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.

042598,000002:                                                                                                  ## Copyright:   Public domain.
042599,000003:                                                                                                  ## Filename:    TVCDAPS.agc
042600,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
042601,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
042602,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
042603,000007:                                                                                                  ##              Apollo 15-17.
042604,000008:                                                                                                  ## Assembler:   yaYUL
042605,000009:                                                                                                  ## Contact:     Steve Case <case1780@adelphia.net>
042606,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042607,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
042608,000012:                                                                                                  ## Mod history: 2009-09-13 SMC  Adapted from Comanche055 files.
042609,000013:                                                                                                  ##              2009-09-14 JL   Fix typos. Fix page numbers. Remove change comments. Restore hard tabs.
042610,000014:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
042611,000015:                                                                                                  ##              2017-02-09 RSB  Proofed comment text by diff'ing vs Comanche 55
042612,000016:                                                                                                  ##                              and/or octopus/ProoferComments as most-appropriate.
042613,000017: 

Page 964

042615,000019:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042616,000020:                                                                                                  #  LOG SECTION...TVCDAPS                         SUBROUTINE...DAPCSM
042617,000021:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
042618,000022:                                                                                                  #  FUNCTIONAL DESCRIPTION....
042619,000023: 
042620,000024:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042621,000025:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042622,000026:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042623,000027:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042624,000028:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042625,000029: 
042626,000030:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042627,000031:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042628,000032:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042629,000033:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
042630,000034:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
042631,000035:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042632,000036: 
042633,000037:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042634,000038:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042635,000039:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042636,000040:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042637,000041:                                                                                                  #        MODING.
042638,000042: 
042639,000043:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
042640,000044: 
042641,000045:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042642,000046:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042643,000047:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
042644,000048:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
042645,000049:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
042646,000050:                                                                                                  #                ETC.
042647,000051:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
042648,000052: 
042649,000053:                                                                                                  #  NORMAL EXIT MODE....RESUME
042650,000054: 
042651,000055:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
042652,000056: 
042653,000057:                                                                                                  #  SUBROUTINES CALLED....
042654,000058: 
042655,000059:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042656,000060:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042657,000061:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042658,000062:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042659,000063:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042660,000064:                                                                                                  #                YAW DAPS
042661,000065:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042662,000066:                                                                                                  #                OUTPUTS AND STORAGE VALUES
042663,000067:                                                                                                  #        RESUME
042664,000068: 

Page 965

042666,000070:                                                                                                  #  OTHER INTERFACES....
042667,000071: 
042668,000072:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
042669,000073:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042670,000074:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042671,000075:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042672,000076: 
042673,000077:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
042674,000078: 
042675,000079:                                                                                                  #        PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
042676,000080:                                                                                                  #        CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
042677,000081:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
042678,000082:                                                                                                  #        TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 )
042679,000083:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042680,000084:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042681,000085:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY  MRCLEAN
042682,000086:                                                                                                  #        CDUX,Y,Z AND SINCDUX....COSCDUZ AS PREPARED BY QUICTRIG (WITH
042683,000087:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
042684,000088:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042685,000089:                                                                                                  #                UNLESS BENCH-TESTING.
042686,000090: 
042687,000091:                                                                                                  #  OUTPUT....
042688,000092: 
042689,000093:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
042690,000094:                                                                                                  #                TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042691,000095:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042692,000096:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042693,000097:                                                                                                  #  DEBRIS....
042694,000098: 
042695,000099:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042696,000100: 
042697,000101: 20,2000                                           SETLOC   DAPS2                                 
042698,000102: 20,2000                                           BANK                                           
042699,000103: 
042700,000104: 20,2644  E6,1446                                  EBANK=   CNTR                                  
042701,000105: 
042702,000106: 
042703,000107: 20,2644                                           COUNT*   $$/DAPS                               
042704,000108: 

Page 966

042706,000110: 
042707,000111:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042708,000112: 
042709,000113: 
042710,000114: 20,2644           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
042711,000115: 20,2645           00006                           EXTEND                                         
042712,000116: 20,2646           22012                           QXCH     QRUPT                                 
042713,000117: 
042714,000118: 20,2647           33620                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042715,000119: 20,2650           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042716,000120: 20,2651           31625                           CAE      T5TVCDT                               
042717,000121: 20,2652           54030                           TS       TIME5                                 
042718,000122: 
042719,000123: 20,2653           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT 
042720,000124: 20,2654           57636                           XCH      PCDUYPST                              
042721,000125: 20,2655           00006                           EXTEND                                         
042722,000126: 20,2656           21636                           MSU      PCDUYPST                              
042723,000127: 20,2657           02670                           TCR      RLIMTEST                              #        RATE TEST
042724,000128: 20,2660           55642                           TS       MCDUYDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042725,000129: 
042726,000130: 20,2661           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042727,000131: 20,2662           57637                           XCH      PCDUZPST                              
042728,000132: 20,2663           00006                           EXTEND                                         
042729,000133: 20,2664           21637                           MSU      PCDUZPST                              
042730,000134: 20,2665           02670                           TCR      RLIMTEST                              #        RATE TEST
042731,000135: 20,2666           55643                           TS       MCDUZDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042732,000136: 20,2667           12701                           TCF      PINTEGRL                              
042733,000137: 
042734,000138: 20,2670           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
042735,000139: 20,2671           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
042736,000140: 20,2672           73621                           MP       1/RTLIM                               #        (USED BY PITCH AND YAW PASSES)
042737,000141: 20,2673           00006                           EXTEND                                         
042738,000142: 20,2674           12677                           BZF      +3                                    
042739,000143: 20,2675           34772                           CAF      ZERO                                  
042740,000144: 20,2676           55611                           TS       TTMP1                                 
042741,000145: 20,2677           31611                           CAE      TTMP1                                 
042742,000146: 20,2700           00002                           TC       Q                                     
042743,000147: 
042744,000148: 20,2701           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042745,000149: 20,2702           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
042746,000150: 20,2703           53665                           DXCH     ERRBTMP                               
042747,000151: 
042748,000152: 20,2704           00006                           EXTEND                                         
042749,000153: 20,2705           31530                           DCA      OMEGAYC                               
042750,000154: 20,2706           21665                           DAS      ERRBTMP                               
042751,000155: 
042752,000156: 20,2707           41151                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042753,000157: 20,2710           00006                           EXTEND                                         
042754,000158: 20,2711           71153                           MP       COSCDUX                               
042755,000159: 20,2712           20001                           DDOUBL                                         
042756,000160: 20,2713           00006                           EXTEND                                         

Page 967

042758,000162: 20,2714           71642                           MP       MCDUYDOT                              
042759,000163: 20,2715           20001                           DDOUBL                                         
042760,000164: 20,2716           53536                           DXCH     OMEGAYB                               
042761,000165: 
042762,000166: 20,2717           41643                           CS       MCDUZDOT                              
042763,000167: 20,2720           00006                           EXTEND                                         
042764,000168: 20,2721           71145                           MP       SINCDUX                               
042765,000169: 20,2722           20001                           DDOUBL                                         
042766,000170: 20,2723           21536                           DAS      OMEGAYB                               #  OMEGAYB, SCALED (B-1)/TVCDT  REVS/SEC
042767,000171: 
042768,000172: 20,2724           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042769,000173: 20,2725           41536                           DCS      OMEGAYB                               
042770,000174: 20,2726           21665                           DAS      ERRBTMP                               
042771,000175: 
042772,000176: 20,2727           03246        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
042773,000177: 
042774,000178: 20,2730           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042775,000179: 20,2731           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
042776,000180: 20,2732           53671                           DXCH     TMP1                                  
042777,000181: 20,2733           00006                           EXTEND                                         
042778,000182: 20,2734           31546                           DCA      PTMP3                                 
042779,000183: 20,2735           53675                           DXCH     TMP3                                  
042780,000184: 20,2736           00006                           EXTEND                                         
042781,000185: 20,2737           31552                           DCA      PTMP5                                 
042782,000186: 20,2740           53701                           DXCH     TMP5                                  
042783,000187: 
042784,000188: 20,2741           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042785,000189:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042786,000190: 
042787,000191: 20,2742           00006        POFFSET            EXTEND                                         
042788,000192: 20,2743           31606                           DCA      PDELOFF                               
042789,000193: 20,2744           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042790,000194: 
042791,000195: 20,2745           03261        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042792,000196: 
042793,000197: 20,2746           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
042794,000198: 20,2747           61666                           AD       CMDTMP                                
042795,000199: 20,2750           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
042796,000200:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042797,000201: 
042798,000202: 20,2751           34756                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
042799,000203: 20,2752           00006                           EXTEND                                         
042800,000204: 20,2753           05014                           WOR      CHAN14                                
042801,000205: 
042802,000206: 20,2754           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH
042803,000207: 20,2755           31544                           DCA      PTMP2                                 
042804,000208: 20,2756           53673                           DXCH     TMP2                                  
042805,000209: 20,2757           00006                           EXTEND                                         
042806,000210: 20,2760           31550                           DCA      PTMP4                                 
042807,000211: 20,2761           53677                           DXCH     TMP4                                  

Page 968

042809,000213: 20,2762           00006                           EXTEND                                         
042810,000214: 20,2763           31554                           DCA      PTMP6                                 
042811,000215: 20,2764           53703                           DXCH     TMP6                                  
042812,000216: 
042813,000217: 20,2765           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042814,000218: 
042815,000219: 20,2766           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
042816,000220: 20,2767           00006                           EXTEND                                         
042817,000221: 20,2770           73623                           MP       E(-AT)                                
042818,000222: 20,2771           55663                           TS       DELBRTMP   +1                         
042819,000223: 20,2772           31601                           CAE      DELPBAR                               
042820,000224: 20,2773           00006                           EXTEND                                         
042821,000225: 20,2774           73623                           MP       E(-AT)                                
042822,000226: 20,2775           21663                           DAS      DELBRTMP                              
042823,000227: 20,2776           31666                           CAE      CMDTMP                                
042824,000228: 20,2777           00006                           EXTEND                                         
042825,000229: 20,3000           73622                           MP       1-E(-AT)                              
042826,000230: 20,3001           21663                           DAS      DELBRTMP                              
042827,000231: 
042828,000232: 20,3002           03004        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
042829,000233: 
042830,000234: 20,3003           15323        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
042831,000235: 

Page 969

042833,000237: 
042834,000238:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042835,000239: 
042836,000240: 20,3004           25635        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
042837,000241:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042838,000242:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042839,000243:                                                                                                  #        DURING PITCH COPYCYCLE.
042840,000244: 
042841,000245: 20,3005           00006                           EXTEND                                         
042842,000246: 20,3006           31671                           DCA      TMP1                                  
042843,000247: 20,3007           53542                           DXCH     PTMP1                                 
042844,000248: 20,3010           00006                           EXTEND                                         
042845,000249: 20,3011           31673                           DCA      TMP2                                  
042846,000250: 20,3012           53544                           DXCH     PTMP2                                 
042847,000251: 20,3013           00006                           EXTEND                                         
042848,000252: 20,3014           31675                           DCA      TMP3                                  
042849,000253: 20,3015           53546                           DXCH     PTMP3                                 
042850,000254: 20,3016           00006                           EXTEND                                         
042851,000255: 20,3017           31677                           DCA      TMP4                                  
042852,000256: 20,3020           53550                           DXCH     PTMP4                                 
042853,000257: 20,3021           00006                           EXTEND                                         
042854,000258: 20,3022           31701                           DCA      TMP5                                  
042855,000259: 20,3023           53552                           DXCH     PTMP5                                 
042856,000260: 20,3024           00006                           EXTEND                                         
042857,000261: 20,3025           31703                           DCA      TMP6                                  
042858,000262: 20,3026           53554                           DXCH     PTMP6                                 
042859,000263: 
042860,000264: 20,3027           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
042861,000265: 20,3030           31665                           DCA      ERRBTMP                               
042862,000266: 20,3031           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
042863,000267: 20,3032           53576                           DXCH     PERRB                                 
042864,000268: 
042865,000269: 20,3033           31666                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
042866,000270: 20,3034           55623                           TS       PCMD                                  
042867,000271: 
042868,000272: 20,3035           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
042869,000273: 20,3036           31663                           DCA      DELBRTMP                              
042870,000274: 20,3037           53602                           DXCH     DELPBAR                               
042871,000275: 
042872,000276: 20,3040           25635                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
042873,000277: 
042874,000278: 20,3041           00002                           TC       Q                                     
042875,000279: 

Page 970

042877,000281: 
042878,000282:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042879,000283: 
042880,000284: 
042881,000285: 20,3042           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
042882,000286: 20,3043           00006                           EXTEND                                         
042883,000287: 20,3044           22012                           QXCH     QRUPT                                 
042884,000288: 
042885,000289: 20,3045           33616                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042886,000290: 20,3046           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042887,000291: 20,3047           31625                           CAE      T5TVCDT                               
042888,000292: 20,3050           54030                           TS       TIME5                                 
042889,000293: 
042890,000294: 20,3051           30033        YCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
042891,000295: 20,3052           57640                           XCH      YCDUYPST                              
042892,000296: 20,3053           00006                           EXTEND                                         
042893,000297: 20,3054           21640                           MSU      YCDUYPST                              
042894,000298: 20,3055           02670                           TCR      RLIMTEST                              #        RATE TEST
042895,000299: 20,3056           55642                           TS       MCDUYDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042896,000300: 
042897,000301: 20,3057           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042898,000302: 20,3060           57641                           XCH      YCDUZPST                              
042899,000303: 20,3061           00006                           EXTEND                                         
042900,000304: 20,3062           21641                           MSU      YCDUZPST                              
042901,000305: 20,3063           02670                           TCR      RLIMTEST                              #        RATE TEST
042902,000306: 20,3064           55643                           TS       MCDUZDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042903,000307: 
042904,000308: 20,3065           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
042905,000309: 20,3066           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
042906,000310: 20,3067           53665                           DXCH     ERRBTMP                               
042907,000311: 
042908,000312: 20,3070           00006                           EXTEND                                         
042909,000313: 20,3071           31532                           DCA      OMEGAZC                               
042910,000314: 20,3072           21665                           DAS      ERRBTMP                               
042911,000315: 
042912,000316: 20,3073           31151                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
042913,000317: 20,3074           00006                           EXTEND                                         
042914,000318: 20,3075           71145                           MP       SINCDUX                               
042915,000319: 20,3076           20001                           DDOUBL                                         
042916,000320: 20,3077           00006                           EXTEND                                         
042917,000321: 20,3100           71642                           MP       MCDUYDOT                              
042918,000322: 20,3101           20001                           DDOUBL                                         
042919,000323: 20,3102           53540                           DXCH     OMEGAZB                               
042920,000324: 
042921,000325: 20,3103           41643                           CS       MCDUZDOT                              
042922,000326: 20,3104           00006                           EXTEND                                         
042923,000327: 20,3105           71153                           MP       COSCDUX                               
042924,000328: 20,3106           20001                           DDOUBL                                         
042925,000329: 20,3107           21540                           DAS      OMEGAZB                               #  OMEGAZB, SCALED (B-1)/TVCDT  REVS/SEC
042926,000330: 
042927,000331: 20,3110           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)

Page 971

042929,000333: 20,3111           41540                           DCS      OMEGAZB                               
042930,000334: 20,3112           21665                           DAS      ERRBTMP                               
042931,000335: 
042932,000336: 20,3113           03246        YERORLIM           TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
042933,000337: 
042934,000338: 20,3114           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042935,000339: 20,3115           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL
042936,000340: 20,3116           53671                           DXCH     TMP1                                  
042937,000341: 20,3117           00006                           EXTEND                                         
042938,000342: 20,3120           31562                           DCA      YTMP3                                 
042939,000343: 20,3121           53675                           DXCH     TMP3                                  
042940,000344: 20,3122           00006                           EXTEND                                         
042941,000345: 20,3123           31566                           DCA      YTMP5                                 
042942,000346: 20,3124           53701                           DXCH     TMP5                                  
042943,000347: 
042944,000348: 20,3125           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042945,000349:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042946,000350: 
042947,000351: 20,3126           00006        YOFFSET            EXTEND                                         
042948,000352: 20,3127           31610                           DCA      YDELOFF                               
042949,000353: 20,3130           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042950,000354: 
042951,000355: 20,3131           03261        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
042952,000356: 
042953,000357: 20,3132           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW   COMMAND
042954,000358: 20,3133           61666                           AD       CMDTMP                                
042955,000359: 20,3134           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
042956,000360:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042957,000361: 
042958,000362: 20,3135           34755                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
042959,000363: 20,3136           00006                           EXTEND                                         
042960,000364: 20,3137           05014                           WOR      CHAN14                                
042961,000365: 
042962,000366: 20,3140           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
042963,000367: 20,3141           31560                           DCA      YTMP2                                 
042964,000368: 20,3142           53673                           DXCH     TMP2                                  
042965,000369: 20,3143           00006                           EXTEND                                         
042966,000370: 20,3144           31564                           DCA      YTMP4                                 
042967,000371: 20,3145           53677                           DXCH     TMP4                                  
042968,000372: 20,3146           00006                           EXTEND                                         
042969,000373: 20,3147           31570                           DCA      YTMP6                                 
042970,000374: 20,3150           53703                           DXCH     TMP6                                  
042971,000375: 
042972,000376: 20,3151           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042973,000377: 
042974,000378: 20,3152           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW   OFFSET-TRACKER-FILTER
042975,000379: 20,3153           00006                           EXTEND                                         
042976,000380: 20,3154           73623                           MP       E(-AT)                                
042977,000381: 20,3155           55663                           TS       DELBRTMP   +1                         
042978,000382: 20,3156           31603                           CAE      DELYBAR                               

Page 972

042980,000384: 20,3157           00006                           EXTEND                                         
042981,000385: 20,3160           73623                           MP       E(-AT)                                
042982,000386: 20,3161           21663                           DAS      DELBRTMP                              
042983,000387: 20,3162           31666                           CAE      CMDTMP                                
042984,000388: 20,3163           00006                           EXTEND                                         
042985,000389: 20,3164           73622                           MP       1-E(-AT)                              
042986,000390: 20,3165           21663                           DAS      DELBRTMP                              
042987,000391: 
042988,000392: 20,3166           03170        YCOPYCYC           TCR      YCOPY                                 #  YAW   COPYCYCLE
042989,000393: 
042990,000394: 20,3167           15323        YDAPEND            TCF      RESUME                                #  YAW   DAP COMPLETED
042991,000395: 

Page 973

042993,000397: 
042994,000398:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
042995,000399: 
042996,000400: 20,3170           25635        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
042997,000401:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042998,000402:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042999,000403:                                                                                                  #        DURING YAW   COPYCYCLE.
043000,000404: 
043001,000405: 20,3171           00006                           EXTEND                                         
043002,000406: 20,3172           31671                           DCA      TMP1                                  
043003,000407: 20,3173           53556                           DXCH     YTMP1                                 
043004,000408: 20,3174           00006                           EXTEND                                         
043005,000409: 20,3175           31673                           DCA      TMP2                                  
043006,000410: 20,3176           53560                           DXCH     YTMP2                                 
043007,000411: 20,3177           00006                           EXTEND                                         
043008,000412: 20,3200           31675                           DCA      TMP3                                  
043009,000413: 20,3201           53562                           DXCH     YTMP3                                 
043010,000414: 20,3202           00006                           EXTEND                                         
043011,000415: 20,3203           31677                           DCA      TMP4                                  
043012,000416: 20,3204           53564                           DXCH     YTMP4                                 
043013,000417: 20,3205           00006                           EXTEND                                         
043014,000418: 20,3206           31701                           DCA      TMP5                                  
043015,000419: 20,3207           53566                           DXCH     YTMP5                                 
043016,000420: 20,3210           00006                           EXTEND                                         
043017,000421: 20,3211           31703                           DCA      TMP6                                  
043018,000422: 20,3212           53570                           DXCH     YTMP6                                 
043019,000423: 
043020,000424: 20,3213           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
043021,000425: 20,3214           31665                           DCA      ERRBTMP                               
043022,000426: 20,3215           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
043023,000427: 20,3216           53600                           DXCH     YERRB                                 
043024,000428: 
043025,000429: 20,3217           31666                           CAE      CMDTMP                                
043026,000430: 20,3220           55624                           TS       YCMD                                  
043027,000431: 
043028,000432: 20,3221           00006                           EXTEND                                         
043029,000433: 20,3222           31663                           DCA      DELBRTMP                              
043030,000434: 20,3223           53604                           DXCH     DELYBAR                               
043031,000435: 
043032,000436: 20,3224           34772                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
043033,000437: 20,3225           55635                           TS       TVCPHASE                              #        RESET TVCPHASE
043034,000438: 
043035,000439: 20,3226           00002                           TC       Q                                     
043036,000440: 

Page 974

043038,000442: 
043039,000443:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043040,000444: 
043041,000445: 
043042,000446:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
043043,000447: 
043044,000448: 20,3227           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
043045,000449: 
043046,000450: 20,3230           37702                           CAF      NEGONE                                #        SET UP
043047,000451: 20,3231           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
043048,000452: 20,3232           64752                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
043049,000453: 20,3233           61625                           AD       T5TVCDT                               
043050,000454: 20,3234           54030                           TS       TIME5                                 
043051,000455: 20,3235           33616                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
043052,000456: 20,3236           54112                           TS       T5LOC                                 
043053,000457: 
043054,000458: 20,3237           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
043055,000459: 20,3240           55636                           TS       PCDUYPST                              #        PAST-VALUES
043056,000460: 20,3241           55640                           TS       YCDUYPST                              
043057,000461: 20,3242           30034                           CAE      CDUZ                                  
043058,000462: 20,3243           55637                           TS       PCDUZPST                              
043059,000463: 20,3244           55641                           TS       YCDUZPST                              
043060,000464: 
043061,000465: 20,3245           15325                           TCF      NOQRSM                                
043062,000466: 
043063,000467: 
043064,000468:                                                                                                  #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
043065,000469: 
043066,000470: 20,3246           31664        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
043067,000471: 20,3247           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
043068,000472: 20,3250           74766                           MP       1/ERRLIM                              
043069,000473: 20,3251           00006                           EXTEND                                         
043070,000474: 20,3252           13260                           BZF      +6                                    
043071,000475: 20,3253           11664                           CCS      ERRBTMP                               
043072,000476: 20,3254           34754                           CAF      ERRLIM                                
043073,000477: 20,3255           13257                           TCF      +2                                    
043074,000478: 20,3256           44754                           CS       ERRLIM                                
043075,000479: 20,3257           55664                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
043076,000480: 
043077,000481: 20,3260           00002                           TC       Q                                     
043078,000482: 
043079,000483: 
043080,000484:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
043081,000485: 
043082,000486: 20,3261           31667        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
043083,000487: 20,3262           60000                           DOUBLE                                         
043084,000488: 20,3263           54001                           TS       L                                     
043085,000489: 20,3264           34772                           CAF      ZERO                                  
043086,000490: 20,3265           61666                           AD       CMDTMP                                
043087,000491: 
043088,000492: 20,3266           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT

Page 975

043090,000494: 20,3267           73615                           MP       1/ACTSAT                              
043091,000495: 20,3270           00006                           EXTEND                                         
043092,000496: 20,3271           13277                           BZF      +6                                    
043093,000497: 20,3272           11666                           CCS      CMDTMP                                #  APPLY LIMITS
043094,000498: 20,3273           33614                           CAF      ACTSAT                                
043095,000499: 20,3274           13276                           TCF      +2                                    
043096,000500: 20,3275           43614                           CS       ACTSAT                                
043097,000501: 20,3276           55666                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
043098,000502: 
043099,000503: 20,3277           00002                           TC       Q                                     
043100,000504: 
043101,000505:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043102,000506: 
043103,000507: 20,3300           34772        FWDFLTR            CAF      ZERO                                  
043104,000508: 20,3301           55615                           TS       DAP1                                  
043105,000509: 20,3302           55617                           TS       DAP2                                  
043106,000510: 20,3303           55621                           TS       DAP3                                  
043107,000511: 20,3304           55666                           TS       CMDTMP                                
043108,000512: 
043109,000513: 20,3305           55662                           TS       DELBRTMP                              
043110,000514: 
043111,000515: 20,3306           31665        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
043112,000516: 20,3307           00006                           EXTEND                                         
043113,000517: 20,3310           71705                           MP       N10                                   #        N10
043114,000518: 20,3311           55616                           TS       DAP1       +1                         
043115,000519: 20,3312           31664                           CA       ERRBTMP                               
043116,000520: 20,3313           00006                           EXTEND                                         
043117,000521: 20,3314           71705                           MP       N10                                   #        N10
043118,000522: 20,3315           21616                           DAS      DAP1                                  
043119,000523: 20,3316           53671                           DXCH     TMP1                                  
043120,000524: 20,3317           21616                           DAS      DAP1                                  
043121,000525: 
043122,000526: 20,3320           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
043123,000527: 20,3321           00006                           EXTEND                                         
043124,000528: 20,3322           71712                           MP       N10        +5                         #        N20
043125,000529: 20,3323           55620                           TS       DAP2       +1                         
043126,000530: 20,3324           31615                           CA       DAP1                                  
043127,000531: 20,3325           00006                           EXTEND                                         
043128,000532: 20,3326           71712                           MP       N10        +5                         #        N20
043129,000533: 20,3327           21620                           DAS      DAP2                                  
043130,000534: 20,3330           53675                           DXCH     TMP3                                  
043131,000535: 20,3331           21620                           DAS      DAP2                                  
043132,000536: 
043133,000537: 20,3332           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043134,000538: 20,3333           74753                           MASK     BIT14                                 
043135,000539: 20,3334           10000                           CCS      A                                     
043136,000540: 20,3335           13344                           TCF      3DAPCAS                               #  LEM ON
043137,000541: 20,3336           00006                           EXTEND                                         #  LEM OFF
043138,000542: 20,3337           31620                           DCA      DAP2                                  

Page 976

043140,000544: 20,3340           20001                           DDOUBL                                         
043141,000545: 20,3341           20001                           DDOUBL                                         
043142,000546: 20,3342           53622                           DXCH     DAP3                                  
043143,000547: 20,3343           13356                           TCF      OPTVARK                               
043144,000548: 
043145,000549: 20,3344           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
043146,000550: 20,3345           00006                           EXTEND                                         
043147,000551: 20,3346           71717                           MP       N10        +10D                       #        N30
043148,000552: 20,3347           55622                           TS       DAP3       +1                         
043149,000553: 20,3350           31617                           CA       DAP2                                  
043150,000554: 20,3351           00006                           EXTEND                                         
043151,000555: 20,3352           71717                           MP       N10        +10D                       #        N30
043152,000556: 20,3353           21622                           DAS      DAP3                                  
043153,000557: 20,3354           53701                           DXCH     TMP5                                  
043154,000558: 20,3355           21622                           DAS      DAP3                                  
043155,000559: 
043156,000560: 20,3356           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
043157,000561: 20,3357           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
043158,000562: 20,3360           71632                           MP       VARK                                  #        SCALED (1.08 B+2)   CSM/LM
043159,000563: 20,3361           55667                           TS       CMDTMP     +1                         #               (  "  B+4)   CSM
043160,000564: 20,3362           41621                           CS       DAP3                                  
043161,000565: 20,3363           00006                           EXTEND                                         
043162,000566: 20,3364           71632                           MP       VARK                                  
043163,000567: 20,3365           21667                           DAS      CMDTMP                                
043164,000568: 
043165,000569: 20,3366           53667                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+1 ASCREV
043166,000570: 20,3367           20001                           DDOUBL                                         
043167,000571: 20,3370           53667                           DXCH     CMDTMP                                #                 - SCALED B+0 ASCREV
043168,000572:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
043169,000573:                                                                                                  #  (B+1 ASCREV/REV) ON THE OUTPUT DACS.
043170,000574: 
043171,000575: 20,3371           00002                           TC       Q                                     
043172,000576: 
043173,000577: 
043174,000578:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043175,000579: 
043176,000580: 20,3372           34772        PRECOMP            CAF      ZERO                                  #  *****  FIRST CASCADE FILTER  **********
043177,000581: 20,3373           55611                           TS       TTMP1                                 
043178,000582: 20,3374           55613                           TS       TTMP2                                 
043179,000583: 
043180,000584: 20,3375           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
043181,000585: 20,3376           00006                           EXTEND                                         
043182,000586: 20,3377           71706                           MP       N10        +1                         #        N11/2
043183,000587: 20,3400           55612                           TS       TTMP1      +1                         
043184,000588: 20,3401           31664                           CA       ERRBTMP                               
043185,000589: 20,3402           00006                           EXTEND                                         
043186,000590: 20,3403           71706                           MP       N10        +1                         #        N11/2
043187,000591: 20,3404           21612                           DAS      TTMP1                                 
043188,000592: 
043189,000593: 20,3405           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY

Page 977

043191,000595: 20,3406           00006                           EXTEND                                         
043192,000596: 20,3407           71710                           MP       N10        +3                         #        D11/2
043193,000597: 20,3410           55614                           TS       TTMP2      +1                         
043194,000598: 20,3411           41615                           CS       DAP1                                  
043195,000599: 20,3412           00006                           EXTEND                                         
043196,000600: 20,3413           71710                           MP       N10        +3                         #        D11/2
043197,000601: 20,3414           21614                           DAS      TTMP2                                 
043198,000602: 
043199,000603: 20,3415           53614                           DXCH     TTMP2                                 
043200,000604: 20,3416           21612                           DAS      TTMP1                                 
043201,000605: 20,3417           53612                           DXCH     TTMP1                                 
043202,000606: 20,3420           20001                           DDOUBL                                         
043203,000607: 20,3421           21673                           DAS      TMP2                                  
043204,000608: 
043205,000609: 20,3422           53673                           DXCH     TMP2                                  
043206,000610: 20,3423           53671                           DXCH     TMP1                                  
043207,000611: 
043208,000612: 20,3424           34772                           CAF      ZERO                                  
043209,000613: 20,3425           55611                           TS       TTMP1                                 
043210,000614: 20,3426           55672                           TS       TMP2                                  
043211,000615: 
043212,000616: 20,3427           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT  BY
043213,000617: 20,3430           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
043214,000618: 20,3431           71707                           MP       N10        +2                         #        N12
043215,000619: 20,3432           55612                           TS       TTMP1      +1                         
043216,000620: 20,3433           31664                           CA       ERRBTMP                               
043217,000621: 20,3434           00006                           EXTEND                                         
043218,000622: 20,3435           71707                           MP       N10        +2                         #        N12
043219,000623: 20,3436           21612                           DAS      TTMP1                                 
043220,000624: 
043221,000625: 20,3437           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
043222,000626: 20,3440           00006                           EXTEND                                         
043223,000627: 20,3441           71711                           MP       N10        +4                         #        D12
043224,000628: 20,3442           55673                           TS       TMP2       +1                         
043225,000629: 20,3443           41615                           CS       DAP1                                  
043226,000630: 20,3444           00006                           EXTEND                                         
043227,000631: 20,3445           71711                           MP       N10        +4                         #        D12
043228,000632: 20,3446           21673                           DAS      TMP2                                  
043229,000633: 
043230,000634: 20,3447           53612                           DXCH     TTMP1                                 
043231,000635: 20,3450           21673                           DAS      TMP2                                  
043232,000636: 
043233,000637: 20,3451           34772        2CASFLTR           CAF      ZERO                                  #  *****SECOND CASCADE FILTER*****
043234,000638: 20,3452           55611                           TS       TTMP1                                 
043235,000639: 20,3453           55613                           TS       TTMP2                                 
043236,000640: 
043237,000641: 20,3454           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
043238,000642: 20,3455           00006                           EXTEND                                         
043239,000643: 20,3456           71713                           MP       N10        +6                         #        N21/2

Page 978

043241,000645: 20,3457           55612                           TS       TTMP1      +1                         
043242,000646: 20,3460           31615                           CA       DAP1                                  
043243,000647: 20,3461           00006                           EXTEND                                         
043244,000648: 20,3462           71713                           MP       N10        +6                         #        N21/2
043245,000649: 20,3463           21612                           DAS      TTMP1                                 
043246,000650: 
043247,000651: 20,3464           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043248,000652: 20,3465           00006                           EXTEND                                         
043249,000653: 20,3466           71715                           MP       N10        +8D                        #        D21/2
043250,000654: 20,3467           55614                           TS       TTMP2      +1                         
043251,000655: 20,3470           41617                           CS       DAP2                                  
043252,000656: 20,3471           00006                           EXTEND                                         
043253,000657: 20,3472           71715                           MP       N10        +8D                        #        D21/2
043254,000658: 20,3473           21614                           DAS      TTMP2                                 
043255,000659: 
043256,000660: 20,3474           53614                           DXCH     TTMP2                                 
043257,000661: 20,3475           21612                           DAS      TTMP1                                 
043258,000662: 20,3476           53612                           DXCH     TTMP1                                 
043259,000663: 20,3477           20001                           DDOUBL                                         
043260,000664: 20,3500           21677                           DAS      TMP4                                  
043261,000665: 
043262,000666: 20,3501           53677                           DXCH     TMP4                                  
043263,000667: 20,3502           53675                           DXCH     TMP3                                  
043264,000668: 
043265,000669: 20,3503           34772                           CAF      ZERO                                  
043266,000670: 20,3504           55611                           TS       TTMP1                                 
043267,000671: 20,3505           55676                           TS       TMP4                                  
043268,000672: 
043269,000673: 20,3506           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT  BY
043270,000674: 20,3507           00006                           EXTEND                                         
043271,000675: 20,3510           71714                           MP       N10        +7                         #        N22
043272,000676: 20,3511           55612                           TS       TTMP1      +1                         
043273,000677: 20,3512           31615                           CA       DAP1                                  
043274,000678: 20,3513           00006                           EXTEND                                         
043275,000679: 20,3514           71714                           MP       N10        +7                         #        N22
043276,000680: 20,3515           21612                           DAS      TTMP1                                 
043277,000681: 
043278,000682: 20,3516           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043279,000683: 20,3517           00006                           EXTEND                                         
043280,000684: 20,3520           71716                           MP       N10        +9D                        #        D22
043281,000685: 20,3521           55677                           TS       TMP4       +1                         
043282,000686: 20,3522           41617                           CS       DAP2                                  
043283,000687: 20,3523           00006                           EXTEND                                         
043284,000688: 20,3524           71716                           MP       N10        +9D                        #        D22
043285,000689: 20,3525           21677                           DAS      TMP4                                  
043286,000690: 
043287,000691: 20,3526           53612                           DXCH     TTMP1                                 
043288,000692: 20,3527           21677                           DAS      TMP4                                  

Page 979

043290,000694: 20,3530           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043291,000695: 20,3531           74754                           MASK     BIT13                                 
043292,000696: 20,3532           10000                           CCS      A                                     
043293,000697: 20,3533           00002                           TC       Q                                     #  EXIT IF LEM OFF
043294,000698: 
043295,000699: 20,3534           34772        3CASFLTR           CAF      ZERO                                  #  *****THIRD CASCADE FILTER*****
043296,000700: 20,3535           55611                           TS       TTMP1                                 
043297,000701: 20,3536           55613                           TS       TTMP2                                 
043298,000702: 
043299,000703: 20,3537           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY (1/2)
043300,000704: 20,3540           00006                           EXTEND                                         
043301,000705: 20,3541           71720                           MP       N10        +11D                       #        N31/2
043302,000706: 20,3542           55612                           TS       TTMP1      +1                         
043303,000707: 20,3543           31617                           CA       DAP2                                  
043304,000708: 20,3544           00006                           EXTEND                                         
043305,000709: 20,3545           71720                           MP       N10        +11D                       #        N31/2
043306,000710: 20,3546           21612                           DAS      TTMP1                                 
043307,000711: 
043308,000712: 20,3547           41622                           CS       DAP3       +1                         
043309,000713: 20,3550           00006                           EXTEND                                         
043310,000714: 20,3551           71722                           MP       N10        +13D                       #        D31/2
043311,000715: 20,3552           55614                           TS       TTMP2      +1                         
043312,000716: 20,3553           41621                           CS       DAP3                                  
043313,000717: 20,3554           00006                           EXTEND                                         
043314,000718: 20,3555           71722                           MP       N10        +13D                       #        D31/2
043315,000719: 20,3556           21614                           DAS      TTMP2                                 
043316,000720: 
043317,000721: 20,3557           53614                           DXCH     TTMP2                                 
043318,000722: 20,3560           21612                           DAS      TTMP1                                 
043319,000723: 20,3561           53612                           DXCH     TTMP1                                 
043320,000724: 20,3562           20001                           DDOUBL                                         
043321,000725: 20,3563           21703                           DAS      TMP6                                  
043322,000726: 
043323,000727: 20,3564           53703                           DXCH     TMP6                                  
043324,000728: 20,3565           53701                           DXCH     TMP5                                  
043325,000729: 
043326,000730: 20,3566           34772                           CAF      ZERO                                  
043327,000731: 20,3567           55611                           TS       TTMP1                                 
043328,000732: 20,3570           55702                           TS       TMP6                                  
043329,000733: 
043330,000734: 20,3571           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY
043331,000735: 20,3572           00006                           EXTEND                                         
043332,000736: 20,3573           71721                           MP       N10        +12D                       #        N32
043333,000737: 20,3574           55612                           TS       TTMP1      +1                         
043334,000738: 20,3575           31617                           CA       DAP2                                  
043335,000739: 20,3576           00006                           EXTEND                                         
043336,000740: 20,3577           71721                           MP       N10        +12D                       #        N32
043337,000741: 20,3600           21612                           DAS      TTMP1                                 
043338,000742: 
043339,000743: 20,3601           41622                           CS       DAP3       +1                         

Page 980

043341,000745: 20,3602           00006                           EXTEND                                         
043342,000746: 20,3603           71723                           MP       N10        +14D                       #        D32
043343,000747: 20,3604           55703                           TS       TMP6       +1                         
043344,000748: 20,3605           41621                           CS       DAP3                                  
043345,000749: 20,3606           00006                           EXTEND                                         
043346,000750: 
043347,000751: 20,3607           71723                           MP       N10        +14D                       #        D32
043348,000752: 20,3610           21703                           DAS      TMP6                                  
043349,000753: 
043350,000754: 20,3611           53612                           DXCH     TTMP1                                 
043351,000755: 20,3612           21703                           DAS      TMP6                                  
043352,000756: 
043353,000757: 20,3613           00002                           TC       Q                                     
043354,000758: 

Page 981

043356,000760: 
043357,000761:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
043358,000762: 
043359,000763:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
043360,000764: 
043361,000765:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043362,000766: 
043363,000767: 20,3614           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
043364,000768: 20,3615           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
043365,000769: 
043366,000770: 20,3616     4754               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
043367,000771: 20,3616     4766               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
043368,000772: 
043369,000773: 20,3616           02644        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
043370,000774: 20,3617           03227        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
043371,000775: 20,3620           03042        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
043372,000776: 
043373,000777: 
043374,000778: 20,3621           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
043375,000779: 20,3622           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043376,000780: 20,3623           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)

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