Source Code

These source-code files are part of a reconstructed copy of Artemis 071, the first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Artemis 072 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes between the two versions. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021154-. Note that page numbers in the reconstructed code match those on the Artemis 072 printout, although the changed code would likely have changed page numbers for a real Artemis 071 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

042457,000002:                                                                                                  ## Copyright:   Public domain.
042458,000003:                                                                                                  ## Filename:    TVCDAPS.agc
042459,000004:                                                                                                  ## Purpose:     A section of Artemis revision 071.
042460,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
042461,000006:                                                                                                  ##              release of the flight software for the Command Module's
042462,000007:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
042463,000008:                                                                                                  ##              17. The code has been recreated from a copy of Artemis 072.
042464,000009:                                                                                                  ##              It has been adapted such that the resulting bugger words
042465,000010:                                                                                                  ##              exactly match those specified for Artemis 071 in NASA
042466,000011:                                                                                                  ##              drawing 2021154-, which gives relatively high confidence
042467,000012:                                                                                                  ##              that the reconstruction is correct.
042468,000013:                                                                                                  ## Reference:   964
042469,000014:                                                                                                  ## Assembler:   yaYUL
042470,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
042471,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042472,000017:                                                                                                  ## Mod history: 2019-08-14 MAS  Created from Artemis 072.
042473,000018: 

Page 964

042475,000020:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042476,000021:                                                                                                  #  LOG SECTION...TVCDAPS                         SUBROUTINE...DAPCSM
042477,000022:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
042478,000023:                                                                                                  #  FUNCTIONAL DESCRIPTION....
042479,000024: 
042480,000025:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042481,000026:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042482,000027:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042483,000028:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042484,000029:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042485,000030: 
042486,000031:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042487,000032:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042488,000033:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042489,000034:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
042490,000035:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
042491,000036:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042492,000037: 
042493,000038:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042494,000039:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042495,000040:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042496,000041:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042497,000042:                                                                                                  #        MODING.
042498,000043: 
042499,000044:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
042500,000045: 
042501,000046:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042502,000047:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042503,000048:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
042504,000049:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
042505,000050:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
042506,000051:                                                                                                  #                ETC.
042507,000052:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
042508,000053: 
042509,000054:                                                                                                  #  NORMAL EXIT MODE....RESUME
042510,000055: 
042511,000056:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
042512,000057: 
042513,000058:                                                                                                  #  SUBROUTINES CALLED....
042514,000059: 
042515,000060:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042516,000061:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042517,000062:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042518,000063:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042519,000064:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042520,000065:                                                                                                  #                YAW DAPS
042521,000066:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042522,000067:                                                                                                  #                OUTPUTS AND STORAGE VALUES
042523,000068:                                                                                                  #        RESUME
042524,000069: 

Page 965

042526,000071:                                                                                                  #  OTHER INTERFACES....
042527,000072: 
042528,000073:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
042529,000074:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042530,000075:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042531,000076:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042532,000077: 
042533,000078:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
042534,000079: 
042535,000080:                                                                                                  #        PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
042536,000081:                                                                                                  #        CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
042537,000082:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
042538,000083:                                                                                                  #        TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 )
042539,000084:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042540,000085:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042541,000086:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY  MRCLEAN
042542,000087:                                                                                                  #        CDUX,Y,Z AND SINCDUX....COSCDUZ AS PREPARED BY QUICTRIG (WITH
042543,000088:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
042544,000089:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042545,000090:                                                                                                  #                UNLESS BENCH-TESTING.
042546,000091: 
042547,000092:                                                                                                  #  OUTPUT....
042548,000093: 
042549,000094:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
042550,000095:                                                                                                  #                TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042551,000096:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042552,000097:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042553,000098:                                                                                                  #  DEBRIS....
042554,000099: 
042555,000100:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042556,000101: 
042557,000102: 20,2000                                           SETLOC   DAPS2                                 
042558,000103: 20,2000                                           BANK                                           
042559,000104: 
042560,000105: 20,2644  E6,1446                                  EBANK=   CNTR                                  
042561,000106: 
042562,000107: 
042563,000108: 20,2644                                           COUNT*   $$/DAPS                               
042564,000109: 

Page 966

042566,000111: 
042567,000112:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042568,000113: 
042569,000114: 
042570,000115: 20,2644           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
042571,000116: 20,2645           00006                           EXTEND                                         
042572,000117: 20,2646           22012                           QXCH     QRUPT                                 
042573,000118: 
042574,000119: 20,2647           33620                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042575,000120: 20,2650           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042576,000121: 20,2651           31625                           CAE      T5TVCDT                               
042577,000122: 20,2652           54030                           TS       TIME5                                 
042578,000123: 
042579,000124: 20,2653           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT 
042580,000125: 20,2654           57636                           XCH      PCDUYPST                              
042581,000126: 20,2655           00006                           EXTEND                                         
042582,000127: 20,2656           21636                           MSU      PCDUYPST                              
042583,000128: 20,2657           02670                           TCR      RLIMTEST                              #        RATE TEST
042584,000129: 20,2660           55642                           TS       MCDUYDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042585,000130: 
042586,000131: 20,2661           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042587,000132: 20,2662           57637                           XCH      PCDUZPST                              
042588,000133: 20,2663           00006                           EXTEND                                         
042589,000134: 20,2664           21637                           MSU      PCDUZPST                              
042590,000135: 20,2665           02670                           TCR      RLIMTEST                              #        RATE TEST
042591,000136: 20,2666           55643                           TS       MCDUZDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042592,000137: 20,2667           12701                           TCF      PINTEGRL                              
042593,000138: 
042594,000139: 20,2670           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
042595,000140: 20,2671           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
042596,000141: 20,2672           73621                           MP       1/RTLIM                               #        (USED BY PITCH AND YAW PASSES)
042597,000142: 20,2673           00006                           EXTEND                                         
042598,000143: 20,2674           12677                           BZF      +3                                    
042599,000144: 20,2675           34772                           CAF      ZERO                                  
042600,000145: 20,2676           55611                           TS       TTMP1                                 
042601,000146: 20,2677           31611                           CAE      TTMP1                                 
042602,000147: 20,2700           00002                           TC       Q                                     
042603,000148: 
042604,000149: 20,2701           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042605,000150: 20,2702           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
042606,000151: 20,2703           53665                           DXCH     ERRBTMP                               
042607,000152: 
042608,000153: 20,2704           00006                           EXTEND                                         
042609,000154: 20,2705           31530                           DCA      OMEGAYC                               
042610,000155: 20,2706           21665                           DAS      ERRBTMP                               
042611,000156: 
042612,000157: 20,2707           41151                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042613,000158: 20,2710           00006                           EXTEND                                         
042614,000159: 20,2711           71153                           MP       COSCDUX                               
042615,000160: 20,2712           20001                           DDOUBL                                         
042616,000161: 20,2713           00006                           EXTEND                                         

Page 967

042618,000163: 20,2714           71642                           MP       MCDUYDOT                              
042619,000164: 20,2715           20001                           DDOUBL                                         
042620,000165: 20,2716           53536                           DXCH     OMEGAYB                               
042621,000166: 
042622,000167: 20,2717           41643                           CS       MCDUZDOT                              
042623,000168: 20,2720           00006                           EXTEND                                         
042624,000169: 20,2721           71145                           MP       SINCDUX                               
042625,000170: 20,2722           20001                           DDOUBL                                         
042626,000171: 20,2723           21536                           DAS      OMEGAYB                               #  OMEGAYB, SCALED (B-1)/TVCDT  REVS/SEC
042627,000172: 
042628,000173: 20,2724           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042629,000174: 20,2725           41536                           DCS      OMEGAYB                               
042630,000175: 20,2726           21665                           DAS      ERRBTMP                               
042631,000176: 
042632,000177: 20,2727           03246        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
042633,000178: 
042634,000179: 20,2730           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042635,000180: 20,2731           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
042636,000181: 20,2732           53671                           DXCH     TMP1                                  
042637,000182: 20,2733           00006                           EXTEND                                         
042638,000183: 20,2734           31546                           DCA      PTMP3                                 
042639,000184: 20,2735           53675                           DXCH     TMP3                                  
042640,000185: 20,2736           00006                           EXTEND                                         
042641,000186: 20,2737           31552                           DCA      PTMP5                                 
042642,000187: 20,2740           53701                           DXCH     TMP5                                  
042643,000188: 
042644,000189: 20,2741           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042645,000190:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042646,000191: 
042647,000192: 20,2742           00006        POFFSET            EXTEND                                         
042648,000193: 20,2743           31606                           DCA      PDELOFF                               
042649,000194: 20,2744           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042650,000195: 
042651,000196: 20,2745           03261        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042652,000197: 
042653,000198: 20,2746           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
042654,000199: 20,2747           61666                           AD       CMDTMP                                
042655,000200: 20,2750           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
042656,000201:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042657,000202: 
042658,000203: 20,2751           34756                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
042659,000204: 20,2752           00006                           EXTEND                                         
042660,000205: 20,2753           05014                           WOR      CHAN14                                
042661,000206: 
042662,000207: 20,2754           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH
042663,000208: 20,2755           31544                           DCA      PTMP2                                 
042664,000209: 20,2756           53673                           DXCH     TMP2                                  
042665,000210: 20,2757           00006                           EXTEND                                         
042666,000211: 20,2760           31550                           DCA      PTMP4                                 
042667,000212: 20,2761           53677                           DXCH     TMP4                                  

Page 968

042669,000214: 20,2762           00006                           EXTEND                                         
042670,000215: 20,2763           31554                           DCA      PTMP6                                 
042671,000216: 20,2764           53703                           DXCH     TMP6                                  
042672,000217: 
042673,000218: 20,2765           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042674,000219: 
042675,000220: 20,2766           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
042676,000221: 20,2767           00006                           EXTEND                                         
042677,000222: 20,2770           73623                           MP       E(-AT)                                
042678,000223: 20,2771           55663                           TS       DELBRTMP   +1                         
042679,000224: 20,2772           31601                           CAE      DELPBAR                               
042680,000225: 20,2773           00006                           EXTEND                                         
042681,000226: 20,2774           73623                           MP       E(-AT)                                
042682,000227: 20,2775           21663                           DAS      DELBRTMP                              
042683,000228: 20,2776           31666                           CAE      CMDTMP                                
042684,000229: 20,2777           00006                           EXTEND                                         
042685,000230: 20,3000           73622                           MP       1-E(-AT)                              
042686,000231: 20,3001           21663                           DAS      DELBRTMP                              
042687,000232: 
042688,000233: 20,3002           03004        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
042689,000234: 
042690,000235: 20,3003           15323        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
042691,000236: 

Page 969

042693,000238: 
042694,000239:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042695,000240: 
042696,000241: 20,3004           25635        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
042697,000242:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042698,000243:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042699,000244:                                                                                                  #        DURING PITCH COPYCYCLE.
042700,000245: 
042701,000246: 20,3005           00006                           EXTEND                                         
042702,000247: 20,3006           31671                           DCA      TMP1                                  
042703,000248: 20,3007           53542                           DXCH     PTMP1                                 
042704,000249: 20,3010           00006                           EXTEND                                         
042705,000250: 20,3011           31673                           DCA      TMP2                                  
042706,000251: 20,3012           53544                           DXCH     PTMP2                                 
042707,000252: 20,3013           00006                           EXTEND                                         
042708,000253: 20,3014           31675                           DCA      TMP3                                  
042709,000254: 20,3015           53546                           DXCH     PTMP3                                 
042710,000255: 20,3016           00006                           EXTEND                                         
042711,000256: 20,3017           31677                           DCA      TMP4                                  
042712,000257: 20,3020           53550                           DXCH     PTMP4                                 
042713,000258: 20,3021           00006                           EXTEND                                         
042714,000259: 20,3022           31701                           DCA      TMP5                                  
042715,000260: 20,3023           53552                           DXCH     PTMP5                                 
042716,000261: 20,3024           00006                           EXTEND                                         
042717,000262: 20,3025           31703                           DCA      TMP6                                  
042718,000263: 20,3026           53554                           DXCH     PTMP6                                 
042719,000264: 
042720,000265: 20,3027           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
042721,000266: 20,3030           31665                           DCA      ERRBTMP                               
042722,000267: 20,3031           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
042723,000268: 20,3032           53576                           DXCH     PERRB                                 
042724,000269: 
042725,000270: 20,3033           31666                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
042726,000271: 20,3034           55623                           TS       PCMD                                  
042727,000272: 
042728,000273: 20,3035           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
042729,000274: 20,3036           31663                           DCA      DELBRTMP                              
042730,000275: 20,3037           53602                           DXCH     DELPBAR                               
042731,000276: 
042732,000277: 20,3040           25635                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
042733,000278: 
042734,000279: 20,3041           00002                           TC       Q                                     
042735,000280: 

Page 970

042737,000282: 
042738,000283:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042739,000284: 
042740,000285: 
042741,000286: 20,3042           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
042742,000287: 20,3043           00006                           EXTEND                                         
042743,000288: 20,3044           22012                           QXCH     QRUPT                                 
042744,000289: 
042745,000290: 20,3045           33616                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042746,000291: 20,3046           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042747,000292: 20,3047           31625                           CAE      T5TVCDT                               
042748,000293: 20,3050           54030                           TS       TIME5                                 
042749,000294: 
042750,000295: 20,3051           30033        YCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
042751,000296: 20,3052           57640                           XCH      YCDUYPST                              
042752,000297: 20,3053           00006                           EXTEND                                         
042753,000298: 20,3054           21640                           MSU      YCDUYPST                              
042754,000299: 20,3055           02670                           TCR      RLIMTEST                              #        RATE TEST
042755,000300: 20,3056           55642                           TS       MCDUYDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042756,000301: 
042757,000302: 20,3057           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042758,000303: 20,3060           57641                           XCH      YCDUZPST                              
042759,000304: 20,3061           00006                           EXTEND                                         
042760,000305: 20,3062           21641                           MSU      YCDUZPST                              
042761,000306: 20,3063           02670                           TCR      RLIMTEST                              #        RATE TEST
042762,000307: 20,3064           55643                           TS       MCDUZDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042763,000308: 
042764,000309: 20,3065           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
042765,000310: 20,3066           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
042766,000311: 20,3067           53665                           DXCH     ERRBTMP                               
042767,000312: 
042768,000313: 20,3070           00006                           EXTEND                                         
042769,000314: 20,3071           31532                           DCA      OMEGAZC                               
042770,000315: 20,3072           21665                           DAS      ERRBTMP                               
042771,000316: 
042772,000317: 20,3073           31151                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
042773,000318: 20,3074           00006                           EXTEND                                         
042774,000319: 20,3075           71145                           MP       SINCDUX                               
042775,000320: 20,3076           20001                           DDOUBL                                         
042776,000321: 20,3077           00006                           EXTEND                                         
042777,000322: 20,3100           71642                           MP       MCDUYDOT                              
042778,000323: 20,3101           20001                           DDOUBL                                         
042779,000324: 20,3102           53540                           DXCH     OMEGAZB                               
042780,000325: 
042781,000326: 20,3103           41643                           CS       MCDUZDOT                              
042782,000327: 20,3104           00006                           EXTEND                                         
042783,000328: 20,3105           71153                           MP       COSCDUX                               
042784,000329: 20,3106           20001                           DDOUBL                                         
042785,000330: 20,3107           21540                           DAS      OMEGAZB                               #  OMEGAZB, SCALED (B-1)/TVCDT  REVS/SEC
042786,000331: 
042787,000332: 20,3110           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)

Page 971

042789,000334: 20,3111           41540                           DCS      OMEGAZB                               
042790,000335: 20,3112           21665                           DAS      ERRBTMP                               
042791,000336: 
042792,000337: 20,3113           03246        YERORLIM           TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
042793,000338: 
042794,000339: 20,3114           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042795,000340: 20,3115           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL
042796,000341: 20,3116           53671                           DXCH     TMP1                                  
042797,000342: 20,3117           00006                           EXTEND                                         
042798,000343: 20,3120           31562                           DCA      YTMP3                                 
042799,000344: 20,3121           53675                           DXCH     TMP3                                  
042800,000345: 20,3122           00006                           EXTEND                                         
042801,000346: 20,3123           31566                           DCA      YTMP5                                 
042802,000347: 20,3124           53701                           DXCH     TMP5                                  
042803,000348: 
042804,000349: 20,3125           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042805,000350:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042806,000351: 
042807,000352: 20,3126           00006        YOFFSET            EXTEND                                         
042808,000353: 20,3127           31610                           DCA      YDELOFF                               
042809,000354: 20,3130           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042810,000355: 
042811,000356: 20,3131           03261        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
042812,000357: 
042813,000358: 20,3132           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW   COMMAND
042814,000359: 20,3133           61666                           AD       CMDTMP                                
042815,000360: 20,3134           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
042816,000361:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042817,000362: 
042818,000363: 20,3135           34755                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
042819,000364: 20,3136           00006                           EXTEND                                         
042820,000365: 20,3137           05014                           WOR      CHAN14                                
042821,000366: 
042822,000367: 20,3140           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
042823,000368: 20,3141           31560                           DCA      YTMP2                                 
042824,000369: 20,3142           53673                           DXCH     TMP2                                  
042825,000370: 20,3143           00006                           EXTEND                                         
042826,000371: 20,3144           31564                           DCA      YTMP4                                 
042827,000372: 20,3145           53677                           DXCH     TMP4                                  
042828,000373: 20,3146           00006                           EXTEND                                         
042829,000374: 20,3147           31570                           DCA      YTMP6                                 
042830,000375: 20,3150           53703                           DXCH     TMP6                                  
042831,000376: 
042832,000377: 20,3151           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042833,000378: 
042834,000379: 20,3152           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW   OFFSET-TRACKER-FILTER
042835,000380: 20,3153           00006                           EXTEND                                         
042836,000381: 20,3154           73623                           MP       E(-AT)                                
042837,000382: 20,3155           55663                           TS       DELBRTMP   +1                         
042838,000383: 20,3156           31603                           CAE      DELYBAR                               

Page 972

042840,000385: 20,3157           00006                           EXTEND                                         
042841,000386: 20,3160           73623                           MP       E(-AT)                                
042842,000387: 20,3161           21663                           DAS      DELBRTMP                              
042843,000388: 20,3162           31666                           CAE      CMDTMP                                
042844,000389: 20,3163           00006                           EXTEND                                         
042845,000390: 20,3164           73622                           MP       1-E(-AT)                              
042846,000391: 20,3165           21663                           DAS      DELBRTMP                              
042847,000392: 
042848,000393: 20,3166           03170        YCOPYCYC           TCR      YCOPY                                 #  YAW   COPYCYCLE
042849,000394: 
042850,000395: 20,3167           15323        YDAPEND            TCF      RESUME                                #  YAW   DAP COMPLETED
042851,000396: 

Page 973

042853,000398: 
042854,000399:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
042855,000400: 
042856,000401: 20,3170           25635        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
042857,000402:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042858,000403:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042859,000404:                                                                                                  #        DURING YAW   COPYCYCLE.
042860,000405: 
042861,000406: 20,3171           00006                           EXTEND                                         
042862,000407: 20,3172           31671                           DCA      TMP1                                  
042863,000408: 20,3173           53556                           DXCH     YTMP1                                 
042864,000409: 20,3174           00006                           EXTEND                                         
042865,000410: 20,3175           31673                           DCA      TMP2                                  
042866,000411: 20,3176           53560                           DXCH     YTMP2                                 
042867,000412: 20,3177           00006                           EXTEND                                         
042868,000413: 20,3200           31675                           DCA      TMP3                                  
042869,000414: 20,3201           53562                           DXCH     YTMP3                                 
042870,000415: 20,3202           00006                           EXTEND                                         
042871,000416: 20,3203           31677                           DCA      TMP4                                  
042872,000417: 20,3204           53564                           DXCH     YTMP4                                 
042873,000418: 20,3205           00006                           EXTEND                                         
042874,000419: 20,3206           31701                           DCA      TMP5                                  
042875,000420: 20,3207           53566                           DXCH     YTMP5                                 
042876,000421: 20,3210           00006                           EXTEND                                         
042877,000422: 20,3211           31703                           DCA      TMP6                                  
042878,000423: 20,3212           53570                           DXCH     YTMP6                                 
042879,000424: 
042880,000425: 20,3213           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
042881,000426: 20,3214           31665                           DCA      ERRBTMP                               
042882,000427: 20,3215           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
042883,000428: 20,3216           53600                           DXCH     YERRB                                 
042884,000429: 
042885,000430: 20,3217           31666                           CAE      CMDTMP                                
042886,000431: 20,3220           55624                           TS       YCMD                                  
042887,000432: 
042888,000433: 20,3221           00006                           EXTEND                                         
042889,000434: 20,3222           31663                           DCA      DELBRTMP                              
042890,000435: 20,3223           53604                           DXCH     DELYBAR                               
042891,000436: 
042892,000437: 20,3224           34772                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
042893,000438: 20,3225           55635                           TS       TVCPHASE                              #        RESET TVCPHASE
042894,000439: 
042895,000440: 20,3226           00002                           TC       Q                                     
042896,000441: 

Page 974

042898,000443: 
042899,000444:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
042900,000445: 
042901,000446: 
042902,000447:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
042903,000448: 
042904,000449: 20,3227           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
042905,000450: 
042906,000451: 20,3230           37702                           CAF      NEGONE                                #        SET UP
042907,000452: 20,3231           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
042908,000453: 20,3232           64752                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
042909,000454: 20,3233           61625                           AD       T5TVCDT                               
042910,000455: 20,3234           54030                           TS       TIME5                                 
042911,000456: 20,3235           33616                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
042912,000457: 20,3236           54112                           TS       T5LOC                                 
042913,000458: 
042914,000459: 20,3237           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
042915,000460: 20,3240           55636                           TS       PCDUYPST                              #        PAST-VALUES
042916,000461: 20,3241           55640                           TS       YCDUYPST                              
042917,000462: 20,3242           30034                           CAE      CDUZ                                  
042918,000463: 20,3243           55637                           TS       PCDUZPST                              
042919,000464: 20,3244           55641                           TS       YCDUZPST                              
042920,000465: 
042921,000466: 20,3245           15325                           TCF      NOQRSM                                
042922,000467: 
042923,000468: 
042924,000469:                                                                                                  #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
042925,000470: 
042926,000471: 20,3246           31664        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
042927,000472: 20,3247           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
042928,000473: 20,3250           74766                           MP       1/ERRLIM                              
042929,000474: 20,3251           00006                           EXTEND                                         
042930,000475: 20,3252           13260                           BZF      +6                                    
042931,000476: 20,3253           11664                           CCS      ERRBTMP                               
042932,000477: 20,3254           34754                           CAF      ERRLIM                                
042933,000478: 20,3255           13257                           TCF      +2                                    
042934,000479: 20,3256           44754                           CS       ERRLIM                                
042935,000480: 20,3257           55664                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
042936,000481: 
042937,000482: 20,3260           00002                           TC       Q                                     
042938,000483: 
042939,000484: 
042940,000485:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
042941,000486: 
042942,000487: 20,3261           31667        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
042943,000488: 20,3262           60000                           DOUBLE                                         
042944,000489: 20,3263           54001                           TS       L                                     
042945,000490: 20,3264           34772                           CAF      ZERO                                  
042946,000491: 20,3265           61666                           AD       CMDTMP                                
042947,000492: 
042948,000493: 20,3266           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT

Page 975

042950,000495: 20,3267           73615                           MP       1/ACTSAT                              
042951,000496: 20,3270           00006                           EXTEND                                         
042952,000497: 20,3271           13277                           BZF      +6                                    
042953,000498: 20,3272           11666                           CCS      CMDTMP                                #  APPLY LIMITS
042954,000499: 20,3273           33614                           CAF      ACTSAT                                
042955,000500: 20,3274           13276                           TCF      +2                                    
042956,000501: 20,3275           43614                           CS       ACTSAT                                
042957,000502: 20,3276           55666                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
042958,000503: 
042959,000504: 20,3277           00002                           TC       Q                                     
042960,000505: 
042961,000506:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
042962,000507: 
042963,000508: 20,3300           34772        FWDFLTR            CAF      ZERO                                  
042964,000509: 20,3301           55615                           TS       DAP1                                  
042965,000510: 20,3302           55617                           TS       DAP2                                  
042966,000511: 20,3303           55621                           TS       DAP3                                  
042967,000512: 20,3304           55666                           TS       CMDTMP                                
042968,000513: 
042969,000514: 20,3305           55662                           TS       DELBRTMP                              
042970,000515: 
042971,000516: 20,3306           31665        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
042972,000517: 20,3307           00006                           EXTEND                                         
042973,000518: 20,3310           71705                           MP       N10                                   #        N10
042974,000519: 20,3311           55616                           TS       DAP1       +1                         
042975,000520: 20,3312           31664                           CA       ERRBTMP                               
042976,000521: 20,3313           00006                           EXTEND                                         
042977,000522: 20,3314           71705                           MP       N10                                   #        N10
042978,000523: 20,3315           21616                           DAS      DAP1                                  
042979,000524: 20,3316           53671                           DXCH     TMP1                                  
042980,000525: 20,3317           21616                           DAS      DAP1                                  
042981,000526: 
042982,000527: 20,3320           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
042983,000528: 20,3321           00006                           EXTEND                                         
042984,000529: 20,3322           71712                           MP       N10        +5                         #        N20
042985,000530: 20,3323           55620                           TS       DAP2       +1                         
042986,000531: 20,3324           31615                           CA       DAP1                                  
042987,000532: 20,3325           00006                           EXTEND                                         
042988,000533: 20,3326           71712                           MP       N10        +5                         #        N20
042989,000534: 20,3327           21620                           DAS      DAP2                                  
042990,000535: 20,3330           53675                           DXCH     TMP3                                  
042991,000536: 20,3331           21620                           DAS      DAP2                                  
042992,000537: 
042993,000538: 20,3332           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
042994,000539: 20,3333           74753                           MASK     BIT14                                 
042995,000540: 20,3334           10000                           CCS      A                                     
042996,000541: 20,3335           13344                           TCF      3DAPCAS                               #  LEM ON
042997,000542: 20,3336           00006                           EXTEND                                         #  LEM OFF
042998,000543: 20,3337           31620                           DCA      DAP2                                  

Page 976

043000,000545: 20,3340           20001                           DDOUBL                                         
043001,000546: 20,3341           20001                           DDOUBL                                         
043002,000547: 20,3342           53622                           DXCH     DAP3                                  
043003,000548: 20,3343           13356                           TCF      OPTVARK                               
043004,000549: 
043005,000550: 20,3344           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
043006,000551: 20,3345           00006                           EXTEND                                         
043007,000552: 20,3346           71717                           MP       N10        +10D                       #        N30
043008,000553: 20,3347           55622                           TS       DAP3       +1                         
043009,000554: 20,3350           31617                           CA       DAP2                                  
043010,000555: 20,3351           00006                           EXTEND                                         
043011,000556: 20,3352           71717                           MP       N10        +10D                       #        N30
043012,000557: 20,3353           21622                           DAS      DAP3                                  
043013,000558: 20,3354           53701                           DXCH     TMP5                                  
043014,000559: 20,3355           21622                           DAS      DAP3                                  
043015,000560: 
043016,000561: 20,3356           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
043017,000562: 20,3357           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
043018,000563: 20,3360           71632                           MP       VARK                                  #        SCALED (1.08 B+2)   CSM/LM
043019,000564: 20,3361           55667                           TS       CMDTMP     +1                         #               (  "  B+4)   CSM
043020,000565: 20,3362           41621                           CS       DAP3                                  
043021,000566: 20,3363           00006                           EXTEND                                         
043022,000567: 20,3364           71632                           MP       VARK                                  
043023,000568: 20,3365           21667                           DAS      CMDTMP                                
043024,000569: 
043025,000570: 20,3366           53667                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+1 ASCREV
043026,000571: 20,3367           20001                           DDOUBL                                         
043027,000572: 20,3370           53667                           DXCH     CMDTMP                                #                 - SCALED B+0 ASCREV
043028,000573:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
043029,000574:                                                                                                  #  (B+1 ASCREV/REV) ON THE OUTPUT DACS.
043030,000575: 
043031,000576: 20,3371           00002                           TC       Q                                     
043032,000577: 
043033,000578: 
043034,000579:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043035,000580: 
043036,000581: 20,3372           34772        PRECOMP            CAF      ZERO                                  #  *****  FIRST CASCADE FILTER  **********
043037,000582: 20,3373           55611                           TS       TTMP1                                 
043038,000583: 20,3374           55613                           TS       TTMP2                                 
043039,000584: 
043040,000585: 20,3375           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
043041,000586: 20,3376           00006                           EXTEND                                         
043042,000587: 20,3377           71706                           MP       N10        +1                         #        N11/2
043043,000588: 20,3400           55612                           TS       TTMP1      +1                         
043044,000589: 20,3401           31664                           CA       ERRBTMP                               
043045,000590: 20,3402           00006                           EXTEND                                         
043046,000591: 20,3403           71706                           MP       N10        +1                         #        N11/2
043047,000592: 20,3404           21612                           DAS      TTMP1                                 
043048,000593: 
043049,000594: 20,3405           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY

Page 977

043051,000596: 20,3406           00006                           EXTEND                                         
043052,000597: 20,3407           71710                           MP       N10        +3                         #        D11/2
043053,000598: 20,3410           55614                           TS       TTMP2      +1                         
043054,000599: 20,3411           41615                           CS       DAP1                                  
043055,000600: 20,3412           00006                           EXTEND                                         
043056,000601: 20,3413           71710                           MP       N10        +3                         #        D11/2
043057,000602: 20,3414           21614                           DAS      TTMP2                                 
043058,000603: 
043059,000604: 20,3415           53614                           DXCH     TTMP2                                 
043060,000605: 20,3416           21612                           DAS      TTMP1                                 
043061,000606: 20,3417           53612                           DXCH     TTMP1                                 
043062,000607: 20,3420           20001                           DDOUBL                                         
043063,000608: 20,3421           21673                           DAS      TMP2                                  
043064,000609: 
043065,000610: 20,3422           53673                           DXCH     TMP2                                  
043066,000611: 20,3423           53671                           DXCH     TMP1                                  
043067,000612: 
043068,000613: 20,3424           34772                           CAF      ZERO                                  
043069,000614: 20,3425           55611                           TS       TTMP1                                 
043070,000615: 20,3426           55672                           TS       TMP2                                  
043071,000616: 
043072,000617: 20,3427           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT  BY
043073,000618: 20,3430           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
043074,000619: 20,3431           71707                           MP       N10        +2                         #        N12
043075,000620: 20,3432           55612                           TS       TTMP1      +1                         
043076,000621: 20,3433           31664                           CA       ERRBTMP                               
043077,000622: 20,3434           00006                           EXTEND                                         
043078,000623: 20,3435           71707                           MP       N10        +2                         #        N12
043079,000624: 20,3436           21612                           DAS      TTMP1                                 
043080,000625: 
043081,000626: 20,3437           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
043082,000627: 20,3440           00006                           EXTEND                                         
043083,000628: 20,3441           71711                           MP       N10        +4                         #        D12
043084,000629: 20,3442           55673                           TS       TMP2       +1                         
043085,000630: 20,3443           41615                           CS       DAP1                                  
043086,000631: 20,3444           00006                           EXTEND                                         
043087,000632: 20,3445           71711                           MP       N10        +4                         #        D12
043088,000633: 20,3446           21673                           DAS      TMP2                                  
043089,000634: 
043090,000635: 20,3447           53612                           DXCH     TTMP1                                 
043091,000636: 20,3450           21673                           DAS      TMP2                                  
043092,000637: 
043093,000638: 20,3451           34772        2CASFLTR           CAF      ZERO                                  #  *****SECOND CASCADE FILTER*****
043094,000639: 20,3452           55611                           TS       TTMP1                                 
043095,000640: 20,3453           55613                           TS       TTMP2                                 
043096,000641: 
043097,000642: 20,3454           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
043098,000643: 20,3455           00006                           EXTEND                                         
043099,000644: 20,3456           71713                           MP       N10        +6                         #        N21/2

Page 978

043101,000646: 20,3457           55612                           TS       TTMP1      +1                         
043102,000647: 20,3460           31615                           CA       DAP1                                  
043103,000648: 20,3461           00006                           EXTEND                                         
043104,000649: 20,3462           71713                           MP       N10        +6                         #        N21/2
043105,000650: 20,3463           21612                           DAS      TTMP1                                 
043106,000651: 
043107,000652: 20,3464           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043108,000653: 20,3465           00006                           EXTEND                                         
043109,000654: 20,3466           71715                           MP       N10        +8D                        #        D21/2
043110,000655: 20,3467           55614                           TS       TTMP2      +1                         
043111,000656: 20,3470           41617                           CS       DAP2                                  
043112,000657: 20,3471           00006                           EXTEND                                         
043113,000658: 20,3472           71715                           MP       N10        +8D                        #        D21/2
043114,000659: 20,3473           21614                           DAS      TTMP2                                 
043115,000660: 
043116,000661: 20,3474           53614                           DXCH     TTMP2                                 
043117,000662: 20,3475           21612                           DAS      TTMP1                                 
043118,000663: 20,3476           53612                           DXCH     TTMP1                                 
043119,000664: 20,3477           20001                           DDOUBL                                         
043120,000665: 20,3500           21677                           DAS      TMP4                                  
043121,000666: 
043122,000667: 20,3501           53677                           DXCH     TMP4                                  
043123,000668: 20,3502           53675                           DXCH     TMP3                                  
043124,000669: 
043125,000670: 20,3503           34772                           CAF      ZERO                                  
043126,000671: 20,3504           55611                           TS       TTMP1                                 
043127,000672: 20,3505           55676                           TS       TMP4                                  
043128,000673: 
043129,000674: 20,3506           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT  BY
043130,000675: 20,3507           00006                           EXTEND                                         
043131,000676: 20,3510           71714                           MP       N10        +7                         #        N22
043132,000677: 20,3511           55612                           TS       TTMP1      +1                         
043133,000678: 20,3512           31615                           CA       DAP1                                  
043134,000679: 20,3513           00006                           EXTEND                                         
043135,000680: 20,3514           71714                           MP       N10        +7                         #        N22
043136,000681: 20,3515           21612                           DAS      TTMP1                                 
043137,000682: 
043138,000683: 20,3516           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043139,000684: 20,3517           00006                           EXTEND                                         
043140,000685: 20,3520           71716                           MP       N10        +9D                        #        D22
043141,000686: 20,3521           55677                           TS       TMP4       +1                         
043142,000687: 20,3522           41617                           CS       DAP2                                  
043143,000688: 20,3523           00006                           EXTEND                                         
043144,000689: 20,3524           71716                           MP       N10        +9D                        #        D22
043145,000690: 20,3525           21677                           DAS      TMP4                                  
043146,000691: 
043147,000692: 20,3526           53612                           DXCH     TTMP1                                 
043148,000693: 20,3527           21677                           DAS      TMP4                                  

Page 979

043150,000695: 20,3530           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043151,000696: 20,3531           74754                           MASK     BIT13                                 
043152,000697: 20,3532           10000                           CCS      A                                     
043153,000698: 20,3533           00002                           TC       Q                                     #  EXIT IF LEM OFF
043154,000699: 
043155,000700: 20,3534           34772        3CASFLTR           CAF      ZERO                                  #  *****THIRD CASCADE FILTER*****
043156,000701: 20,3535           55611                           TS       TTMP1                                 
043157,000702: 20,3536           55613                           TS       TTMP2                                 
043158,000703: 
043159,000704: 20,3537           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY (1/2)
043160,000705: 20,3540           00006                           EXTEND                                         
043161,000706: 20,3541           71720                           MP       N10        +11D                       #        N31/2
043162,000707: 20,3542           55612                           TS       TTMP1      +1                         
043163,000708: 20,3543           31617                           CA       DAP2                                  
043164,000709: 20,3544           00006                           EXTEND                                         
043165,000710: 20,3545           71720                           MP       N10        +11D                       #        N31/2
043166,000711: 20,3546           21612                           DAS      TTMP1                                 
043167,000712: 
043168,000713: 20,3547           41622                           CS       DAP3       +1                         
043169,000714: 20,3550           00006                           EXTEND                                         
043170,000715: 20,3551           71722                           MP       N10        +13D                       #        D31/2
043171,000716: 20,3552           55614                           TS       TTMP2      +1                         
043172,000717: 20,3553           41621                           CS       DAP3                                  
043173,000718: 20,3554           00006                           EXTEND                                         
043174,000719: 20,3555           71722                           MP       N10        +13D                       #        D31/2
043175,000720: 20,3556           21614                           DAS      TTMP2                                 
043176,000721: 
043177,000722: 20,3557           53614                           DXCH     TTMP2                                 
043178,000723: 20,3560           21612                           DAS      TTMP1                                 
043179,000724: 20,3561           53612                           DXCH     TTMP1                                 
043180,000725: 20,3562           20001                           DDOUBL                                         
043181,000726: 20,3563           21703                           DAS      TMP6                                  
043182,000727: 
043183,000728: 20,3564           53703                           DXCH     TMP6                                  
043184,000729: 20,3565           53701                           DXCH     TMP5                                  
043185,000730: 
043186,000731: 20,3566           34772                           CAF      ZERO                                  
043187,000732: 20,3567           55611                           TS       TTMP1                                 
043188,000733: 20,3570           55702                           TS       TMP6                                  
043189,000734: 
043190,000735: 20,3571           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY
043191,000736: 20,3572           00006                           EXTEND                                         
043192,000737: 20,3573           71721                           MP       N10        +12D                       #        N32
043193,000738: 20,3574           55612                           TS       TTMP1      +1                         
043194,000739: 20,3575           31617                           CA       DAP2                                  
043195,000740: 20,3576           00006                           EXTEND                                         
043196,000741: 20,3577           71721                           MP       N10        +12D                       #        N32
043197,000742: 20,3600           21612                           DAS      TTMP1                                 
043198,000743: 
043199,000744: 20,3601           41622                           CS       DAP3       +1                         

Page 980

043201,000746: 20,3602           00006                           EXTEND                                         
043202,000747: 20,3603           71723                           MP       N10        +14D                       #        D32
043203,000748: 20,3604           55703                           TS       TMP6       +1                         
043204,000749: 20,3605           41621                           CS       DAP3                                  
043205,000750: 20,3606           00006                           EXTEND                                         
043206,000751: 
043207,000752: 20,3607           71723                           MP       N10        +14D                       #        D32
043208,000753: 20,3610           21703                           DAS      TMP6                                  
043209,000754: 
043210,000755: 20,3611           53612                           DXCH     TTMP1                                 
043211,000756: 20,3612           21703                           DAS      TMP6                                  
043212,000757: 
043213,000758: 20,3613           00002                           TC       Q                                     
043214,000759: 

Page 981

043216,000761: 
043217,000762:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
043218,000763: 
043219,000764:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
043220,000765: 
043221,000766:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043222,000767: 
043223,000768: 20,3614           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
043224,000769: 20,3615           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
043225,000770: 
043226,000771: 20,3616     4754               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
043227,000772: 20,3616     4766               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
043228,000773: 
043229,000774: 20,3616           02644        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
043230,000775: 20,3617           03227        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
043231,000776: 20,3620           03042        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
043232,000777: 
043233,000778: 
043234,000779: 20,3621           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
043235,000780: 20,3622           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043236,000781: 20,3623           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)

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