Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

046545,000002:                                                                                                  ## Copyright:   Public domain.
046546,000003:                                                                                                  ## Filename:    CM_ENTRY_DIGITAL_AUTOPILOT.agc
046547,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
046548,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
046549,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
046550,000007:                                                                                                  ##              Apollo 15-17.
046551,000008:                                                                                                  ## Assembler:   yaYUL
046552,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
046553,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
046554,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
046555,000012:                                                                                                  ## Mod history: 2009-08-27 SN   Adapted from corresponding Comanche 055 file.
046556,000013:                                                                                                  ##              2009-09-03 JL   Duplicate definition of VSQMIN, one line is a comment in page scan.
046557,000014:                                                                                                  ##              2009-09-10 JL   Fixed typos.
046558,000015:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
046559,000016:                                                                                                  ##              2017-01-21 RSB  Proofed comment text by diff'ing vs Comanche 55
046560,000017:                                                                                                  ##                              and corrected errors found.
046561,000018:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 4-way side-by-side
046562,000019:                                                                                                  ##                              diff of Colossus237/249/Comanche55/Artemis72.
046563,000020: 

Page 1063

046565,000022: 
046566,000023:                                                                                                  #  SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES.  GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046567,000024:                                                                                                  #  DIFFERENCES ARE IN 1S COMP.     ENTER AND READ ANGLES EACH .1 SEC.
046568,000025: 
046569,000026:                                                                                                  #        CM/DSTBY = 1 FOR DAP OPERATION
046570,000027:                                                                                                  #        CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046571,000028: 
046572,000029: 
046573,000030: 15,2000                                           SETLOC   ETRYDAP                               
046574,000031: 15,2000                                           BANK                                           
046575,000032: 
046576,000033: 15,2063                                           COUNT*   $$/DAPEN                              
046577,000034: 15,2063  E6,1661                                  EBANK=   AOG                                   
046578,000035: 
046579,000036: 15,2063           34355        READGYMB           CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
046580,000037: 15,2064           27725                           ADS      CM/GYMDT                              #  PIPTIME. (GROUP 6)
046581,000038: 
046582,000039:                                                                                                  #  IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046583,000040:                                                                                                  #  PHASCHNG PROTECTION IS IN CM/DAPIC.
046584,000041: 
046585,000042: 15,2065           34763                           CA       NOIMUDAP                              #  CHECK FOR FINE ALIGN MODE OF CDU.
046586,000043: 15,2066           71334                           MASK     IMODES33                              #  (PROTECT AOG/PIP ETC AS WELL AS
046587,000044: 15,2067           00006                           EXTEND                                         #  GIMBAL DIFFERENCES)
046588,000045: 15,2070           12076                           BZF      READGYM1                              #  OK
046589,000046: 
046590,000047: 15,2071           44770                           CS       GYMDIBIT                              #  NOT IN FINE ALIGN, SO IDLE
046591,000048: 15,2072           70102                           MASK     CM/FLAGS                              #  SET GYMDIFSW =0
046592,000049: 15,2073           54102                           TS       CM/FLAGS                              
046593,000050: 15,2074           06000                           TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
046594,000051: 15,2075           02143                           TC       CM/GYMIC   +2                         
046595,000052: 
046596,000053: 15,2076           30032        READGYM1           CA       CDUX                                  
046597,000054: 15,2077           57661                           XCH      AOG                                   
046598,000055: 15,2100           00006                           EXTEND                                         
046599,000056: 15,2101           21661                           MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
046600,000057: 15,2102           55675                           TS       -DELAOG                               
046601,000058: 
046602,000059: 15,2103           30033                           CA       CDUY                                  
046603,000060: 15,2104           57662                           XCH      AIG                                   
046604,000061: 15,2105           00006                           EXTEND                                         
046605,000062: 15,2106           21662                           MSU      AIG                                   
046606,000063: 15,2107           55676                           TS       -DELAIG                               
046607,000064: 
046608,000065: 15,2110           30034                           CA       CDUZ                                  
046609,000066: 15,2111           57663                           XCH      AMG                                   
046610,000067: 15,2112           00006                           EXTEND                                         
046611,000068: 15,2113           21663                           MSU      AMG                                   
046612,000069: 15,2114           55677                           TS       -DELAMG                               
046613,000070: 
046614,000071: 15,2115           30102        DOBRATE?           CA       CM/FLAGS                              
046615,000072: 15,2116           74767                           MASK     CM/DSBIT                              
046616,000073: 15,2117           10000                           CCS      A                                     

Page 1064

046618,000075: 15,2120           12135                           TCF      CKGYMSW                               
046619,000076: 
046620,000077: 15,2121           06000                           TC       FLUSHJET                              #  TURN OFF ALL JETS
046621,000078: 
046622,000079: 15,2122           05402                           TC       PHASCHNG                              
046623,000080: 15,2123           00006                           OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
046624,000081: 
046625,000082: 15,2124           05314                           TC       TASKOVER                              
046626,000083: 
046627,000084: 15,2125           34770        DOBRATE            CA       ONE                                   #  DO BODYRATE
046628,000085: 15,2126           55720        DOBRATE1           TS       JETEM                                 #  SKIP BODYRATE.
046629,000086: 
046630,000087: 15,2127           34355                           CA       TEN                                   #  KEEP CDU READ GOING.
046631,000088: 15,2130           05223                           TC       TWIDDLE                               
046632,000089: 15,2131           02063                           ADRES    READGYMB                              
046633,000090:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046634,000091: 
046635,000092: 15,2132           11720                           CCS      JETEM                                 
046636,000093: 15,2133           02165                           TC       BODYRATE                              
046637,000094: 15,2134           05314                           TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS. (PASSES)
046638,000095: 
046639,000096: 15,2135           40102        CKGYMSW            CS       CM/FLAGS                              
046640,000097: 15,2136           74770                           MASK     GYMDIBIT                              
046641,000098: 15,2137           00006                           EXTEND                                         
046642,000099: 15,2140           12125                           BZF      DOBRATE                               
046643,000100: 15,2141           26102        CM/GYMIC           ADS      CM/FLAGS                              #  GYMDIFSW:  C(A)=1, KNOW BIT IS 0
046644,000101: 15,2142           34772                           CAF      ZERO                                  
046645,000102: 15,2143           55711                 +2        TS       JETAG                                 
046646,000103: 15,2144           55706                           TS       OLDELP                                
046647,000104: 15,2145           55707                           TS       OLDELQ                                
046648,000105: 15,2146           55710                           TS       OLDELR                                
046649,000106: 15,2147           55723                           TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
046650,000107: 15,2150           02126                           TC       DOBRATE1                              
046651,000108: 

Page 1065

046653,000110: 
046654,000111:                                                                                                  #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046655,000112: 
046656,000113: 15,2151           54001        ANGOVCOR           TS       L                                     #  THIS COSTS 2 MCT TO USE.
046657,000114: 15,2152           00002                           TC       Q                                     #  NO OVFL
046658,000115: 15,2153           50000                           INDEX    A                                     
046659,000116: 15,2154           34751                           CAF      LIMITS                                
046660,000117: 15,2155           26001                           ADS      L                                     
046661,000118: 15,2156           00002                           TC       Q                                     
046662,000119: 
046663,000120:    6000                                           SETLOC   FFTAG6                                
046664,000121:    6000                                           BANK                                           
046665,000122: 
046666,000123:    6000                                           COUNT*   $$/DAPEN                              
046667,000124:    6000           30007        FLUSHJET           CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
046668,000125:    6001           00006                           EXTEND                                         
046669,000126:    6002           01006                           WRITE    ROLLJETS                              #  ZERO CHANNEL 6
046670,000127:    6003           00006                           EXTEND                                         
046671,000128:    6004           01005                           WRITE    PYJETS                                #  ZERO CHANNEL 5
046672,000129:    6005           00002                           TC       Q                                     
046673,000130: 
046674,000131: 15,2000                                           SETLOC   ETRYDAP                               
046675,000132: 15,2000                                           BANK                                           
046676,000133: 
046677,000134: 15,2157                                           COUNT*   $$/DAPEN                              
046678,000135: 15,2157           40000        RATEAVG            COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046679,000136: 15,2160           61720                           AD       JETEM                                 #  OF CONSTANT ACCELERATION.
046680,000137: 15,2161           00006                           EXTEND                                         
046681,000138: 15,2162           74753                           MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
046682,000139: 15,2163           61720                           AD       JETEM                                 
046683,000140: 15,2164           00002                           TC       Q                                     
046684,000141: 

Page 1066

046686,000143: 
046687,000144:                                                                                                  #  THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046688,000145: 
046689,000146: 20,2000                                           SETLOC   DAPS1                                 
046690,000147: 20,2000                                           BANK                                           
046691,000148: 
046692,000149: 20,3624                                           COUNT*   $$/DAPEN                              
046693,000150: 20,3624  E6,1661                                  EBANK=   AOG                                   
046694,000151: 
046695,000152: 20,3624           04611        CM/DAPON           TC       E6SETTER                              
046696,000153: 
046697,000154: 20,3625           05561                           TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
046698,000155: 20,3626           00132                           ADRES    DAPBIT1                               #  BIT 15  FLAG 6           CM FLAGS.
046699,000156: 20,3627           05561                           TC       DOWNFLAG                              #  RESET DAPBIT2
046700,000157: 20,3630           00133                           ADRES    DAPBIT2                               #  BIT 14 FLAG 6
046701,000158: 20,3631           00006                           EXTEND                                         
046702,000159: 20,3632           33747                           DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
046703,000160: 20,3633           52113                           DXCH     T5LOC                                 
046704,000161: 20,3634           00006                           EXTEND                                         
046705,000162: 20,3635           33747                           DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
046706,000163: 20,3636           52111                           DXCH     T6LOC                                 
046707,000164: 
046708,000165: 20,3637           06000                           TC       FLUSHJET                              #  JETS DEPARTED  ON SM. ZERO JET BITS.
046709,000166: 
046710,000167: 20,3640           47673                           CS       13,14,15                              
046711,000168: 20,3641           71465                           MASK     DAPDATR1                              #  SET CONFIG BITS =0 FOR ENTRY
046712,000169: 20,3642           55465                           TS       DAPDATR1                              
046713,000170: 20,3643           03647                           TC       +4                                    
046714,000171: 
046715,000172: 20,3644           35011        NOTYET             CA       .5SEC                                 
046716,000173: 20,3645           04636                           TC       BANKCALL                              
046717,000174: 20,3646           01731                           CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
046718,000175: 20,3647           34756                 +4        CA       GMDIFBIT                              #  GAMDIFSW = 94D BIT11   INITLY=0
046719,000176: 20,3650           70102                           MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046720,000177: 20,3651           00006                           EXTEND                                         
046721,000178: 20,3652           13644                           BZF      NOTYET                                
046722,000179: 
046723,000180: 20,3653           44770                           CS       ONE                                   #  ACTIVATE CM/DAP
046724,000181: 20,3654           55501                           TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
046725,000182:                                                                                                  #  NEXT PASS.
046726,000183: 20,3655           55727                           TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
046727,000184:                                                                                                  #  HEADSUP IS SET IN P62.                        
046728,000185:                                                                                                  #  FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046729,000186: 
046730,000187: 20,3656           30007                           CA       7                                     
046731,000188: 20,3657           55711                           TS       JETAG                                 
046732,000189: 20,3660           55713                           TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
046733,000190:                                                                                                  #  IN CASE CMDAPMOD IS NOT +1.
046734,000191: 20,3661           00004                           INHINT                                         
046735,000192: 20,3662           00006                           EXTEND                                         
046736,000193: 20,3663           31666                           DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD

Page 1067

046738,000195: 20,3664           53604                           DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
046739,000196: 20,3665           31664                           CA       ROLL/180                              
046740,000197: 20,3666           55717                           TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
046741,000198: 20,3667           00006                           EXTEND                                         
046742,000199: 20,3670           74753                           MP       HALF                                  
046743,000200: 20,3671           55715                           TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
046744,000201: 
046745,000202: 20,3672           40102                           CS       CM/FLAGS                              
046746,000203: 20,3673           74755                           MASK     CMARMBIT                              #    CMDAPARM = 93D BIT12 INITLY=0
046747,000204: 20,3674           26102                           ADS      CM/FLAGS                              #  SET BIT TO 1.
046748,000205: 
046749,000206: 20,3675           40076                           CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
046750,000207: 20,3676           74770                           MASK     NODOBIT                               #  V 37 ENTRIES
046751,000208: 20,3677           26076                           ADS      FLAGWRD2                              
046752,000209: 
046753,000210: 20,3700           00003                           RELINT                                         
046754,000211: 
046755,000212: 20,3701           04655                           TC       POSTJUMP                              
046756,000213: 20,3702           54343                           CADR     P62.1                                 
046757,000214: 

Page 1068

046759,000216: 
046760,000217:                                                                                                  #  INITIALIZE CM/DAP.   WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
046761,000218:                                                                                                  #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG  .
046762,000219:                                                                                                  #   CMDAPARM  = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046763,000220:                                                                                                  #  SET AVEGEXIT TO CONTINUE AT CM/POSE
046764,000221: 
046765,000222: 20,3703           04611        CM/DAPIC           TC       E6SETTER                              
046766,000223: 
046767,000224: 20,3704           00004                           INHINT                                         
046768,000225: 20,3705           41044        CM/DAP2C           CS       PIPTIME    +1                         
046769,000226:                                                                                                  #  PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046770,000227: 20,3706           55720                           TS       JETEM                                 
046771,000228: 
046772,000229: 20,3707           34753                           CA       POS1/2                                
046773,000230: 20,3710           64753                           AD       POS1/2                                
046774,000231: 20,3711           60025                           AD       TIME1                                 #  OVFL GUARANTEED
046775,000232: 20,3712           27720                           ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
046776,000233: 
046777,000234: 20,3713           44773                           CS       FIVE                                  
046778,000235: 20,3714           61720                           AD       JETEM                                 
046779,000236: 20,3715           10000                           CCS      A                                     
046780,000237: 20,3716           63745                           AD       -CDUT+1                               
046781,000238: 20,3717           13715                           TCF      -2                                    
046782,000239: 20,3720           13721                           NOOP                                           
046783,000240: 20,3721           64770                           AD       ONE                                   #  SEND NO ZERO TO WTLST
046784,000241: 20,3722           55725                           TS       CM/GYMDT                              #  FOR RESTART
046785,000242: 20,3723           05233                           TC       WAITLIST                              
046786,000243: 20,3724  E6,1661                                  EBANK=   AOG                                   
046787,000244: 20,3724           02063 32066                     2CADR    READGYMB                              
046788,000245: 
046789,000246: 
046790,000247: 20,3726           43744                           CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
046791,000248: 20,3727           70102                           MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
046792,000249: 20,3730           64355                           AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
046793,000250:                                                                                                  #  DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046794,000251:                                                                                                  #  CALC. (P62.3) GOES TO ENDEXIT.
046795,000252: 20,3731           54102                           TS       CM/FLAGS                              
046796,000253: 
046797,000254: 20,3732           30007                           CA       7                                     
046798,000255: 20,3733           55666                           TS       BETA/180                              #  NECESSARY: NO OVFL CORRECTION
046799,000256: 20,3734           34770                           CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
046800,000257: 20,3735           54305                           TS       SW/NDX                                #    UPBUFF.
046801,000258: 
046802,000259: 20,3736           05362                           TC       2PHSCHNG                              #  DOES INHINT/RELINT
046803,000260: 20,3737           40116                           OCT      40116                                 #  SAVE TBASE6
046804,000261: 20,3740           05024                           OCT      05024                                 
046805,000262: 20,3741           13000                           OCT      13000                                 
046806,000263: 
046807,000264: 20,3742  01,2336               6P11SPT1           =        6.11SPOT                              
046808,000265: 20,3742           04655                           TC       POSTJUMP                              

Page 1069

046810,000267: 20,3743           54327                           CADR     P62.2                                 
046811,000268: 
046812,000269: 20,3744           16017        CM/SWIC1           OCT      16017                                 
046813,000270: 20,3745     4355               CM/SWIC2           =        TEN                                   #  00012 : CM/DSTBY, LATSW
046814,000271: 20,3745           77766        -CDUT+1            OCT      77766                                 
046815,000272: 20,3746     0112                                  EBANK=   T5LOC                                 
046816,000273: 20,3746           03226 12060  T5IDLER1           2CADR    T5IDLOC                               
046817,000274: 

Page 1070

046819,000276: 
046820,000277:                                                                                                  #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046821,000278:                                                                                                  #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED  P, Q, R.       REQUIREMENT:  TEMPORARY ERASE. JETEM, JETEM +1
046822,000279: 
046823,000280:                                                                                                  #        SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE  ENTRY DAPS. THAT IS,
046824,000281:                                                                                                  #  THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046825,000282:                                                                                                  #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046826,000283:                                                                                                  #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046827,000284:                                                                                                  #  THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046828,000285: 
046829,000286: 20,3750  E6,1661                                  EBANK=   AOG                                   
046830,000287: 15,2000                                           SETLOC   ETRYDAP                               
046831,000288: 15,2000                                           BANK                                           
046832,000289: 
046833,000290: 15,2165                                           COUNT*   $$/DAPEN                              
046834,000291: 15,2165           31663        BODYRATE           CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046835,000292: 15,2166           05060                           TC       SPCOS                                 
046836,000293: 15,2167           55511                           TS       COSM                                  
046837,000294: 
046838,000295: 15,2170           31661                           CA       AOG                                   #  C(AOG) = AOG/180
046839,000296: 15,2171           05061                           TC       SPSIN                                 #  SINO
046840,000297: 15,2172           55512                           TS       SINO                                  #  SINO = SIN(AOG)
046841,000298: 
046842,000299: 15,2173           00006                           EXTEND                                         
046843,000300: 15,2174           71511                           MP       COSM                                  
046844,000301: 15,2175           55514                           TS       SINOCOSM                              #  SO CM
046845,000302: 
046846,000303: 15,2176           31661                           CA       AOG                                   
046847,000304: 15,2177           05060                           TC       SPCOS                                 #  COSO
046848,000305: 15,2200           55513                           TS       COSO                                  
046849,000306: 
046850,000307: 15,2201           00006                           EXTEND                                         
046851,000308: 15,2202           71511                           MP       COSM                                  
046852,000309: 15,2203           55515                           TS       COSOCOSM                              #  CO CM
046853,000310: 
046854,000311:                                                                                                  #  PITCHDOT:     Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046855,000312: 
046856,000313: 15,2204           41677                           CS       -DELAMG                               
046857,000314: 15,2205           00006                           EXTEND                                         
046858,000315: 15,2206           71512                           MP       SINO                                  
046859,000316: 15,2207           53721                           DXCH     JETEM                                 #  2 LOCS _
046860,000317: 15,2210           41676                           CS       -DELAIG                               
046861,000318: 15,2211           00006                           EXTEND                                         
046862,000319: 15,2212           71515                           MP       COSOCOSM                              
046863,000320: 15,2213           21721                           DAS      JETEM                                 
046864,000321: 15,2214           31720                           CA       JETEM                                 
046865,000322: 15,2215           57707                           XCH      OLDELQ                                
046866,000323: 15,2216           02157                           TC       RATEAVG                               
046867,000324: 15,2217           55702                           TS       QREL                                  #  PITCHDOT = Q TCDU/180
046868,000325: 

Page 1071

046870,000327: 
046871,000328:                                                                                                  #  YAWDOT:   R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046872,000329: 
046873,000330: 15,2220           41677                           CS       -DELAMG                               
046874,000331: 15,2221           00006                           EXTEND                                         
046875,000332: 15,2222           71513                           MP       COSO                                  
046876,000333: 15,2223           53721                           DXCH     JETEM                                 
046877,000334: 15,2224           31676                           CA       -DELAIG                               
046878,000335: 15,2225           00006                           EXTEND                                         
046879,000336: 15,2226           71514                           MP       SINOCOSM                              
046880,000337: 15,2227           21721                           DAS      JETEM                                 
046881,000338: 15,2230           31720                           CA       JETEM                                 
046882,000339: 15,2231           57710                           XCH      OLDELR                                
046883,000340: 15,2232           02157                           TC       RATEAVG                               
046884,000341: 15,2233           55703                           TS       RREL                                  #  YAWDOT = R TCDU/180
046885,000342: 
046886,000343:                                                                                                  #  ROLLDOT:   P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046887,000344: 
046888,000345: 15,2234           31663                           CA       AMG                                   
046889,000346: 15,2235           05061                           TC       SPSIN                                 
046890,000347: 15,2236           55510                           TS       SINM                                  
046891,000348: 
046892,000349: 15,2237           00006                           EXTEND                                         
046893,000350: 15,2240           71676                           MP       -DELAIG                               
046894,000351: 15,2241           55720                           TS       JETEM                                 
046895,000352: 15,2242           34772                           CA       ZERO                                  
046896,000353: 15,2243           20001                           DDOUBL                                         #  ROUND L INTO A
046897,000354: 15,2244           61675                           AD       -DELAOG                               
046898,000355: 15,2245           61720                           AD       JETEM                                 
046899,000356: 15,2246           40000                           CS       A                                     
046900,000357: 15,2247           55720                           TS       JETEM                                 
046901,000358: 15,2250           57706                           XCH      OLDELP                                
046902,000359: 15,2251           02157                           TC       RATEAVG                               
046903,000360: 15,2252           55701                           TS       PREL                                  #  ROLLDOT = P TCDU/180
046904,000361: 
046905,000362:                                                                                                  #  IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046906,000363: 
046907,000364: 15,2253           11723                           CCS      GAMDOT                                
046908,000365: 15,2254           02256                           TC       +2                                    
046909,000366: 15,2255           02300                           TC       NOGAMDUT                              
046910,000367: 15,2256           41664                           CS       ROLL/180                              
046911,000368: 15,2257           05061                           TC       SPSIN                                 
046912,000369: 15,2260           00006                           EXTEND                                         
046913,000370: 15,2261           71723                           MP       GAMDOT                                
046914,000371: 15,2262           55721                           TS       JETEM      +1                         #  -SR GAMDOT
046915,000372: 15,2263           00006                           EXTEND                                         
046916,000373: 15,2264           72626                           MP       SINTRIM                               #  SIN(-20)   (FOR NOMINAL L/D = .3)
046917,000374: 15,2265           27701                           ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046918,000375: 
046919,000376: 15,2266           31664                           CA       ROLL/180                              
046920,000377: 15,2267           05060                           TC       SPCOS                                 

Page 1072

046922,000379: 15,2270           40000                           COM                                            
046923,000380: 15,2271           00006                           EXTEND                                         
046924,000381: 15,2272           71723                           MP       GAMDOT                                
046925,000382: 15,2273           27702                           ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046926,000383: 
046927,000384: 15,2274           41721                           CS       JETEM      +1                         #  B( ) = -SR GAMDOT
046928,000385: 15,2275           00006                           EXTEND                                         
046929,000386: 15,2276           72627                           MP       COSTRIM                               #  COS(-20)   (FOR NOMINAL L/D = .3)
046930,000387: 15,2277           27703                           ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046931,000388: 
046932,000389: 15,2300           34755        NOGAMDUT           CA       CMARMBIT                              #  CMDAPARM = 93D BIT 12
046933,000390: 15,2301           70102                           MASK     CM/FLAGS                              
046934,000391: 15,2302           00006                           EXTEND                                         
046935,000392: 15,2303           15314        STBYDUMP           BZF      TASKOVER                              #  DAP NOT ARMED.
046936,000393: 
046937,000394: 15,2304           34750                           CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
046938,000395: 15,2305           54030                           TS       TIME5                                 
046939,000396: 
046940,000397: 15,2306           00006                           EXTEND                                         
046941,000398: 15,2307           32313                           DCA      ATDOTCAD                              
046942,000399: 15,2310           52113                           DXCH     T5LOC                                 
046943,000400:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046944,000401: 
046945,000402: 15,2311           05314                           TC       TASKOVER                              
046946,000403: 
046947,000404: 15,2312  E6,1661                                  EBANK=   AOG                                   
046948,000405: 15,2312           02314 32066  ATDOTCAD           2CADR    ATTRATES                              
046949,000406: 

Page 1073

046951,000408: 
046952,000409:                                                                                                  #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046953,000410: 
046954,000411:                                                                                                  #        CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046955,000412:                                                                                                  #        BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046956,000413:                                                                                                  #        ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046957,000414: 
046958,000415: 15,2314           22016        ATTRATES           LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
046959,000416: 15,2315           00006                           EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
046960,000417: 15,2316           22012                           QXCH     QRUPT                                 
046961,000418: 15,2317           30021                           CA       SR                                    
046962,000419: 15,2320           60000                           DOUBLE                                         
046963,000420: 15,2321           55623                           TS       CM/SAVE                               
046964,000421:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046965,000422: 
046966,000423: 15,2322           31702                           CA       QREL                                  
046967,000424: 15,2323           61665                           AD       ALFA/180                              
046968,000425: 15,2324           02151                           TC       ANGOVCOR                              
046969,000426: 15,2325           55665                           TS       ALFA/180                              
046970,000427: 15,2326           05060                           TC       SPCOS                                 
046971,000428: 15,2327           55506                           TS       CALFA                                 #  CALFA
046972,000429: 15,2330           55705                           TS       PHIDOT                                
046973,000430: 
046974,000431: 15,2331           00006                           EXTEND                                         
046975,000432: 15,2332           71701                           MP       PREL                                  
046976,000433: 15,2333           57705                           XCH      PHIDOT                                #  CA PREL
046977,000434: 15,2334           00006                           EXTEND                                         
046978,000435: 15,2335           71703                           MP       RREL                                  #  CA RREL
046979,000436: 15,2336           55704                           TS       BETADOT                               
046980,000437: 
046981,000438: 15,2337           31665                           CA       ALFA/180                              
046982,000439: 15,2340           05061                           TC       SPSIN                                 
046983,000440: 15,2341           55507                           TS       SALFA                                 #  SIN(ALFA)
046984,000441: 
046985,000442: 15,2342           00006                           EXTEND                                         
046986,000443: 15,2343           71703                           MP       RREL                                  #  SA RREL
046987,000444: 15,2344           27705                           ADS      PHIDOT                                #  CB PHIDOT, SAVED.
046988,000445: 
046989,000446: 15,2345           41507                           CS       SALFA                                 
046990,000447: 15,2346           00006                           EXTEND                                         
046991,000448: 15,2347           71701                           MP       PREL                                  
046992,000449: 15,2350           27704                           ADS      BETADOT                               #  SAVE BETADOT TCDU/180
046993,000450: 15,2351           27666                           ADS      BETA/180                              #  BETA DONE.
046994,000451: 
046995,000452: 15,2352           05061                           TC       SPSIN                                 
046996,000453: 15,2353           00006                           EXTEND                                         
046997,000454: 15,2354           71705                           MP       PHIDOT                                #  NEGLECT CB IN  CB PHIDOT
046998,000455: 15,2355           61665                           AD       ALFA/180                              
046999,000456: 15,2356           02151                           TC       ANGOVCOR                              
047000,000457: 15,2357           55665                           TS       ALFA/180                              #  ALFA DONE.

Page 1074

047002,000459: 15,2360           40000                           COM                                            
047003,000460: 15,2361           61603                           AD       ALFACOM                               
047004,000461: 15,2362           02151                           TC       ANGOVCOR                              #  JUST IN CASE ...
047005,000462: 15,2363           55477                           TS       AK1                                   
047006,000463: 15,2364           55572                           TS       QAXERR                                #  FOR PITCH FDAI   AND EDIT.
047007,000464: 
047008,000465: 15,2365           31705                           CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
047009,000466: 15,2366           61664                           AD       ROLL/180                              
047010,000467: 15,2367           02151                           TC       ANGOVCOR                              
047011,000468: 15,2370           55714                           TS       ROLLTM                                #  ROLL/180 FOR TM.
047012,000469: 15,2371           55664                           TS       ROLL/180                              #  ROLL DONE.
047013,000470: 
047014,000471:                                                                                                  #        START YAW AUTOPILOT HERE .  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047015,000472: 
047016,000473: 15,2372           41666                           CS       BETA/180                              #  IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047017,000474: 15,2373           61604                           AD       BETACOM                               
047018,000475: 15,2374           55573                           TS       RAXERR                                #  IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047019,000476:                                                                                                  #  AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047020,000477:                                                                                                  #  IS OK.)  FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047021,000478:                                                                                                  #  BE R-AXIS ERROR.
047022,000479: 
047023,000480: 15,2375           34766                           CA       .05GBIT                               #  .05GSW = 102D BIT3  SW=0, LESS .05G
047024,000481: 15,2376           70102                           MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
047025,000482: 15,2377           00006                           EXTEND                                         
047026,000483: 15,2400           12466                           BZF      EXDAP                                 #  IF G LESS THAN .05
047027,000484: 15,2401           44770                           CS       ONE                                   #  IF G GEQ  THAN .05
047028,000485: 15,2402           55700                           TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
047029,000486: 
047030,000487: 15,2403           55477                           TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
047031,000488: 15,2404           55500                           TS       AK2                                   #  IN ATM.  (MODE =-1)
047032,000489: 
047033,000490: 15,2405           41701                           CS       PREL                                  #  YAW ERROR = RREL - PREL TAN(ALFA)
047034,000491: 15,2406           00006                           EXTEND                                         
047035,000492: 15,2407           72626                           MP       SINTRIM                               #  LET SIN(-20) BE APPROX FOR TAN(-20)
047036,000493: 15,2410           61703                           AD       RREL                                  
047037,000494: 15,2411           02456                           TC       2D/SDZ                                #  GO TEST DZ. GET TAG: +0 IF IN DZ
047038,000495: 15,2412           50000                           INDEX    A                                     #  +/- 1 IF NOT
047039,000496: 15,2413           32631                           CAF      YJETCODE                              
047040,000497: 
047041,000498: 15,2414           55720                           TS       JETEM                                 
047042,000499: 
047043,000500:                                                                                                  #        START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
047044,000501: 
047045,000502: 15,2415           31702                           CA       QREL                                  
047046,000503: 15,2416           02456                           TC       2D/SDZ                                
047047,000504: 15,2417           50000        EXDAPIN            INDEX    A                                     #  COME HERE FROM EX ATM DAP
047048,000505: 15,2420           32634                           CAF      P/RJCODE                              
047049,000506: 15,2421           27720                           ADS      JETEM                                 #  COMBINE ALL NEW BITS.
047050,000507: 
047051,000508: 15,2422           00006                           EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.

Page 1075

047053,000510: 15,2423           01005                           WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
047054,000511: 
047055,000512: 15,2424           11711                           CCS      JETAG                                 
047056,000513: 15,2425           02645                           TC       CM/RCS                                
047057,000514: 15,2426           03325                           TC       CM/FDAI                               
047058,000515: 15,2427           03332                           TC       CM/FDAIR   -1                         #  (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047059,000516: 

Page 1076

047061,000518: 
047062,000519:                                                                                                  #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047063,000520: 
047064,000521: 15,2430           10000        3DDZ               CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
047065,000522: 15,2431           62624                           AD       YAWLIM                                
047066,000523: 15,2432           12462                           TCF      DZCOM                                 
047067,000524: 15,2433           62624                           AD       YAWLIM                                
047068,000525: 15,2434           12463                           TCF      DZNOCOM                               
047069,000526: 
047070,000527:                                                                                                  #  BIASED DZ FOR EXT ATM DAP.
047071,000528: 15,2435           55624        BIASEDZ            TS       JETEM2                                #  SAVE RATE/180. ERROR/180 IS IN L.
047072,000529: 15,2436           10000                           CCS      A                                     #  START ERROR DZ.
047073,000530: 15,2437           42623                           CS       CM/BIAS                               #  = .6/180
047074,000531: 15,2440           12442                           TCF      +2                                    
047075,000532: 15,2441           32623                           CA       CM/BIAS                               
047076,000533: 15,2442           60001                           AD       L                                     #  BIAS THE ERROR.
047077,000534: 15,2443           22002                           LXCH     Q                                     #  SAVE CALLERS RETURN ADDRESS.
047078,000535: 15,2444           02430                           TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
047079,000536: 15,2445           52002                           DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
047080,000537: 15,2446           11624        4D/SDZ             CCS      JETEM2                                #  CAME HERE IN EXT ATM. C(L) = ERROR BIT
047081,000538: 15,2447           62621                           AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
047082,000539: 15,2450           12452                           TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
047083,000540: 15,2451           62621                           AD       4D/SLIM                               
047084,000541: 15,2452           54000                           TS       A                                     
047085,000542: 15,2453           12455                           TCF      +2                                    #  RATE OK. CONTINUE
047086,000543: 15,2454           22007                           ZL                                             #  RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047087,000544: 15,2455           57624                           XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
047088,000545: 
047089,000546: 15,2456           10000        2D/SDZ             CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047090,000547: 15,2457           62622                           AD       YDOTLIM                               #  1.0 - YDOT DZ        ( OR PDOT)
047091,000548: 15,2460           12463                           TCF      +3                                    
047092,000549: 15,2461           62622                           AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
047093,000550: 15,2462           40000        DZCOM              COM                                            
047094,000551: 15,2463           55721        DZNOCOM            TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047095,000552: 15,2464           34772                           CA       ZERO                                  #  SET C(A) = +0 INSIDE
047096,000553: 15,2465           00002                           TC       Q                                     
047097,000554: 

Page 1077

047099,000556: 
047100,000557:                                                                                                  #        EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047101,000558: 
047102,000559:                                                                                                  #        1.    IF ABS(CALF) -C(45) POS, USE                              IF CALFA POS, CMDAPMOD= +0
047103,000560:                                                                                                  #          BETA:     YAW ERROR = SGN(CALF) (BETACOM -BETA)               IF CALFA NEG, CMDAPMOD= -0
047104,000561:                                                                                                  #                         RATE = BETADOT                                 IF CMDAPMOD = -0, RATE = RREL
047105,000562:                                                                                                  #                       R-AXIS = CONTROL
047106,000563: 
047107,000564:                                                                                                  #          ROLL:     ROLL ERROR = SGN(CALF) (ROLLC - ROLL)               IF CMDAPMOD = -0, RATE DAMP ONLY.
047108,000565:                                                                                                  #                         RATE = PREL
047109,000566:                                                                                                  #                       P-AXIS = CONTROL
047110,000567: 
047111,000568:                                                                                                  #        2.    IF C(45) GEQ CALFA GEQ -C(45), USE                        CMDAPMOD = +1
047112,000569:                                                                                                  #          BETA:     ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047113,000570:                                                                                                  #                         RATE = BETADOT
047114,000571:                                                                                                  #                       P-AXIS = CONTROL
047115,000572: 
047116,000573:                                                                                                  #          ROLL:     YAW ERROR = SGN(SALF) (ROLLC -ROLL)                 RATE DAMP ONLY.
047117,000574:                                                                                                  #                         RATE = RREL
047118,000575:                                                                                                  #                       R-AXIS = CONTROL
047119,000576: 
047120,000577:                                                                                                  #        3.    FOR ALL CASES, USE
047121,000578:                                                                                                  #          ALFA:   PITCH ERROR = (ALFACOM - ALFA)
047122,000579:                                                                                                  #                       RATE = QREL
047123,000580:                                                                                                  #                     Q-AXIS = CONTROL
047124,000581: 
047125,000582: 
047126,000583: 
047127,000584: 15,2466           55700        EXDAP              TS       CMDAPMOD                              #  +0 FOR NOW
047128,000585: 15,2467           11506                           CCS      CALFA                                 
047129,000586: 15,2470           62625                           AD       C45LIM                                #  =1.0-COS(45)
047130,000587: 15,2471           12473                           TCF      +2                                    
047131,000588: 15,2472           62625                           AD       C45LIM                                
047132,000589: 15,2473           54000                           TS       A                                     
047133,000590: 15,2474           12555                           TCF      EXDAP2                                #  HERE IF ABS(CALFA)  L  COS(45)
047134,000591: 
047135,000592: 15,2475           11506                           CCS      CALFA                                 #  |CALFA| > 0.707
047136,000593: 15,2476           12477                           TCF      +1                                    #  CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047137,000594: 
047138,000595: 15,2477           11727                           CCS      P63FLAG                               #  VALID VALUES ARE:  -1, +1, +0.
047139,000596: 15,2500           02513                           TC       EXDAP4                                
047140,000597: 15,2501           02503                           TC       +2                                    
047141,000598: 15,2502           02513                           TC       EXDAP4                                
047142,000599: 15,2503           05402                           TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
047143,000600: 15,2504           40334                           OCT      40334                                 
047144,000601: 15,2505  01,2170               4P33SPT1           =        4.33SPOT                              
047145,000602: 15,2505           44770                           CS       ONE                                   
047146,000603: 15,2506           55727                           TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
047147,000604: 15,2507           32620                           CA       NSEC                                  
047148,000605: 15,2510           05233                           TC       WAITLIST                              
047149,000606: 15,2511  E6,1661                                  EBANK=   AOG                                   

Page 1078

047151,000608: 15,2511           02375 54066                     2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.
047152,000609: 
047153,000610:                                                                                                  #  65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047154,000611:                                                                                                  #  TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047155,000612: 
047156,000613: 15,2513           11711        EXDAP4             CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
047157,000614: 15,2514           12522                           TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
047158,000615: 15,2515           12522                           TCF      EXDAP3                                
047159,000616: 15,2516           34772                           CA       ZERO                                  
047160,000617: 15,2517           00006                           EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
047161,000618: 15,2520           01006                           WRITE    ROLLJETS                              #  UNTIL START  OF 2 SEC CM/RCS CYCLE
047162,000619: 15,2521           55711                           TS       JETAG                                 #  RESTORE PROPER VALUE +0
047163,000620: 
047164,000621:                                                                                                  #  ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047165,000622: 15,2522           11506        EXDAP3             CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
047166,000623: 15,2523           31573                           CA       RAXERR                                #  C()= BETACOM - BETA/180
047167,000624: 15,2524           12530                           TCF      EXDAP1                                
047168,000625: 15,2525           44772                           CS       ZERO                                  
047169,000626: 15,2526           55700                           TS       CMDAPMOD                              #  FOR CM/RCS
047170,000627: 15,2527           41573                           CS       RAXERR                                #  COMPLEMENT OF YAW ERROR.
047171,000628: 15,2530           55573        EXDAP1             TS       RAXERR                                #  FOR YAW FDAI
047172,000629: 15,2531           55500                           TS       AK2                                   #  WANT RAXERR FOR TM.
047173,000630: 15,2532           54001                           TS       L                                     
047174,000631: 15,2533           11700                           CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
047175,000632: 15,2534           02537                           TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
047176,000633: 15,2535           34770                           CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
047177,000634: 15,2536           50000                           INDEX    A                                     #  OTHERWISE USE RREL.
047178,000635: 15,2537           31703                           CA       RREL                                  
047179,000636: 15,2540           02435                           TC       BIASEDZ                               #  GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
047180,000637:                                                                                                  #  IF GEQ 4D/S, SET ERROR BIT IN L =0)
047181,000638: 15,2541           00006                           EXTEND                                         
047182,000639: 15,2542           04001                           ROR      LCHAN                                 #  L HAS BETA BIT
047183,000640: 15,2543           50000                           INDEX    A                                     
047184,000641: 15,2544           32631                           CAF      YJETCODE                              
047185,000642: 15,2545           55720                           TS       JETEM                                 
047186,000643: 
047187,000644: 15,2546           31572                           CA       QAXERR                                #  ALFA ERROR.
047188,000645: 15,2547           54001                           TS       L                                     
047189,000646: 15,2550           31702                           CA       QREL                                  #  FOR ALFADOT USE QREL
047190,000647: 15,2551           02435                           TC       BIASEDZ                               
047191,000648: 15,2552           00006                           EXTEND                                         
047192,000649: 15,2553           04001                           ROR      LCHAN                                 
047193,000650: 15,2554           12417                           TCF      EXDAPIN                               #  CONTINUE ON IN DAP
047194,000651: 
047195,000652: 15,2555           25700        EXDAP2             INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
047196,000653: 
047197,000654: 15,2556           44770                           CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
047198,000655: 15,2557           55711                           TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
047199,000656:                                                                                                  #  =0 AND JETAG =-1, QUENCHES JETS IF ON)

Page 1079

047201,000658: 15,2560           11727                           CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
047202,000659: 15,2561           55727                           TS       P63FLAG                               
047203,000660: 15,2562           12563                           NOOP                                           
047204,000661: 
047205,000662: 15,2563           11507                           CCS      SALFA                                 #  BETA CONTROL WITH P JETS
047206,000663: 15,2564           41573                           CS       RAXERR                                #  B()= BETACOM - BETA/180
047207,000664: 15,2565           12567                           TCF      +2                                    
047208,000665: 15,2566           31573                           CA       RAXERR                                
047209,000666: 15,2567           55713                           TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
047210,000667: 15,2570           00006                           EXTEND                                         
047211,000668: 15,2571           74753                           MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
047212,000669: 15,2572           57713                           XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
047213,000670: 15,2573           54001                           TS       L                                     
047214,000671: 15,2574           11507                           CCS      SALFA                                 
047215,000672: 15,2575           41704                           CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
047216,000673: 15,2576           02600                           TC       +2                                    
047217,000674: 15,2577           31704                           CA       BETADOT                               
047218,000675: 15,2600           02435                           TC       BIASEDZ                               
047219,000676: 15,2601           00006                           EXTEND                                         
047220,000677: 15,2602           04001                           ROR      LCHAN                                 
047221,000678: 15,2603           50000                           INDEX    A                                     
047222,000679: 15,2604           32634                           CAF      P/RJCODE                              #  GET ROLL CODE
047223,000680: 15,2605           00006                           EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
047224,000681: 15,2606           01006                           WRITE    ROLLJETS                              #  WE,LL SKIP REGULAR ROLL SYST
047225,000682: 
047226,000683: 15,2607           31717                           CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
047227,000684: 15,2610           00006                           EXTEND                                         
047228,000685: 15,2611           21664                           MSU      ROLL/180                              #  1,S COMPL, BUT SO WHATS A BIT.?
047229,000686: 15,2612           54001                           TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
047230,000687: 15,2613           11507                           CCS      SALFA                                 
047231,000688: 15,2614           30001                           CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
047232,000689: 15,2615           02530                           TC       EXDAP1                                
047233,000690: 15,2616           40001                           CS       L                                     
047234,000691: 15,2617           02530                           TC       EXDAP1                                
047235,000692: 
047236,000693: 15,2620           04064        NSEC               DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
047237,000694:                                                                                                  #  IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047238,000695: 15,2621           37734        4D/SLIM            DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
047239,000696: 15,2622           37756        YDOTLIM            DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
047240,000697:                                                                                                  #  YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047241,000698: 
047242,000699: 15,2623           00067        CM/BIAS            DEC      55         B-14                       #  =.6/180 B14  = 55
047243,000700: 15,2624           37267        YAWLIM             DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
047244,000701: 15,2625           11277        C45LIM             DEC      .29289                                #  =1.0-COS(45)
047245,000702: 
047246,000703: 15,2626           65033        SINTRIM            DEC      -.34202                               #  SIN(-20)      (FOR NOMINAL L/D = .3)
047247,000704: 15,2627           36044        COSTRIM            DEC      .93969                                #  COS(-20)      (FOR NOMINAL L/D = .3)
047248,000705: 
047249,000706:                                                                                                  #  TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047250,000707:                                                                                                  #  USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY

Page 1080

047252,000709:                                                                                                  #  FROM TRIM, SO USE ON-BOARD ESTIMATES.
047253,000710: 
047254,000711: 
047255,000712:                                                                                                  #                                        JET CODE TABLES FOLLOW _
047256,000713: 
047257,000714: 15,2630           00120                           OCTAL    00120                                 #  POS Y
047258,000715: 15,2631           00000        YJETCODE           OCTAL    00000                                 #  RCS JET BITS
047259,000716: 15,2632           00240                           OCTAL    00240                                 #  NEG Y
047260,000717: 15,2633           00005                           OCTAL    00005                                 #  POS R JET BITS        ALSO POS P JET BITS
047261,000718: 15,2634           00000        P/RJCODE           OCTAL    00000                                 
047262,000719: 15,2635           00012                           OCTAL    00012                                 #  NEG R                 ALSO NEG P
047263,000720: 

Page 1081

047265,000722: 
047266,000723:                                                                                                  #  RCS        THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047267,000724:                                                                                                  #  THE TASK SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE WILL BE
047268,000725:                                                                                                  #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.   THE
047269,000726:                                                                                                  #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047270,000727:                                                                                                  #  NEXT UPDATE.
047271,000728: 
047272,000729: 15,2636           40025        SETJTAG            CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
047273,000730: 15,2637           55712                           TS       TUSED                                 
047274,000731:                                                                                                  #   THE 5 CS APPEARS IN TIMETST.
047275,000732: 15,2640           34770                           CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
047276,000733: 15,2641           55711                           TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
047277,000734: 15,2642           05402                           TC       PHASCHNG                              
047278,000735: 15,2643           00001                           OCT      00001                                 
047279,000736: 
047280,000737: 15,2644           05314                           TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
047281,000738: 
047282,000739:                                                                                                  #  PREDICTIVE ROLL SYSTEM    ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047283,000740:                                                                                                  #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047284,000741:                                                                                                  #  THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T  (2 SEC) ARE ENTERED IN
047285,000742:                                                                                                  #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047286,000743: 
047287,000744: 15,2645     4752               HALFPR             EQUALS   NEG1/2     +1                         
047288,000745: 
047289,000746:                                                                                                  #  CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
047290,000747:                                                                                                  #  ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047291,000748:                                                                                                  #  MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047292,000749:                                                                                                  #  IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047293,000750: 
047294,000751: 15,2645           44770        CM/RCS             CS       ONE                                   
047295,000752: 15,2646           55617                           TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
047296,000753: 
047297,000754: 15,2647           45004                           CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
047298,000755: 15,2650           00006                           EXTEND                                         
047299,000756: 15,2651           71701                           MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
047300,000757: 15,2652           60001                           AD       L                                     #  -2 RDOT T/180 IN L
047301,000758: 15,2653           55613                           TS       -VT/180                               #  SAVE -2VT/180 HERE
047302,000759: 
047303,000760: 15,2654           41664                           CS       ROLL/180                              
047304,000761: 15,2655           54021                           TS       SR                                    #  SAVE (-R/180) /2
047305,000762: 
047306,000763: 15,2656           40102                           CS       CM/FLAGS                              
047307,000764: 15,2657           74765                           MASK     LATSWBIT                              #  LATSW = 101D BIT4
047308,000765: 15,2660           00006                           EXTEND                                         #  ROLL OVER TOP $
047309,000766: 15,2661           12667                           BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
047310,000767: 15,2662           26102                           ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047311,000768: 15,2663           31715                           CA       ROLLC                                 #  (ROLLC/180) /2
047312,000769: 15,2664           60021                           AD       SR                                    #  -(R/180) /2
047313,000770: 15,2665           57614                           XCH      LCX/360                               #  DIFFERENT X REQD HERE. DISCONT AT 180.
047314,000771: 15,2666           12727                           TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
047315,000772: 

Page 1082

047317,000774: 15,2667           34753        GETLCX             CA       POS1/2                                #  FORM RCOM/360
047318,000775: 15,2670           60000                           DOUBLE                                         
047319,000776: 15,2671           61715                           AD       ROLLC                                 
047320,000777: 15,2672           57614                           XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
047321,000778: 
047322,000779: 15,2673           30021                           CA       SR                                    #  FORM -R/360
047323,000780: 15,2674           64751                           AD       NEG1/2                                
047324,000781: 15,2675           64751                           AD       NEG1/2                                #  IGNORE OVFL
047325,000782: 15,2676           57614                           XCH      LCX/360                               #  -R/360
047326,000783: 15,2677           27614                           ADS      LCX/360                               #  LCX/360 = RCOM/360 -R/360  RANGE (-1,1)
047327,000784: 
047328,000785:                                                                                                  #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2          OVFL ?
047329,000786: 
047330,000787: 15,2700           11613                           CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
047331,000788: 15,2701           64770                           AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
047332,000789: 15,2702           12704                           TCF      +2                                    
047333,000790: 15,2703           64770                           AD       ONE                                   
047334,000791: 15,2704           00006                           EXTEND                                         
047335,000792: 15,2705           71613                           MP       -VT/180                               #  C(-VT/180) = -2 VT/180
047336,000793: 15,2706           00006                           EXTEND                                         
047337,000794: 15,2707           73375                           MP       1/16A1                                #  = 180/(16 A1 TT)
047338,000795: 15,2710           00006                           EXTEND                                         
047339,000796: 15,2711           11506                           DV       CALFA                                 
047340,000797: 15,2712           54001                           TS       L                                     
047341,000798: 15,2713           11614                           CCS      LCX/360                               
047342,000799: 15,2714           34753                           CAF      POS1/2                                
047343,000800: 15,2715           12717                           TCF      +2                                    
047344,000801: 15,2716           44753                           CS       POS1/2                                
047345,000802: 15,2717           61614                           AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG  $
047346,000803: 15,2720           60001                           AD       L                                     
047347,000804: 15,2721           54001                           TS       L                                     
047348,000805: 15,2722           12727                           TCF      COMPAT                                #  YES, GO ON.
047349,000806: 15,2723           50000        TRTAGXPI           INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
047350,000807: 15,2724           44752                           CS       HALFPR                                #  +A YIELDS -1/2
047351,000808: 15,2725           60000                           DOUBLE                                         
047352,000809: 15,2726           27614                           ADS      LCX/360                               
047353,000810: 
047354,000811: 15,2727           31614        COMPAT             CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
047355,000812: 15,2730           00006                           EXTEND                                         
047356,000813: 15,2731           71506                           MP       CALFA                                 #  COS ALFA
047357,000814: 15,2732           55614                           TS       LCX/360                               #  SCALED LCX OK HERE.
047358,000815: 
047359,000816: 15,2733           11700                           CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
047360,000817: 15,2734           03323                           TC       DZCALL1                               #  EXIT, SETTING JETAG=0.(C(A)=0)
047361,000818:                                                                                                  #  ALL 3 AXES ALREADY DONE.
047362,000819: 15,2735           02736                           TC       +1                                    #  G LESS THAN .05. CA POS. CONTINUE
047363,000820: 15,2736           31614                           CA       LCX/360                               #  G GEQ .05. CONTINUE IN CM/RCS
047364,000821: 15,2737           55614                           TS       LCX/360                               #  CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047365,000822: 15,2740           55571                           TS       ERRORZ                                #  INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047366,000823: 15,2741           55713                           TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.(  /360)

Page 1083

047368,000825: 15,2742           31613                           CA       -VT/180                               #  GET - 2 VT/180
047369,000826: 15,2743           54021                           TS       SR                                    
047370,000827: 15,2744           30021                           CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047371,000828: 15,2745           55570                           TS       -VT/180E                              #                         DIAGNOSTIC  ****
047372,000829: 15,2746           57613                           XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
047373,000830: 15,2747           00006                           EXTEND                                         
047374,000831: 15,2750           71613                           MP       -VT/180                               #  B(A) = -2VT/180
047375,000832: 15,2751           00006                           EXTEND                                         
047376,000833: 15,2752           73375                           MP       180/8ATT                              
047377,000834: 15,2753           55616                           TS       VSQ/4API                              
047378,000835: 
047379,000836:                                                                                                  #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     - .5 BUFLIM/360   POS  ?
047380,000837: 
047381,000838: 15,2754           60000        WHICHALF           DOUBLE                                         #  FOR SECOND BURN,  A1
047382,000839: 15,2755           40000                           COM                                            
047383,000840: 15,2756           63401                           AD       BUFLIM                                #  =BUFLIM/(2 360)
047384,000841: 15,2757           54001                           TS       L                                     
047385,000842: 15,2760           11613                           CCS      -VT/180                               
047386,000843: 15,2761           40001                           CS       L                                     
047387,000844: 15,2762           12764                           TCF      +2                                    
047388,000845: 15,2763           30001                           CA       L                                     
047389,000846: 15,2764           61614                           AD       LCX/360                               
047390,000847: 15,2765           63401                           AD       BUFLIM                                
047391,000848: 15,2766           00006                           EXTEND                                         
047392,000849: 15,2767           63004                           BZMF     REFLECT                               #  POINT (X,V) IN LHP.
047393,000850: 
047394,000851:                                                                                                  #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     + .5 BUFLIM/360   NEG  ?
047395,000852: 
047396,000853: 15,2770           40000                           COM                                            
047397,000854: 15,2771           63401                           AD       BUFLIM                                
047398,000855: 15,2772           63401                           AD       BUFLIM                                
047399,000856: 15,2773           00006                           EXTEND                                         
047400,000857: 15,2774           63013                           BZMF     DZ1                                   #  POINT (X,V) IN RHP.
047401,000858: 
047402,000859:                                                                                                  #    IS POINT WITHIN VELOCITY DZ?
047403,000860: 
047404,000861: 15,2775           44355                           CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  ?
047405,000862: 15,2776           61616                           AD       VSQ/4API                              
047406,000863: 15,2777           00006                           EXTEND                                         
047407,000864: 15,3000           63305                           BZMF     DZCALL                                #  YES.
047408,000865: 
047409,000866:                                                                                                  #        POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047410,000867: 
047411,000868: 15,3001           41617                           CS       JNDX                                  
047412,000869: 15,3002           55620                           TS       JNDX1                                 
047413,000870: 15,3003           03066                           TC       OVRLINE1                              
047414,000871: 
047415,000872: 15,3004           41613        REFLECT            CS       -VT/180                               #  REFLECT LHP INTO RHP REL TO TERM CONTR
047416,000873: 15,3005           55613                           TS       -VT/180                               
047417,000874: 15,3006           54021                           TS       SR                                    #  -VT/360  SAVED FOR DZ.

Page 1084

047419,000876: 15,3007           41614                           CS       LCX/360                               
047420,000877: 15,3010           55614                           TS       LCX/360                               
047421,000878: 15,3011           41617                           CS       JNDX                                  
047422,000879: 15,3012           55617                           TS       JNDX                                  
047423,000880: 
047424,000881:                                                                                                  #   IS VSQ/4API - (VSQ/4API) MIN  NEG   $
047425,000882: 
047426,000883: 15,3013           44355        DZ1                CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  $
047427,000884: 15,3014           61616                           AD       VSQ/4API                              
047428,000885: 15,3015           00006                           EXTEND                                         
047429,000886: 15,3016           63020                           BZMF     DZ2                                   #  YES, GO TEST FURTHER.
047430,000887: 15,3017           13025                           TCF      MAXVTEST                              #  NO
047431,000888: 
047432,000889:                                                                                                  #   IS X/360 - XMIN/360 -VT/360  NEG  $
047433,000890: 
047434,000891: 15,3020           43377        DZ2                CS       XMIN/360                              #  XMIN/360 = 4/360
047435,000892: 15,3021           61614                           AD       LCX/360                               
047436,000893: 15,3022           60021                           AD       SR                                    #  C(SR) = -VT/360
047437,000894: 15,3023           00006                           EXTEND                                         #  IS X/360 - XMIN/360 -VT/360  NEG  $
047438,000895: 15,3024           63305                           BZMF     DZCALL                                #  YES, IN DZ. EXIT SETTING JETAG=0.
047439,000896: 
047440,000897:                                                                                                  #   IS XD/360 - VM/360K - XS/360   POS   ?
047441,000898: 
047442,000899: 15,3025           41617        MAXVTEST           CS       JNDX                                  
047443,000900: 15,3026           55620                           TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
047444,000901: 15,3027           43401                           CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
047445,000902: 15,3030           61616                           AD       VSQ/4API                              
047446,000903: 15,3031           61614                           AD       LCX/360                               
047447,000904: 15,3032           55615                           TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
047448,000905:                                                                                                  #  BUT C(XD/360) = (XD - XS) /360
047449,000906: 15,3033           63400                           AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
047450,000907: 15,3034           40000                           COM                                            
047451,000908: 15,3035           00006                           EXTEND                                         
047452,000909: 15,3036           63044                           BZMF     MAXVTIM1                              #  YES, THRUST TO VM
047453,000910: 15,3037           31615                           CA       XD/360                                
047454,000911: 15,3040           00006                           EXTEND                                         
047455,000912: 15,3041           74753                           MP       KTRCS                                 
047456,000913: 15,3042           20001                           DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
047457,000914: 
047458,000915: 15,3043           03047                           TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
047459,000916: 15,3044           00006        MAXVTIM1           EXTEND                                         
047460,000917: 15,3045           22007                           ZQ                                             #  SET +0 AS TAG
047461,000918: 15,3046           43400                           CS       -VMT/180                              
047462,000919: 15,3047           55567        GETON1             TS       VDT/180                               #  VDT/180 OR VMT/180.
047463,000920: 15,3050           61613                           AD       -VT/180                               
047464,000921: 15,3051           60000                           DOUBLE                                         
047465,000922: 15,3052           00006                           EXTEND                                         
047466,000923: 15,3053           73375                           MP       180/8ATT                              
047467,000924: 15,3054           55621                           TS       TON1                                  #  TON1 / 4T

Page 1085

047469,000926: 15,3055           00006                           EXTEND                                         
047470,000927: 15,3056           63060                           BZMF     OVRLINE                               
047471,000928: 15,3057           03072                           TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
047472,000929: 
047473,000930: 15,3060           10002        OVRLINE            CCS      Q                                     
047474,000931: 15,3061           13066                           TCF      OVRLINE1                              
047475,000932: 15,3062           31620        MAXVTIM2           CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
047476,000933: 15,3063           55617                           TS       JNDX                                  
047477,000934: 15,3064           41621                           CS       TON1                                  
047478,000935: 15,3065           13071                           TCF      OVRLINE2   +1                         
047479,000936: 
047480,000937: 15,3066           41613        OVRLINE1           CS       -VT/180                               #  DRIFT AT V
047481,000938: 15,3067           55567                           TS       VDT/180                               
047482,000939: 15,3070           34772        OVRLINE2           CA       ZERO                                  
047483,000940: 15,3071           55621                 +1        TS       TON1                                  
047484,000941: 15,3072           31567        GETON2             CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
047485,000942: 15,3073           60000                           DOUBLE                                         
047486,000943: 15,3074           00006                           EXTEND                                         
047487,000944: 15,3075           73375                           MP       180/8ATT                              
047488,000945: 15,3076           60000                           DOUBLE                                         #  FOR SECOND BURN, A1
047489,000946: 15,3077           55607                           TS       TON2                                  #  = TON2 / 4T
047490,000947: 
047491,000948: 15,3100           40000                           COM                                            
047492,000949: 15,3101           00006                           EXTEND                                         
047493,000950: 15,3102           63106                           BZMF     GETOFF                                
047494,000951: 15,3103           55607                           TS       TON2                                  
047495,000952: 15,3104           31617                           CA       JNDX                                  
047496,000953: 15,3105           55620                           TS       JNDX1                                 
047497,000954: 
047498,000955: 15,3106           41607        GETOFF             CS       TON2                                  #  TON2 / 4T
047499,000956: 15,3107           00006                           EXTEND                                         
047500,000957: 15,3110           71567                           MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
047501,000958: 15,3111           55615                           TS       XD/360                                #  USE AS TEMP
047502,000959: 15,3112           41567                           CS       VDT/180                               
047503,000960: 15,3113           00006                           EXTEND                                         
047504,000961: 15,3114           13130                           BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
047505,000962: 15,3115           61613                           AD       -VT/180                               
047506,000963: 15,3116           00006                           EXTEND                                         
047507,000964: 15,3117           71621                           MP       TON1                                  #  TON1 /4T
047508,000965: 15,3120           61615                           AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
047509,000966: 15,3121           61614                           AD       LCX/360                               
047510,000967: 15,3122           22007                           ZL                                             
047511,000968: 15,3123           56001                           XCH      L                                     #  TEST THE DIVIDE
047512,000969: 15,3124           00006                           EXTEND                                         
047513,000970: 15,3125           11567                           DV       VDT/180                               
047514,000971: 15,3126           00006                           EXTEND                                         
047515,000972: 15,3127           13132                           BZF      GETOFF2                               #  DIVIDE OK
047516,000973: 
047517,000974: 15,3130           35020        TOFFOVFL           CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
047518,000975: 15,3131           13137                           TCF      TIMSCAL                               
047519,000976: 

Page 1086

047521,000978: 15,3132           56001        GETOFF2            XCH      L                                     #  GET NUMERATOR.
047522,000979: 15,3133           00006                           EXTEND                                         
047523,000980: 15,3134           11567                           DV       VDT/180                               #  C(A) = TOFF / 2T
047524,000981: 15,3135           00006                           EXTEND                                         
047525,000982: 15,3136           75020                           MP       2JETT                                 
047526,000983: 15,3137           55605        TIMSCAL            TS       TOFF                                  #  IN CS
047527,000984: 
047528,000985: 15,3140           33376                           CAF      4JETT                                 
047529,000986: 15,3141           00006                           EXTEND                                         
047530,000987: 15,3142           71621                           MP       TON1                                  #  C(TON1) = TON1 / 4T
047531,000988: 15,3143           55621                           TS       TON1                                  #   IN CS
047532,000989: 
047533,000990: 15,3144           33376                           CAF      4JETT                                 
047534,000991: 15,3145           00006                           EXTEND                                         
047535,000992: 15,3146           71607                           MP       TON2                                  #  C(TON2) = TON2 / 4T
047536,000993: 15,3147           55607                           TS       TON2                                  #  IN CS
047537,000994: 
047538,000995: 15,3150           34772                           CA       ZERO                                  #  CANNOT REDO AFTER TIMETST. TUSED GONE
047539,000996: 15,3151           55711                           TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
047540,000997: 
047541,000998:                                                                                                  #  CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047542,000999:                                                                                                  #  INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047543,001000:                                                                                                  #  AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047544,001001: 
047545,001002: 15,3152           34770                           CA       ONE                                   
047546,001003: 15,3153           54305                           TS       SW/NDX                                
047547,001004: 

Page 1087

047549,001006: 
047550,001007:                                                                                                  #  TIMETEST SECTION FOR RCS
047551,001008:                                                                                                  #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047552,001009:                                                                                                  #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047553,001010:                                                                                                  #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS  2 CS) AND
047554,001011:                                                                                                  #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T  (2 SEC).
047555,001012:                                                                                                  #  TIMETST  ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME  INTERVALS. THUS: TON1, T1BITS,
047556,001013:                                                                                                  #  TOFF, TBITS,  TON2, T2BITS.   OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047557,001014:                                                                                                  #  SECTION JETCALL  BELOW PROCESSES THIS LIST.
047558,001015: 
047559,001016: 15,3154           30025        TIMETST            CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
047560,001017: 15,3155           64753                           AD       POS1/2                                
047561,001018: 15,3156           64753                           AD       POS1/2                                #  OVFL GUARANTEED.
047562,001019: 15,3157           27712                           ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
047563,001020: 
047564,001021: 15,3160           33374                           CA       -T-3                                  #  =-T +2 -5 (SEE SETJTAG)
047565,001022:                                                                                                  #  THE +2 REQUIRED FOR PROPER BRANCH.
047566,001023: 15,3161           27712                           ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
047567,001024: 
047568,001025: 15,3162           44767                           CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
047569,001026: 15,3163           61621                           AD       TON1                                  
047570,001027: 15,3164           00006                           EXTEND                                         
047571,001028: 15,3165           63177                           BZMF     TIMETST1                              
047572,001029: 15,3166           51617                           INDEX    JNDX                                  
047573,001030: 15,3167           32634                           CAF      P/RJCODE                              
047574,001031: 15,3170           55622                           TS       T1BITS                                
047575,001032: 
047576,001033: 15,3171           31621                           CA       TON1                                  
047577,001034: 15,3172           27712                           ADS      TUSED                                 
047578,001035: 15,3173           00006                           EXTEND                                         
047579,001036: 15,3174           63201                           BZMF     TOFFTEST                              
047580,001037: 15,3175           34772                           CA       ZERO                                  
047581,001038: 15,3176           13232                           TCF      TIMETST3                              
047582,001039: 15,3177           44770        TIMETST1           CS       ONE                                   
047583,001040: 15,3200           55621                           TS       TON1                                  
047584,001041: 15,3201           44767        TOFFTEST           CS       TWO                                   
047585,001042: 15,3202           61605                           AD       TOFF                                  
047586,001043: 15,3203           00006                           EXTEND                                         
047587,001044: 15,3204           63213                           BZMF     TIMETST2                              
047588,001045: 15,3205           31605                           CA       TOFF                                  
047589,001046: 15,3206           27712                           ADS      TUSED                                 
047590,001047: 15,3207           00006                           EXTEND                                         
047591,001048: 15,3210           63215                           BZMF     TON2TEST                              
047592,001049: 15,3211           34772                           CA       ZERO                                  
047593,001050: 15,3212           13234                           TCF      TIMETST4                              
047594,001051: 15,3213           44770        TIMETST2           CS       ONE                                   
047595,001052: 15,3214           55605                           TS       TOFF                                  
047596,001053: 15,3215           44767        TON2TEST           CS       TWO                                   
047597,001054: 15,3216           61607                           AD       TON2                                  
047598,001055: 15,3217           00006                           EXTEND                                         
047599,001056: 15,3220           63235                           BZMF     TIMETST5                              

Page 1088

047601,001058: 15,3221           51620                           INDEX    JNDX1                                 
047602,001059: 15,3222           32634                           CAF      P/RJCODE                              
047603,001060: 15,3223           55610                           TS       T2BITS                                
047604,001061: 15,3224           31607                           CA       TON2                                  
047605,001062: 15,3225           27712                           ADS      TUSED                                 
047606,001063: 15,3226           00006                           EXTEND                                         
047607,001064: 15,3227           63237                           BZMF     JETCALL1                              
047608,001065: 15,3230           34772                           CA       ZERO                                  
047609,001066: 15,3231           13236                           TCF      TIMETST5   +1                         
047610,001067: 15,3232           55621        TIMETST3           TS       TON1                                  
047611,001068: 15,3233           44770                           CS       ONE                                   
047612,001069: 15,3234           55605        TIMETST4           TS       TOFF                                  
047613,001070: 15,3235           44770        TIMETST5           CS       ONE                                   
047614,001071: 15,3236           55607                 +1        TS       TON2                                  
047615,001072: 
047616,001073:                                                                                                  #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047617,001074:                                                                                                  #  JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047618,001075:                                                                                                  #  EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE  CORRESPONDING JET BITS ARE TO BE
047619,001076:                                                                                                  #  EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE 
047620,001077:                                                                                                  #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047621,001078:                                                                                                  #  THAN ONE REGISTER.
047622,001079: 
047623,001080: 15,3237           34772        JETCALL1           CA       ZERO                                  
047624,001081: 15,3240           55611                           TS       OUTTAG                                
047625,001082: 15,3241           55612                           TS       NUJET                                 
047626,001083: 15,3242           55606                           TS       TBITS                                 
047627,001084: 15,3243           53622                           DXCH     TON1                                  
047628,001085: 15,3244           10000                           CCS      A                                     
047629,001086: 15,3245           13262                           TCF      JETCALL2                              #  CALL WTLST
047630,001087: 15,3246           23612        JETCALL3           LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
047631,001088: 15,3247           44770                           CS       ONE                                   
047632,001089: 15,3250           53606                           DXCH     TOFF                                  
047633,001090: 15,3251           10000                           CCS      A                                     
047634,001091: 15,3252           13262                           TCF      JETCALL2                              #  CALL WTLST
047635,001092: 15,3253           23612                           LXCH     NUJET                                 
047636,001093: 15,3254           44770                           CS       ONE                                   
047637,001094: 15,3255           53610                           DXCH     TON2                                  
047638,001095: 15,3256           10000                           CCS      A                                     
047639,001096: 15,3257           13262                           TCF      JETCALL2                              #  CALL WTLST
047640,001097: 15,3260           23612                           LXCH     NUJET                                 
047641,001098: 15,3261           03270                           TC       JETACTN                               #  C(A) = +0
047642,001099: 15,3262           56001        JETCALL2           XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
047643,001100: 15,3263           27612                           ADS      NUJET                                 
047644,001101: 15,3264           56001                           XCH      L                                     
047645,001102: 15,3265           64770                           AD       ONE                                   #  RESTORE FOR CCS
047646,001103: 15,3266           05223                           TC       TWIDDLE                               
047647,001104: 15,3267           03276                           ADRES    JETCALL                               
047648,001105: 15,3270           31612        JETACTN            CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN
047649,001106: 15,3271           00006                 +1        EXTEND                                         #  NO NEED TO SAVE OLD CODES
047650,001107: 15,3272           01006                           WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.

Page 1089

047652,001109: 15,3273           11611                           CCS      OUTTAG                                
047653,001110: 15,3274           05314                           TC       TASKOVER                              
047654,001111: 15,3275           03333        ROLLDUMP           TC       CM/FDAIR                              
047655,001112: 
047656,001113:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
047657,001114: 
047658,001115:                                                                                                  #   WAITLIST ENTRIES COME HERE.
047659,001116: 
047660,001117: 15,3276           34767        JETCALL            CAF      CM/DSBIT                              #  CM/DSTBY = BIT2 103D
047661,001118: 15,3277           55611                           TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
047662,001119: 15,3300           70102                           MASK     CM/FLAGS                              #  IS SYSTEM DISABLED  $
047663,001120: 15,3301           00006                           EXTEND                                         
047664,001121: 15,3302           13271                           BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS, IF ON AND EXIT.
047665,001122: 15,3303           22007                           ZL                                             #  NO, CONTINUE.
047666,001123: 15,3304           13246                           TCF      JETCALL3                              #  C(A) POS, C(L) = +0
047667,001124: 
047668,001125:                                                                                                  #    DEAD ZONE ENTRIES COME HERE.
047669,001126: 
047670,001127: 15,3305           41700        DZCALL             CS       CMDAPMOD                              #  POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047671,001128: 15,3306           74770                           MASK     BIT1                                  
047672,001129: 15,3307           54001                           TS       L                                     #  C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047673,001130: 15,3310           50000                           INDEX    A                                     #  ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047674,001131: 15,3311           31714                           CA       ROLLTM                                #  GET ROLL/180 OR ROLLC  (/360).
047675,001132: 15,3312           50001                           INDEX    L                                     
047676,001133: 15,3313           54000                           TS       A                                     #  IF C(L)=1, STORE 'ROLLC' IN 'L'.
047677,001134: 15,3314           60001                           AD       L                                     #  (BOTH MUST BE SCALED DEG/180)
047678,001135: 15,3315           02151                           TC       ANGOVCOR                              #  C(A)=ROLL/180  OR  2 ROLLC  .
047679,001136: 15,3316           55717                           TS       ROLLHOLD                              #  IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047680,001137:                                                                                                  #        OTHERWISE, SAVE ROLL COMMAND.
047681,001138: 
047682,001139: 15,3317           34772                           CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCEL JETS.
047683,001140: 15,3320           00006                           EXTEND                                         #  INHINT NOT NEEDED HERE.
047684,001141: 15,3321           01006                           WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
047685,001142: 15,3322           55567                           TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
047686,001143: 15,3323           55711        DZCALL1            TS       JETAG                                 #  COME HERE WITH C(A)=0.
047687,001144: 15,3324           03275                           TC       ROLLDUMP                              
047688,001145: 

Page 1090

047690,001147: 
047691,001148:                                                                                                  #   CM ENTRY FDAI DISPLAY
047692,001149: 
047693,001150:                                                                                                  #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047694,001151:                                                                                                  #           ATM DAP:    DISPLAY ONLY ROLL ATTITUDE ERROR.
047695,001152:                                                                                                  #           EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047696,001153:                                                                                                  #                                         ROLL    ROLLC-ROLL
047697,001154:                                                                                                  #                                         PITCH   ALFAC-ALFA
047698,001155:                                                                                                  #                                         YAW     BETAC-BETA
047699,001156: 
047700,001157:                                                                                                  #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND  16.875 DEG IN PITCH AND YAW.
047701,001158:                                                                                                  #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG   FULL SCALE.
047702,001159: 
047703,001160:                                                                                                  #  COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047704,001161: 15,3325           41705        CM/FDAI            CS       PHIDOT                                #  INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047705,001162: 15,3326           00006                           EXTEND                                         
047706,001163: 15,3327           71506                           MP       CALFA                                 #  FOR ASSUMED COORDINATION.
047707,001164: 15,3330           00006                           EXTEND                                         
047708,001165: 15,3331           74753                           MP       HALF                                  
047709,001166: 15,3332           27713                 -1        ADS      PAXERR1                               #  ROLL ERROR/360.       OVFL OK.
047710,001167: 
047711,001168:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
047712,001169: 15,3333           34753        CM/FDAIR           CA       HALF                                  
047713,001170: 15,3334           00006                           EXTEND                                         
047714,001171: 15,3335           71713                           MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047715,001172: 15,3336           55476                           TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047716,001173: 
047717,001174:                                                                                                  #  PROGRAM TO FILE BODY  RATES FOR TM ON ONE PASS AND
047718,001175:                                                                                                  #  TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047719,001176:                                                                                                  #  SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047720,001177:                                                                                                  #  IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047721,001178:                                                                                                  #  THE SUBSEQUENT PASS.
047722,001179: 
047723,001180: 
047724,001181: 15,3337           40305        CM/DUMPR           CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
047725,001182: 15,3340           54305                           TS       SW/NDX                                
047726,001183: 15,3341           00006                           EXTEND                                         #  INDEX.
047727,001184: 15,3342           63346                           BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
047728,001185:                                                                                                  #  ENDBUF.                       
047729,001186:                                                                                                  #  INDEX IS POS FOR NEEDLES
047730,001187: 
047731,001188: 15,3343           04714                           TC       IBNKCALL                              
047732,001189: 15,3344           42425                           CADR     NEEDLER                               
047733,001190: 
047734,001191: 15,3345           03364                           TC       CM/END                                
047735,001192: 
047736,001193:                                                                                                  #  INDEX IS NEG FOR TM FILE
047737,001194: 
047738,001195: 15,3346           66214        CMTMFILE           AD       THREE                                 
047739,001196: 15,3347           00006                           EXTEND                                         
047740,001197: 15,3350           63354                           BZMF     SAVENDX                               
047741,001198: 

Page 1091

047743,001200: 15,3351           30025                           CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
047744,001201: 15,3352           54304                           TS       CMTMTIME                              
047745,001202: 15,3353           44776                           CS       THIRTEEN                              #   INITIALIZE COUNTER
047746,001203: 15,3354           54305        SAVENDX            TS       SW/NDX                                #  A NEGATIVE NUMBER.
047747,001204: 15,3355           00006                           EXTEND                                         
047748,001205: 15,3356           31702                           DCA      PREL                                  
047749,001206: 15,3357           50305                           INDEX    SW/NDX                                
047750,001207: 15,3360           52324                           DXCH     ENDBUF     -1                         
047751,001208: 15,3361           31703                           CA       RREL                                  
047752,001209: 15,3362           50305                           INDEX    SW/NDX                                
047753,001210: 15,3363           54325                           TS       ENDBUF     +1                         
047754,001211: 
047755,001212: 15,3364           31623        CM/END             CA       CM/SAVE                               
047756,001213: 15,3365           54021                           TS       SR                                    
047757,001214:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047758,001215: 
047759,001216: 15,3366           00006                           EXTEND                                         
047760,001217: 15,3367           33373                           DCA      T5IDLER2                              
047761,001218: 15,3370           52113                           DXCH     T5LOC                                 
047762,001219: 15,3371           05323                           TC       RESUME                                
047763,001220: 
047764,001221: 15,3372     0112                                  EBANK=   T5LOC                                 
047765,001222: 15,3372           03226 12060  T5IDLER2           2CADR    T5IDLOC                               
047766,001223: 
047767,001224:                                                                                                  #  DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047768,001225:                                                                                                  #  USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047769,001226:                                                                                                  #  THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047770,001227:                                                                                                  #  DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
047771,001228:                                                                                                  #  EACH 2 SECONDS.
047772,001229: 
047773,001230:                                                                                                  #  THE SEQUENCE IS:      SP TIME         INITIAL TIME
047774,001231:                                                                                                  #                        SWITCH           ALSO INDEX.
047775,001232:                                                                                                  #                        P                ROLL RATE
047776,001233:                                                                                                  #                        Q                PITCH RATE
047777,001234:                                                                                                  #                        R                YAW RATE
047778,001235:                                                                                                  #                        ETC.
047779,001236: 
047780,001237:                                                                                                  # CMTMTIME       =       UPBUFF
047781,001238:                                                                                                  # SW/NDX         =       UPBUFF +1
047782,001239:                                                                                                  # ENDBUF         =       UPBUFF +16D
047783,001240: 

Page 1092

047785,001242: 
047786,001243:                                                                                                  #  SPACER
047787,001244: 
047788,001245:                                                                                                  #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:    
047789,001246:                                                                                                  #  CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC,      T = 2 SEC,  TCDU = .1 SEC,
047790,001247:                                                                                                  #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ,         VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047791,001248:                                                                                                  #  XBUF = 4DEG
047792,001249: 
047793,001250: 15,3374           77464        -T-3               DEC      -203       B-14                       #  CS
047794,001251:                                                                                                  # VSQMIN         DEC     .61050061 E-3   VSQ MIN/4 A PI = 4/(4  (9.1)  180)
047795,001252: 15,3375     4355               VSQMIN             =        OCT12                                 
047796,001253: 15,3375     5004               2T/TCDU            =        OCT50                                 #  T/TCDU  EXP-14   TCDU = .1SEC
047797,001254: 15,3375           23617        180/8ATT           DEC      .61813187                             #  180/(8  (9.1) 4)=(180/ATT)  EXP -3
047798,001255: 15,3376  15,3400               -VMT/180           =        -VM/360K                              #  = 20  (2) / 180
047799,001256: 15,3376     5020               2JETT              =        4SECS                                 #  CS           2 (2) 100   INTEGER
047800,001257: 15,3376           01440        4JETT              DEC      800        B-14                       #  CS           4 (2) 100   INTEGER
047801,001258: 15,3377           00266        XMIN/360           DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
047802,001259: 15,3400           70706        -VM/360K           DEC      -.22222222                            #  =-20/( 360  (.25))
047803,001260: 15,3401  15,3375               1/16A1             =        180/8ATT                              
047804,001261:                                                                                                  #  1/16A1  = 180/(16 A1 TT)
047805,001262:                                                                                                  #          =180/(16  4.55  4)
047806,001263: 15,3401           00133        XS/360             DEC      91         B-14                       #  =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047807,001264: 15,3402  15,3401               BUFLIM             =        XS/360                                #  4/(2  360)
047808,001265: 
047809,001266: 15,3402     4753               KTRCS              =        HALF                                  #  KT = (.25) 2 = .5

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