000428: 20,2661 20001 DDOUBL
041628,000429: 20,2662 53540 DXCH OMEGAZB
041629,000430:
041630,000431: 20,2663 41660 CS MCDUZDOT
041631,000432: 20,2664 00006 EXTEND
041632,000433: 20,2665 70750 MP COSCDUX
041633,000434: 20,2666 20001 DDOUBL
041634,000435: 20,2667 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041635,000436:
041636,000437: 20,2670 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041637,000438: 20,2671 41540 DCS OMEGAZB
041638,000439: 20,2672 21743 DAS ERRBTMP
041639,000440:
041640,000441: 20,2673 03126 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
041641,000442:
041642,000443: 20,2674 31466 Y1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041643,000444: 20,2675 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041644,000445:
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Page 931 |
041646,000447: 20,2676 10000 CCS A
041647,000448: 20,2677 12702 TCF +3 # USE LEM-ON FILTER
041648,000449: 20,2700 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041649,000450: 20,2701 36405 CADR NY0NODE
041650,000451:
041651,000452: 20,2702 00006 YFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS
041652,000453: 20,2703 41570 DCS YDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041653,000454: 20,2704 53745 DXCH YZERO
041654,000455:
041655,000456: 20,2705 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
041656,000457: 20,2706 61565 AD YNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
041657,000458: 20,2707 00006 EXTEND
041658,000459: 20,2710 74727 MP KYDN # KYDN, SC.AT B+1 SPASCREV
041659,000460: 20,2711 21745 DAS YZERO
041660,000461: 20,2712 31566 CAE YNSUM +1
041661,000462: 20,2713 00006 EXTEND
041662,000463: 20,2714 74727 MP KYDN
041663,000464: 20,2715 27745 ADS YZERO +1
041664,000465: 20,2716 54001 TS L
041665,000466: 20,2717 12721 TCF +2
041666,000467: 20,2720 27744 ADS YZERO # (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
041667,000468:
041668,000469: 20,2721 00006 YZSTORE EXTEND # PREPARE YZERO FOR DENOMINATOR LADDER
041669,000470: 20,2722 31745 DCA YZERO # SC.AT B+0 SPASCREV
041670,000471: 20,2723 20001 DDOUBL
041671,000472: 20,2724 20001 DDOUBL
041672,000473: 20,2725 20001 DDOUBL
041673,000474: 20,2726 53727 DXCH Y1TMP # SC.AT B-3 SPASCREV
041674,000475:
041675,000476: 20,2727 03141 OPTVARKY TCR OPTVARK # YAW VARIABLE-GAIN PACKAGE
041676,000477:
041677,000478: 20,2730 00006 YOFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
041678,000479: 20,2731 41745 DCS CMDTMP # (GEN3DAP RETURNS AT YOFFSET)
041679,000480: 20,2732 53745 DXCH CMDTMP
041680,000481: 20,2733 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
041681,000482: 20,2734 31630 DCA YDELOFF
041682,000483: 20,2735 21745 DAS CMDTMP
041683,000484:
041684,000485: 20,2736 31745 YROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
041685,000486: 20,2737 60000 DOUBLE
041686,000487: 20,2740 54001 TS L
041687,000488: 20,2741 34714 CAF ZERO
041688,000489: 20,2742 61744 AD CMDTMP
041689,000490:
041690,000491: 20,2743 03161 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
041691,000492:
041692,000493: 20,2744 41632 YOUT CS YCMD # INCREMENTAL YAW COMMAND
041693,000494: 20,2745 61744 AD CMDTMP
041694,000495: 20,2746 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
041695,000496: # PROTECT, SINCE ERROR CNTR ZEROED)
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Page 932 |
041697,000498: 20,2747 34677 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
041698,000499: 20,2750 00006 EXTEND
041699,000500: 20,2751 05014 WOR CHAN14
041700,000501: 20,2752 31466 Y2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041701,000502: 20,2753 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041702,000503: 20,2754 10000 CCS A
041703,000504: 20,2755 12760 TCF +3 # USE LEM-ON FILTER
041704,000505: 20,2756 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041705,000506: 20,2757 36440 CADR NY1NODE
041706,000507: 20,2760 31742 CZSTORE CAE ERRBTMP # PREPARE CZERO (UPPER WORD OF ERRBTMP)
041707,000508: 20,2761 60000 DOUBLE # FOR NUMERATOR LADDER....SC.AT B-1
041708,000509: 20,2762 55717 TS C1TMP # SC.AT B-2 REVS FOR LADDER
041709,000510: 20,2763 00006 YNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
041710,000511: 20,2764 31572 DCA C1 # NUMERATOR LADDER
041711,000512: 20,2765 53721 DXCH C2TMP
041712,000513: 20,2766 00006 EXTEND
041713,000514: 20,2767 31574 DCA C3
041714,000515: 20,2770 53723 DXCH C4TMP
041715,000516: 20,2771 00006 EXTEND
041716,000517: 20,2772 31576 DCA C5
041717,000518: 20,2773 53725 DXCH C6TMP
041718,000519:
041719,000520: 20,2774 03173 YNSUMC TCR NSUM # YAW NUMERATOR SUM
041720,000521: 20,2775 00006 YDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
041721,000522: 20,2776 31600 DCA Y1 # DENOMINATOR LADDER
041722,000523: 20,2777 53731 DXCH Y2TMP
041723,000524: 20,3000 00006 EXTEND
041724,000525: 20,3001 31602 DCA Y2
041725,000526: 20,3002 53733 DXCH Y3TMP
041726,000527: 20,3003 00006 EXTEND
041727,000528: 20,3004 31604 DCA Y3
041728,000529: 20,3005 53735 DXCH Y4TMP
041729,000530: 20,3006 00006 EXTEND
041730,000531: 20,3007 31606 DCA Y4
041731,000532: 20,3010 53737 DXCH Y5TMP
041732,000533: 20,3011 00006 EXTEND
041733,000534: 20,3012 31610 DCA Y5
041734,000535: 20,3013 53741 DXCH Y6TMP
041735,000536:
041736,000537: 20,3014 03233 YDSUMC TCR DSUM # YAW DENOMINATOR SUM
041737,000538:
041738,000539: 20,3015 31744 DELBARY CAE CMDTMP # UPDATE YAW OFFSET-TRACKER-FILTER
041739,000540: 20,3016 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARY..)
041740,000541: 20,3017 73421 MP 1-E(-AT)
![]() |
Page 933 |
041742,000543: 20,3020 53716 DXCH DELBRTMP
041743,000544: 20,3021 31623 CAE DELYBAR
041744,000545: 20,3022 00006 EXTEND
041745,000546: 20,3023 73422 MP E(-AT)
041746,000547: 20,3024 21716 DAS DELBRTMP
041747,000548: 20,3025 31624 CAE DELYBAR +1
041748,000549: 20,3026 00006 EXTEND
041749,000550: 20,3027 73422 MP E(-AT)
041750,000551: 20,3030 27716 ADS DELBRTMP +1
041751,000552: 20,3031 54001 TS L
041752,000553: 20,3032 13034 TCF +2
041753,000554: 20,3033 27715 ADS DELBRTMP
041754,000555:
041755,000556: 20,3034 03036 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
041756,000557:
041757,000558: 20,3035 15222 YDAPEND TCF RESUME # YAW DAP COMPLETED
041758,000559:
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Page 934 |
041760,000561: # YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
041761,000562:
041762,000563: 20,3036 25654 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
041763,000564: # NOTE POSSIBLE RE-ENTRY FROM RESTART
041764,000565: # PACKAGE, SHOULD A RESTART OCCUR
041765,000566: # DURING YAW COPYCYCLE.
041766,000567:
041767,000568: 20,3037 00006 NEWC(S) EXTEND # UPDATE YAW NUMERATOR LADDER FROM
041768,000569: 20,3040 31720 DCA C1TMP # TEMPORARIES
041769,000570: 20,3041 53572 DXCH C1
041770,000571: 20,3042 00006 EXTEND
041771,000572: 20,3043 31722 DCA C3TMP
041772,000573: 20,3044 53574 DXCH C3
041773,000574: 20,3045 00006 EXTEND
041774,000575: 20,3046 31724 DCA C5TMP
041775,000576: 20,3047 53576 DXCH C5
041776,000577:
041777,000578: 20,3050 00006 NEWY(S) EXTEND # UPDATE YAW DENOMINATOR LADDER FROM
041778,000579: 20,3051 31727 DCA Y1TMP # TEMPORARIES
041779,000580: 20,3052 53600 DXCH Y1
041780,000581: 20,3053 00006 EXTEND
041781,000582: 20,3054 31731 DCA Y2TMP
041782,000583: 20,3055 53602 DXCH Y2
041783,000584: 20,3056 00006 EXTEND
041784,000585: 20,3057 31733 DCA Y3TMP
041785,000586: 20,3060 53604 DXCH Y3
041786,000587: 20,3061 00006 EXTEND
041787,000588: 20,3062 31735 DCA Y4TMP
041788,000589: 20,3063 53606 DXCH Y4
041789,000590: 20,3064 00006 EXTEND # (ALSO NY1TMP,+1 TO NY1,+1)
041790,000591: 20,3065 31737 DCA Y5TMP
041791,000592: 20,3066 53610 DXCH Y5
041792,000593:
041793,000594: 20,3067 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
041794,000595: 20,3070 31743 DCA ERRBTMP
041795,000596: 20,3071 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
041796,000597: 20,3072 53620 DXCH YERRB
041797,000598:
041798,000599: 20,3073 00006 EXTEND # YAW NUMERATOR SUM
041799,000600: 20,3074 31712 DCA NSUMTMP # (ALSO NY2TMP,+1 TO NY2,+1)
041800,000601: 20,3075 53566 DXCH YNSUM
041801,000602:
041802,000603: 20,3076 00006 EXTEND # YAW DENOMINATOR SUM
041803,000604: 20,3077 31714 DCA DSUMTMP # (ALSO NY3TMP,+1 TO NY3,+1)
041804,000605: 20,3100 53570 DXCH YDSUM
041805,000606:
041806,000607: 20,3101 31744 CAE CMDTMP # YAW ACTUATOR COMMAND
041807,000608: 20,3102 55632 TS YCMD
041808,000609:
041809,000610: 20,3103 00006 EXTEND # YAW OFFSET-TRACKER-FILTER
![]() |
Page 935 |
041811,000612: 20,3104 31716 DCA DELBRTMP
041812,000613: 20,3105 53624 DXCH DELYBAR
041813,000614: 20,3106 34714 CAF ZERO # YAW COPYCYCLE COMPLETED
041814,000615: 20,3107 55654 TS TVCPHASE # RESET TVCPHASE
041815,000616:
041816,000617: 20,3110 00002 TC Q
041817,000618:
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Page 936 |
041819,000620: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041820,000621: # INITIALIZATION PACKAGE FOR CDURATES....
041821,000622:
041822,000623: 20,3111 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
041823,000624:
041824,000625: 20,3112 37716 CAF NEGONE # SET UP
041825,000626: 20,3113 61635 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
041826,000627: 20,3114 64674 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
041827,000628: 20,3115 61635 AD T5TVCDT
041828,000629: 20,3116 54030 TS TIME5
041829,000630: 20,3117 33416 CAF PITCHT5 # (BBCON ALREADY THERE)
041830,000631: 20,3120 55312 TS T5LOC
041831,000632:
041832,000633: 20,3121 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
041833,000634: 20,3122 55655 TS PCDUYPST # PAST-VALUES
041834,000635: 20,3123 30034 CAE CDUZ
041835,000636: 20,3124 55656 TS PCDUZPST
041836,000637:
041837,000638: 20,3125 15224 TCF NOQRSM
041838,000639:
041839,000640: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
041840,000641:
041841,000642: 20,3126 31742 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
041842,000643: 20,3127 00006 EXTEND # CHECKS UPPER WORD ONLY
041843,000644: 20,3130 74710 MP 1/ERRLIM
041844,000645: 20,3131 00006 EXTEND
041845,000646: 20,3132 13140 BZF +6
041846,000647: 20,3133 11742 CCS ERRBTMP
041847,000648: 20,3134 34676 CAF ERRLIM
041848,000649: 20,3135 13137 TCF +2
041849,000650: 20,3136 44676 CS ERRLIM
041850,000651: 20,3137 55742 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
041851,000652:
041852,000653: 20,3140 00002 TC Q
041853,000654:
041854,000655: # VARIABLE-GAIN PACKAGE....
041855,000656:
041856,000657: 20,3141 31744 OPTVARK CAE CMDTMP # VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
041857,000658: 20,3142 00006 EXTEND # JZERO OR YZERO
041858,000659: 20,3143 71651 MP VARK # VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
041859,000660: 20,3144 53745 DXCH CMDTMP
041860,000661: 20,3145 22000 LXCH A # LO-ORDER WORD OF INPUT CMDTMP
041861,000662: 20,3146 00006 EXTEND
041862,000663: 20,3147 71651 MP VARK
041863,000664: 20,3150 27745 ADS CMDTMP +1
041864,000665: 20,3151 54001 TS L
![]() |
Page 937 |
041866,000667: 20,3152 13154 TCF +2
041867,000668: 20,3153 27744 ADS CMDTMP
041868,000669:
041869,000670: 20,3154 53745 DXCH CMDTMP # FIX UP SCALING
041870,000671: 20,3155 20001 DDOUBL
041871,000672: 20,3156 20001 DDOUBL
041872,000673: 20,3157 53745 DXCH CMDTMP
041873,000674:
041874,000675: 20,3160 00002 TC Q
041875,000676:
041876,000677: # ACTUATOR-COMMAND LIMITER PACKAGE....
041877,000678:
041878,000679: 20,3161 00006 ACTLIM EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
041879,000680: 20,3162 73414 MP 1/ACTSAT
041880,000681: 20,3163 00006 EXTEND
041881,000682: 20,3164 13172 BZF +6
041882,000683: 20,3165 11744 CCS CMDTMP # APPLY LIMITS
041883,000684: 20,3166 33413 CAF ACTSAT
041884,000685: 20,3167 13171 TCF +2
041885,000686: 20,3170 43413 CS ACTSAT
041886,000687: 20,3171 55744 TS CMDTMP # LIMITS WRITE OVER CMDTMP
041887,000688:
041888,000689: 20,3172 00002 TC Q
041889,000690:
041890,000691: # NUMERATOR-SUM COMPUTATION....
041891,000692:
041892,000693: 20,3173 31717 NSUM CAE B1TMP # PREPARE NUMERATOR SUM, SCALING IS AT
041893,000694: 20,3174 00006 EXTEND # B+0 REVS ( = B+2 X B-2 )
041894,000695: 20,3175 73423 MP N1
041895,000696: 20,3176 53712 DXCH NSUMTMP
041896,000697:
041897,000698: 20,3177 31720 CAE B2TMP
041898,000699: 20,3200 00006 EXTEND
041899,000700: 20,3201 73424 MP N2
041900,000701: 20,3202 21712 DAS NSUMTMP
041901,000702:
041902,000703: 20,3203 31721 CAE B3TMP
041903,000704: 20,3204 00006 EXTEND
041904,000705: 20,3205 73425 MP N3
041905,000706: 20,3206 21712 DAS NSUMTMP
041906,000707:
041907,000708: 20,3207 31722 CAE B4TMP
041908,000709: 20,3210 00006 EXTEND
041909,000710: 20,3211 73426 MP N4
041910,000711: 20,3212 21712 DAS NSUMTMP
041911,000712:
041912,000713: 20,3213 31723 CAE B5TMP
041913,000714: 20,3214 00006 EXTEND
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Page 938 |
041915,000716: 20,3215 73427 MP N5
041916,000717: 20,3216 21712 DAS NSUMTMP
041917,000718:
041918,000719: 20,3217 31724 CAE B6TMP
041919,000720: 20,3220 00006 EXTEND
041920,000721: 20,3221 73430 MP N6
041921,000722: 20,3222 21712 DAS NSUMTMP
041922,000723:
041923,000724: 20,3223 31725 CAE B7TMP
041924,000725: 20,3224 00006 EXTEND
041925,000726: 20,3225 73431 MP N7
041926,000727: 20,3226 21712 DAS NSUMTMP
041927,000728:
041928,000729: 20,3227 53712 NSUMSC DXCH NSUMTMP # FIX UP SCALING (NOW AT B+0 REVS)
041929,000730: 20,3230 20001 DDOUBL
041930,000731: 20,3231 53712 DXCH NSUMTMP # SC.AT B-1 REV
041931,000732:
041932,000733: 20,3232 00002 TC Q
041933,000734:
041934,000735: # DENOMINATOR-SUM COMPUTATION....
041935,000736:
041936,000737: 20,3233 31726 DSUM CAE J1TMP # PREPARE DENOMINATOR SUM, SCALED
041937,000738: 20,3234 00006 EXTEND # AT B+1 SPASCREVS ( = B+4 X B-3)
041938,000739: 20,3235 73432 MP D1 # (J1TMP = J,YZERO, SC.AT B-3 REVS)
041939,000740: 20,3236 53714 DXCH DSUMTMP
041940,000741: 20,3237 31726 CAE J1TMP
041941,000742: 20,3240 00006 EXTEND
041942,000743: 20,3241 73433 MP D1 +1
041943,000744: 20,3242 27714 ADS DSUMTMP +1
041944,000745: 20,3243 54001 TS L
041945,000746: 20,3244 13246 TCF +2
041946,000747: 20,3245 27713 ADS DSUMTMP
041947,000748: 20,3246 31727 CAE J1TMP +1
041948,000749: 20,3247 00006 EXTEND
041949,000750: 20,3250 73432 MP D1
041950,000751: 20,3251 27714 ADS DSUMTMP +1
041951,000752: 20,3252 54001 TS L
041952,000753: 20,3253 13255 TCF +2
041953,000754: 20,3254 27713 ADS DSUMTMP
041954,000755:
041955,000756: 20,3255 31730 D2J2 CAE J2TMP
041956,000757: 20,3256 00006 EXTEND
041957,000758: 20,3257 73434 MP D2
041958,000759: 20,3260 21714 DAS DSUMTMP
041959,000760: 20,3261 31730 CAE J2TMP
041960,000761: 20,3262 00006 EXTEND
041961,000762: 20,3263 73435 MP D2 +1
041962,000763: 20,3264 27714 ADS DSUMTMP +1
041963,000764: 20,3265 54001 TS L
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Page 939 |
041965,000766: 20,3266 13270 TCF +2
041966,000767: 20,3267 27713 ADS DSUMTMP
041967,000768: 20,3270 31731 CAE J2TMP +1
041968,000769: 20,3271 00006 EXTEND
041969,000770: 20,3272 73434 MP D2
041970,000771: 20,3273 27714 ADS DSUMTMP +1
041971,000772: 20,3274 54001 TS L
041972,000773: 20,3275 13277 TCF +2
041973,000774: 20,3276 27713 ADS DSUMTMP
041974,000775:
041975,000776: 20,3277 31732 D3J3 CAE J3TMP
041976,000777: 20,3300 00006 EXTEND
041977,000778: 20,3301 73436 MP D3
041978,000779: 20,3302 21714 DAS DSUMTMP
041979,000780: 20,3303 31732 CAE J3TMP
041980,000781: 20,3304 00006 EXTEND
041981,000782: 20,3305 73437 MP D3 +1
041982,000783: 20,3306 27714 ADS DSUMTMP +1
041983,000784: 20,3307 54001 TS L
041984,000785: 20,3310 13312 TCF +2
041985,000786: 20,3311 27713 ADS DSUMTMP
041986,000787: 20,3312 31733 CAE J3TMP +1
041987,000788: 20,3313 00006 EXTEND
041988,000789: 20,3314 73436 MP D3
041989,000790: 20,3315 27714 ADS DSUMTMP +1
041990,000791: 20,3316 54001 TS L
041991,000792: 20,3317 13321 TCF +2
041992,000793: 20,3320 27713 ADS DSUMTMP
041993,000794:
041994,000795: 20,3321 31734 D4J4 CAE J4TMP
041995,000796: 20,3322 00006 EXTEND
041996,000797: 20,3323 73440 MP D4
041997,000798: 20,3324 21714 DAS DSUMTMP
041998,000799: 20,3325 31734 CAE J4TMP
041999,000800: 20,3326 00006 EXTEND
042000,000801: 20,3327 73441 MP D4 +1
042001,000802: 20,3330 27714 ADS DSUMTMP +1
042002,000803: 20,3331 54001 TS L
042003,000804: 20,3332 13334 TCF +2
042004,000805: 20,3333 27713 ADS DSUMTMP
042005,000806: 20,3334 31735 CAE J4TMP +1
042006,000807: 20,3335 00006 EXTEND
042007,000808: 20,3336 73440 MP D4
042008,000809: 20,3337 27714 ADS DSUMTMP +1
042009,000810: 20,3340 54001 TS L
042010,000811: 20,3341 13343 TCF +2
042011,000812: 20,3342 27713 ADS DSUMTMP
042012,000813:
042013,000814: 20,3343 31736 D5J5 CAE J5TMP
042014,000815: 20,3344 00006 EXTEND
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Page 940 |
042016,000817: 20,3345 73442 MP D5
042017,000818: 20,3346 21714 DAS DSUMTMP
042018,000819: 20,3347 31736 CAE J5TMP
042019,000820: 20,3350 00006 EXTEND
042020,000821: 20,3351 73443 MP D5 +1
042021,000822: 20,3352 27714 ADS DSUMTMP +1
042022,000823: 20,3353 54001 TS L
042023,000824: 20,3354 13356 TCF +2
042024,000825: 20,3355 27713 ADS DSUMTMP
042025,000826: 20,3356 31737 CAE J5TMP +1
042026,000827: 20,3357 00006 EXTEND
042027,000828: 20,3360 73442 MP D5
042028,000829: 20,3361 27714 ADS DSUMTMP +1
042029,000830: 20,3362 54001 TS L
042030,000831: 20,3363 13365 TCF +2
042031,000832: 20,3364 27713 ADS DSUMTMP
042032,000833:
042033,000834: 20,3365 31740 D6J6 CAE J6TMP
042034,000835: 20,3366 00006 EXTEND
042035,000836: 20,3367 73444 MP D6
042036,000837: 20,3370 21714 DAS DSUMTMP
042037,000838: 20,3371 31740 CAE J6TMP
042038,000839: 20,3372 00006 EXTEND
042039,000840: 20,3373 73445 MP D6 +1
042040,000841: 20,3374 27714 ADS DSUMTMP +1
042041,000842: 20,3375 54001 TS L
042042,000843: 20,3376 13400 TCF +2
042043,000844: 20,3377 27713 ADS DSUMTMP
042044,000845: 20,3400 31741 CAE J6TMP +1
042045,000846: 20,3401 00006 EXTEND
042046,000847: 20,3402 73444 MP D6
042047,000848: 20,3403 27714 ADS DSUMTMP +1
042048,000849: 20,3404 54001 TS L
042049,000850: 20,3405 13407 TCF +2
042050,000851: 20,3406 27713 ADS DSUMTMP
042051,000852:
042052,000853: 20,3407 53714 DSUMSC DXCH DSUMTMP # FIX UP SCALING (NOW AT B+1 SPASCREV)
042053,000854: 20,3410 20001 DDOUBL
042054,000855: 20,3411 53714 DXCH DSUMTMP # SC.AT B+0 SPASCREV
042055,000856:
042056,000857: 20,3412 00002 TC Q
042057,000858:
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Page 941 |
042059,000860: # CONSTANTS FOR AUTOPILOTS
042060,000861: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
042061,000862: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
042062,000863:
042063,000864: 20,3413 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
042064,000865: 20,3414 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
042065,000866:
042066,000867: 20,3415 4676 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
042067,000868: 20,3415 4710 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
042068,000869:
042069,000870: 20,3415 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) =0 IF CDUDIF < 2.33 DEG
042070,000871:
042071,000872: 20,3416 4727 KPDN = DEC45 # DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
042072,000873: 20,3416 4727 KYDN = KPDN # SPASCREV (FOR DEC45 BITS EXACTLY)
042073,000874: # KPDN = .005747 DEG/DEG
042074,000875: # SCALED KPDN = DEC45
042075,000876: # 1SPASCREV = KPDN(B+14)/(2X45)
042076,000877: # = 1.04620942 REVS
042077,000878:
042078,000879: 20,3416 02327 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
042079,000880: 20,3417 03111 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
042080,000881: 20,3420 02632 YAWT5 GENADR YAWDAP # REQUIRED.
042081,000882: 20,3421 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
042082,000883: 20,3422 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
042083,000884:
042084,000885: 20,3423 50166 N1 DEC -2.9708385 B-2 # NUMERATOR COEFS (CSM/LEM), SC.AT B+2
042085,000886: 20,3424 31436 N2 DEC 3.1947342 B-2
042086,000887: 20,3425 74561 N3 DEC -0.40962906 B-2
042087,000888: 20,3426 53277 N4 DEC -2.5780275 B-2
042088,000889: 20,3427 27550 N5 DEC 2.9629319 B-2
042089,000890: 20,3430 63725 N6 DEC -1.5101470 B-2
042090,000891: 20,3431 02400 N7 DEC 0.31243224 B-2
042091,000892:
042092,000893: 20,3432 66341 54237 D1 2DEC -4.7798977 B-4 # DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
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Page 942 |
042094,000895: 20,3434 22707 36641 D2 2DEC 9.4452763 B-4
042095,000896: 20,3436 54220 40714 D3 2DEC -9.8593475 B-4
042096,000897: 20,3440 13344 21146 D4 2DEC 5.7231811 B-4
042097,000898: 20,3442 74401 61760 D5 2DEC -1.7484750 B-4
042098,000899: 20,3444 00340 23073 D6 2DEC 0.21933335 B-4
042099,000900:
End of include-file TVCDAPS.agc. Parent file is MAIN.agc