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.

042588,000002:                                                                                                  ## Copyright:   Public domain.
042589,000003:                                                                                                  ## Filename:    TVCDAPS.agc
042590,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
042591,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
042592,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
042593,000007:                                                                                                  ##              Apollo 15-17.
042594,000008:                                                                                                  ## Assembler:   yaYUL
042595,000009:                                                                                                  ## Contact:     Steve Case <case1780@adelphia.net>
042596,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042597,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
042598,000012:                                                                                                  ## Mod history: 2009-09-13 SMC  Adapted from Comanche055 files.
042599,000013:                                                                                                  ##              2009-09-14 JL   Fix typos. Fix page numbers. Remove change comments. Restore hard tabs.
042600,000014:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
042601,000015:                                                                                                  ##              2017-02-09 RSB  Proofed comment text by diff'ing vs Comanche 55
042602,000016:                                                                                                  ##                              and/or octopus/ProoferComments as most-appropriate.
042603,000017: 

Page 964

042605,000019:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042606,000020:                                                                                                  #  LOG SECTION...TVCDAPS                         SUBROUTINE...DAPCSM
042607,000021:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
042608,000022:                                                                                                  #  FUNCTIONAL DESCRIPTION....
042609,000023: 
042610,000024:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042611,000025:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042612,000026:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042613,000027:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042614,000028:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042615,000029: 
042616,000030:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042617,000031:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042618,000032:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042619,000033:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
042620,000034:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
042621,000035:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042622,000036: 
042623,000037:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042624,000038:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042625,000039:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042626,000040:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042627,000041:                                                                                                  #        MODING.
042628,000042: 
042629,000043:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
042630,000044: 
042631,000045:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042632,000046:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042633,000047:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
042634,000048:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
042635,000049:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
042636,000050:                                                                                                  #                ETC.
042637,000051:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
042638,000052: 
042639,000053:                                                                                                  #  NORMAL EXIT MODE....RESUME
042640,000054: 
042641,000055:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
042642,000056: 
042643,000057:                                                                                                  #  SUBROUTINES CALLED....
042644,000058: 
042645,000059:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042646,000060:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042647,000061:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042648,000062:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042649,000063:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042650,000064:                                                                                                  #                YAW DAPS
042651,000065:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042652,000066:                                                                                                  #                OUTPUTS AND STORAGE VALUES
042653,000067:                                                                                                  #        RESUME
042654,000068: 

Page 965

042656,000070:                                                                                                  #  OTHER INTERFACES....
042657,000071: 
042658,000072:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
042659,000073:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042660,000074:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042661,000075:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042662,000076: 
042663,000077:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
042664,000078: 
042665,000079:                                                                                                  #        PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
042666,000080:                                                                                                  #        CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
042667,000081:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
042668,000082:                                                                                                  #        TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 )
042669,000083:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042670,000084:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042671,000085:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY  MRCLEAN
042672,000086:                                                                                                  #        CDUX,Y,Z AND SINCDUX....COSCDUZ AS PREPARED BY QUICTRIG (WITH
042673,000087:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
042674,000088:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042675,000089:                                                                                                  #                UNLESS BENCH-TESTING.
042676,000090: 
042677,000091:                                                                                                  #  OUTPUT....
042678,000092: 
042679,000093:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
042680,000094:                                                                                                  #                TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042681,000095:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042682,000096:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042683,000097:                                                                                                  #  DEBRIS....
042684,000098: 
042685,000099:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042686,000100: 
042687,000101: 20,2000                                           SETLOC   DAPS2                                 
042688,000102: 20,2000                                           BANK                                           
042689,000103: 
042690,000104: 20,2644  E6,1446                                  EBANK=   CNTR                                  
042691,000105: 
042692,000106: 
042693,000107: 20,2644                                           COUNT*   $$/DAPS                               
042694,000108: 

Page 966

042696,000110: 
042697,000111:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042698,000112: 
042699,000113: 
042700,000114: 20,2644           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
042701,000115: 20,2645           00006                           EXTEND                                         
042702,000116: 20,2646           22012                           QXCH     QRUPT                                 
042703,000117: 
042704,000118: 20,2647           33620                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042705,000119: 20,2650           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042706,000120: 20,2651           31625                           CAE      T5TVCDT                               
042707,000121: 20,2652           54030                           TS       TIME5                                 
042708,000122: 
042709,000123: 20,2653           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT 
042710,000124: 20,2654           57636                           XCH      PCDUYPST                              
042711,000125: 20,2655           00006                           EXTEND                                         
042712,000126: 20,2656           21636                           MSU      PCDUYPST                              
042713,000127: 20,2657           02670                           TCR      RLIMTEST                              #        RATE TEST
042714,000128: 20,2660           55642                           TS       MCDUYDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042715,000129: 
042716,000130: 20,2661           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042717,000131: 20,2662           57637                           XCH      PCDUZPST                              
042718,000132: 20,2663           00006                           EXTEND                                         
042719,000133: 20,2664           21637                           MSU      PCDUZPST                              
042720,000134: 20,2665           02670                           TCR      RLIMTEST                              #        RATE TEST
042721,000135: 20,2666           55643                           TS       MCDUZDOT                              #        (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
042722,000136: 20,2667           12701                           TCF      PINTEGRL                              
042723,000137: 
042724,000138: 20,2670           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
042725,000139: 20,2671           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
042726,000140: 20,2672           73621                           MP       1/RTLIM                               #        (USED BY PITCH AND YAW PASSES)
042727,000141: 20,2673           00006                           EXTEND                                         
042728,000142: 20,2674           12677                           BZF      +3                                    
042729,000143: 20,2675           34772                           CAF      ZERO                                  
042730,000144: 20,2676           55611                           TS       TTMP1                                 
042731,000145: 20,2677           31611                           CAE      TTMP1                                 
042732,000146: 20,2700           00002                           TC       Q                                     
042733,000147: 
042734,000148: 20,2701           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042735,000149: 20,2702           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
042736,000150: 20,2703           53665                           DXCH     ERRBTMP                               
042737,000151: 
042738,000152: 20,2704           00006                           EXTEND                                         
042739,000153: 20,2705           31530                           DCA      OMEGAYC                               
042740,000154: 20,2706           21665                           DAS      ERRBTMP                               
042741,000155: 
042742,000156: 20,2707           41151                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042743,000157: 20,2710           00006                           EXTEND                                         
042744,000158: 20,2711           71153                           MP       COSCDUX                               
042745,000159: 20,2712           20001                           DDOUBL                                         
042746,000160: 20,2713           00006                           EXTEND                                         

Page 967

042748,000162: 20,2714           71642                           MP       MCDUYDOT                              
042749,000163: 20,2715           20001                           DDOUBL                                         
042750,000164: 20,2716           53536                           DXCH     OMEGAYB                               
042751,000165: 
042752,000166: 20,2717           41643                           CS       MCDUZDOT                              
042753,000167: 20,2720           00006                           EXTEND                                         
042754,000168: 20,2721           71145                           MP       SINCDUX                               
042755,000169: 20,2722           20001                           DDOUBL                                         
042756,000170: 20,2723           21536                           DAS      OMEGAYB                               #  OMEGAYB, SCALED (B-1)/TVCDT  REVS/SEC
042757,000171: 
042758,000172: 20,2724           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042759,000173: 20,2725           41536                           DCS      OMEGAYB                               
042760,000174: 20,2726           21665                           DAS      ERRBTMP                               
042761,000175: 
042762,000176: 20,2727           03246        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
042763,000177: 
042764,000178: 20,2730           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042765,000179: 20,2731           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
042766,000180: 20,2732           53671                           DXCH     TMP1                                  
042767,000181: 20,2733           00006                           EXTEND                                         
042768,000182: 20,2734           31546                           DCA      PTMP3                                 
042769,000183: 20,2735           53675                           DXCH     TMP3                                  
042770,000184: 20,2736           00006                           EXTEND                                         
042771,000185: 20,2737           31552                           DCA      PTMP5                                 
042772,000186: 20,2740           53701                           DXCH     TMP5                                  
042773,000187: 
042774,000188: 20,2741           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042775,000189:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042776,000190: 
042777,000191: 20,2742           00006        POFFSET            EXTEND                                         
042778,000192: 20,2743           31606                           DCA      PDELOFF                               
042779,000193: 20,2744           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042780,000194: 
042781,000195: 20,2745           03261        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042782,000196: 
042783,000197: 20,2746           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
042784,000198: 20,2747           61666                           AD       CMDTMP                                
042785,000199: 20,2750           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
042786,000200:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042787,000201: 
042788,000202: 20,2751           34756                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
042789,000203: 20,2752           00006                           EXTEND                                         
042790,000204: 20,2753           05014                           WOR      CHAN14                                
042791,000205: 
042792,000206: 20,2754           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH
042793,000207: 20,2755           31544                           DCA      PTMP2                                 
042794,000208: 20,2756           53673                           DXCH     TMP2                                  
042795,000209: 20,2757           00006                           EXTEND                                         
042796,000210: 20,2760           31550                           DCA      PTMP4                                 
042797,000211: 20,2761           53677                           DXCH     TMP4                                  

Page 968

042799,000213: 20,2762           00006                           EXTEND                                         
042800,000214: 20,2763           31554                           DCA      PTMP6                                 
042801,000215: 20,2764           53703                           DXCH     TMP6                                  
042802,000216: 
042803,000217: 20,2765           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042804,000218: 
042805,000219: 20,2766           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
042806,000220: 20,2767           00006                           EXTEND                                         
042807,000221: 20,2770           73623                           MP       E(-AT)                                
042808,000222: 20,2771           55663                           TS       DELBRTMP   +1                         
042809,000223: 20,2772           31601                           CAE      DELPBAR                               
042810,000224: 20,2773           00006                           EXTEND                                         
042811,000225: 20,2774           73623                           MP       E(-AT)                                
042812,000226: 20,2775           21663                           DAS      DELBRTMP                              
042813,000227: 20,2776           31666                           CAE      CMDTMP                                
042814,000228: 20,2777           00006                           EXTEND                                         
042815,000229: 20,3000           73622                           MP       1-E(-AT)                              
042816,000230: 20,3001           21663                           DAS      DELBRTMP                              
042817,000231: 
042818,000232: 20,3002           03004        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
042819,000233: 
042820,000234: 20,3003           15323        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
042821,000235: 

Page 969

042823,000237: 
042824,000238:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042825,000239: 
042826,000240: 20,3004           25635        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
042827,000241:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042828,000242:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042829,000243:                                                                                                  #        DURING PITCH COPYCYCLE.
042830,000244: 
042831,000245: 20,3005           00006                           EXTEND                                         
042832,000246: 20,3006           31671                           DCA      TMP1                                  
042833,000247: 20,3007           53542                           DXCH     PTMP1                                 
042834,000248: 20,3010           00006                           EXTEND                                         
042835,000249: 20,3011           31673                           DCA      TMP2                                  
042836,000250: 20,3012           53544                           DXCH     PTMP2                                 
042837,000251: 20,3013           00006                           EXTEND                                         
042838,000252: 20,3014           31675                           DCA      TMP3                                  
042839,000253: 20,3015           53546                           DXCH     PTMP3                                 
042840,000254: 20,3016           00006                           EXTEND                                         
042841,000255: 20,3017           31677                           DCA      TMP4                                  
042842,000256: 20,3020           53550                           DXCH     PTMP4                                 
042843,000257: 20,3021           00006                           EXTEND                                         
042844,000258: 20,3022           31701                           DCA      TMP5                                  
042845,000259: 20,3023           53552                           DXCH     PTMP5                                 
042846,000260: 20,3024           00006                           EXTEND                                         
042847,000261: 20,3025           31703                           DCA      TMP6                                  
042848,000262: 20,3026           53554                           DXCH     PTMP6                                 
042849,000263: 
042850,000264: 20,3027           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
042851,000265: 20,3030           31665                           DCA      ERRBTMP                               
042852,000266: 20,3031           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
042853,000267: 20,3032           53576                           DXCH     PERRB                                 
042854,000268: 
042855,000269: 20,3033           31666                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
042856,000270: 20,3034           55623                           TS       PCMD                                  
042857,000271: 
042858,000272: 20,3035           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
042859,000273: 20,3036           31663                           DCA      DELBRTMP                              
042860,000274: 20,3037           53602                           DXCH     DELPBAR                               
042861,000275: 
042862,000276: 20,3040           25635                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
042863,000277: 
042864,000278: 20,3041           00002                           TC       Q                                     
042865,000279: 

Page 970

042867,000281: 
042868,000282:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
042869,000283: 
042870,000284: 
042871,000285: 20,3042           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
042872,000286: 20,3043           00006                           EXTEND                                         
042873,000287: 20,3044           22012                           QXCH     QRUPT                                 
042874,000288: 
042875,000289: 20,3045           33616                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042876,000290: 20,3046           54112                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
042877,000291: 20,3047           31625                           CAE      T5TVCDT                               
042878,000292: 20,3050           54030                           TS       TIME5                                 
042879,000293: 
042880,000294: 20,3051           30033        YCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
042881,000295: 20,3052           57640                           XCH      YCDUYPST                              
042882,000296: 20,3053           00006                           EXTEND                                         
042883,000297: 20,3054           21640                           MSU      YCDUYPST                              
042884,000298: 20,3055           02670                           TCR      RLIMTEST                              #        RATE TEST
042885,000299: 20,3056           55642                           TS       MCDUYDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042886,000300: 
042887,000301: 20,3057           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
042888,000302: 20,3060           57641                           XCH      YCDUZPST                              
042889,000303: 20,3061           00006                           EXTEND                                         
042890,000304: 20,3062           21641                           MSU      YCDUZPST                              
042891,000305: 20,3063           02670                           TCR      RLIMTEST                              #        RATE TEST
042892,000306: 20,3064           55643                           TS       MCDUZDOT                              #        (MINUS, SCALED 1/2TVCDT REV/SEC)
042893,000307: 
042894,000308: 20,3065           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
042895,000309: 20,3066           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
042896,000310: 20,3067           53665                           DXCH     ERRBTMP                               
042897,000311: 
042898,000312: 20,3070           00006                           EXTEND                                         
042899,000313: 20,3071           31532                           DCA      OMEGAZC                               
042900,000314: 20,3072           21665                           DAS      ERRBTMP                               
042901,000315: 
042902,000316: 20,3073           31151                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
042903,000317: 20,3074           00006                           EXTEND                                         
042904,000318: 20,3075           71145                           MP       SINCDUX                               
042905,000319: 20,3076           20001                           DDOUBL                                         
042906,000320: 20,3077           00006                           EXTEND                                         
042907,000321: 20,3100           71642                           MP       MCDUYDOT                              
042908,000322: 20,3101           20001                           DDOUBL                                         
042909,000323: 20,3102           53540                           DXCH     OMEGAZB                               
042910,000324: 
042911,000325: 20,3103           41643                           CS       MCDUZDOT                              
042912,000326: 20,3104           00006                           EXTEND                                         
042913,000327: 20,3105           71153                           MP       COSCDUX                               
042914,000328: 20,3106           20001                           DDOUBL                                         
042915,000329: 20,3107           21540                           DAS      OMEGAZB                               #  OMEGAZB, SCALED (B-1)/TVCDT  REVS/SEC
042916,000330: 
042917,000331: 20,3110           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)

Page 971

042919,000333: 20,3111           41540                           DCS      OMEGAZB                               
042920,000334: 20,3112           21665                           DAS      ERRBTMP                               
042921,000335: 
042922,000336: 20,3113           03246        YERORLIM           TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
042923,000337: 
042924,000338: 20,3114           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
042925,000339: 20,3115           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL
042926,000340: 20,3116           53671                           DXCH     TMP1                                  
042927,000341: 20,3117           00006                           EXTEND                                         
042928,000342: 20,3120           31562                           DCA      YTMP3                                 
042929,000343: 20,3121           53675                           DXCH     TMP3                                  
042930,000344: 20,3122           00006                           EXTEND                                         
042931,000345: 20,3123           31566                           DCA      YTMP5                                 
042932,000346: 20,3124           53701                           DXCH     TMP5                                  
042933,000347: 
042934,000348: 20,3125           03300                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
042935,000349:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
042936,000350: 
042937,000351: 20,3126           00006        YOFFSET            EXTEND                                         
042938,000352: 20,3127           31610                           DCA      YDELOFF                               
042939,000353: 20,3130           21667                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
042940,000354: 
042941,000355: 20,3131           03261        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
042942,000356: 
042943,000357: 20,3132           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW   COMMAND
042944,000358: 20,3133           61666                           AD       CMDTMP                                
042945,000359: 20,3134           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
042946,000360:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
042947,000361: 
042948,000362: 20,3135           34755                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
042949,000363: 20,3136           00006                           EXTEND                                         
042950,000364: 20,3137           05014                           WOR      CHAN14                                
042951,000365: 
042952,000366: 20,3140           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
042953,000367: 20,3141           31560                           DCA      YTMP2                                 
042954,000368: 20,3142           53673                           DXCH     TMP2                                  
042955,000369: 20,3143           00006                           EXTEND                                         
042956,000370: 20,3144           31564                           DCA      YTMP4                                 
042957,000371: 20,3145           53677                           DXCH     TMP4                                  
042958,000372: 20,3146           00006                           EXTEND                                         
042959,000373: 20,3147           31570                           DCA      YTMP6                                 
042960,000374: 20,3150           53703                           DXCH     TMP6                                  
042961,000375: 
042962,000376: 20,3151           03372                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
042963,000377: 
042964,000378: 20,3152           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW   OFFSET-TRACKER-FILTER
042965,000379: 20,3153           00006                           EXTEND                                         
042966,000380: 20,3154           73623                           MP       E(-AT)                                
042967,000381: 20,3155           55663                           TS       DELBRTMP   +1                         
042968,000382: 20,3156           31603                           CAE      DELYBAR                               

Page 972

042970,000384: 20,3157           00006                           EXTEND                                         
042971,000385: 20,3160           73623                           MP       E(-AT)                                
042972,000386: 20,3161           21663                           DAS      DELBRTMP                              
042973,000387: 20,3162           31666                           CAE      CMDTMP                                
042974,000388: 20,3163           00006                           EXTEND                                         
042975,000389: 20,3164           73622                           MP       1-E(-AT)                              
042976,000390: 20,3165           21663                           DAS      DELBRTMP                              
042977,000391: 
042978,000392: 20,3166           03170        YCOPYCYC           TCR      YCOPY                                 #  YAW   COPYCYCLE
042979,000393: 
042980,000394: 20,3167           15323        YDAPEND            TCF      RESUME                                #  YAW   DAP COMPLETED
042981,000395: 

Page 973

042983,000397: 
042984,000398:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
042985,000399: 
042986,000400: 20,3170           25635        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
042987,000401:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
042988,000402:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
042989,000403:                                                                                                  #        DURING YAW   COPYCYCLE.
042990,000404: 
042991,000405: 20,3171           00006                           EXTEND                                         
042992,000406: 20,3172           31671                           DCA      TMP1                                  
042993,000407: 20,3173           53556                           DXCH     YTMP1                                 
042994,000408: 20,3174           00006                           EXTEND                                         
042995,000409: 20,3175           31673                           DCA      TMP2                                  
042996,000410: 20,3176           53560                           DXCH     YTMP2                                 
042997,000411: 20,3177           00006                           EXTEND                                         
042998,000412: 20,3200           31675                           DCA      TMP3                                  
042999,000413: 20,3201           53562                           DXCH     YTMP3                                 
043000,000414: 20,3202           00006                           EXTEND                                         
043001,000415: 20,3203           31677                           DCA      TMP4                                  
043002,000416: 20,3204           53564                           DXCH     YTMP4                                 
043003,000417: 20,3205           00006                           EXTEND                                         
043004,000418: 20,3206           31701                           DCA      TMP5                                  
043005,000419: 20,3207           53566                           DXCH     YTMP5                                 
043006,000420: 20,3210           00006                           EXTEND                                         
043007,000421: 20,3211           31703                           DCA      TMP6                                  
043008,000422: 20,3212           53570                           DXCH     YTMP6                                 
043009,000423: 
043010,000424: 20,3213           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
043011,000425: 20,3214           31665                           DCA      ERRBTMP                               
043012,000426: 20,3215           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
043013,000427: 20,3216           53600                           DXCH     YERRB                                 
043014,000428: 
043015,000429: 20,3217           31666                           CAE      CMDTMP                                
043016,000430: 20,3220           55624                           TS       YCMD                                  
043017,000431: 
043018,000432: 20,3221           00006                           EXTEND                                         
043019,000433: 20,3222           31663                           DCA      DELBRTMP                              
043020,000434: 20,3223           53604                           DXCH     DELYBAR                               
043021,000435: 
043022,000436: 20,3224           34772                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
043023,000437: 20,3225           55635                           TS       TVCPHASE                              #        RESET TVCPHASE
043024,000438: 
043025,000439: 20,3226           00002                           TC       Q                                     
043026,000440: 

Page 974

043028,000442: 
043029,000443:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043030,000444: 
043031,000445: 
043032,000446:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
043033,000447: 
043034,000448: 20,3227           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
043035,000449: 
043036,000450: 20,3230           37702                           CAF      NEGONE                                #        SET UP
043037,000451: 20,3231           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
043038,000452: 20,3232           64752                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
043039,000453: 20,3233           61625                           AD       T5TVCDT                               
043040,000454: 20,3234           54030                           TS       TIME5                                 
043041,000455: 20,3235           33616                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
043042,000456: 20,3236           54112                           TS       T5LOC                                 
043043,000457: 
043044,000458: 20,3237           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
043045,000459: 20,3240           55636                           TS       PCDUYPST                              #        PAST-VALUES
043046,000460: 20,3241           55640                           TS       YCDUYPST                              
043047,000461: 20,3242           30034                           CAE      CDUZ                                  
043048,000462: 20,3243           55637                           TS       PCDUZPST                              
043049,000463: 20,3244           55641                           TS       YCDUZPST                              
043050,000464: 
043051,000465: 20,3245           15325                           TCF      NOQRSM                                
043052,000466: 
043053,000467: 
043054,000468:                                                                                                  #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
043055,000469: 
043056,000470: 20,3246           31664        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
043057,000471: 20,3247           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
043058,000472: 20,3250           74766                           MP       1/ERRLIM                              
043059,000473: 20,3251           00006                           EXTEND                                         
043060,000474: 20,3252           13260                           BZF      +6                                    
043061,000475: 20,3253           11664                           CCS      ERRBTMP                               
043062,000476: 20,3254           34754                           CAF      ERRLIM                                
043063,000477: 20,3255           13257                           TCF      +2                                    
043064,000478: 20,3256           44754                           CS       ERRLIM                                
043065,000479: 20,3257           55664                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
043066,000480: 
043067,000481: 20,3260           00002                           TC       Q                                     
043068,000482: 
043069,000483: 
043070,000484:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
043071,000485: 
043072,000486: 20,3261           31667        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
043073,000487: 20,3262           60000                           DOUBLE                                         
043074,000488: 20,3263           54001                           TS       L                                     
043075,000489: 20,3264           34772                           CAF      ZERO                                  
043076,000490: 20,3265           61666                           AD       CMDTMP                                
043077,000491: 
043078,000492: 20,3266           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT

Page 975

043080,000494: 20,3267           73615                           MP       1/ACTSAT                              
043081,000495: 20,3270           00006                           EXTEND                                         
043082,000496: 20,3271           13277                           BZF      +6                                    
043083,000497: 20,3272           11666                           CCS      CMDTMP                                #  APPLY LIMITS
043084,000498: 20,3273           33614                           CAF      ACTSAT                                
043085,000499: 20,3274           13276                           TCF      +2                                    
043086,000500: 20,3275           43614                           CS       ACTSAT                                
043087,000501: 20,3276           55666                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
043088,000502: 
043089,000503: 20,3277           00002                           TC       Q                                     
043090,000504: 
043091,000505:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043092,000506: 
043093,000507: 20,3300           34772        FWDFLTR            CAF      ZERO                                  
043094,000508: 20,3301           55615                           TS       DAP1                                  
043095,000509: 20,3302           55617                           TS       DAP2                                  
043096,000510: 20,3303           55621                           TS       DAP3                                  
043097,000511: 20,3304           55666                           TS       CMDTMP                                
043098,000512: 
043099,000513: 20,3305           55662                           TS       DELBRTMP                              
043100,000514: 
043101,000515: 20,3306           31665        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
043102,000516: 20,3307           00006                           EXTEND                                         
043103,000517: 20,3310           71705                           MP       N10                                   #        N10
043104,000518: 20,3311           55616                           TS       DAP1       +1                         
043105,000519: 20,3312           31664                           CA       ERRBTMP                               
043106,000520: 20,3313           00006                           EXTEND                                         
043107,000521: 20,3314           71705                           MP       N10                                   #        N10
043108,000522: 20,3315           21616                           DAS      DAP1                                  
043109,000523: 20,3316           53671                           DXCH     TMP1                                  
043110,000524: 20,3317           21616                           DAS      DAP1                                  
043111,000525: 
043112,000526: 20,3320           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
043113,000527: 20,3321           00006                           EXTEND                                         
043114,000528: 20,3322           71712                           MP       N10        +5                         #        N20
043115,000529: 20,3323           55620                           TS       DAP2       +1                         
043116,000530: 20,3324           31615                           CA       DAP1                                  
043117,000531: 20,3325           00006                           EXTEND                                         
043118,000532: 20,3326           71712                           MP       N10        +5                         #        N20
043119,000533: 20,3327           21620                           DAS      DAP2                                  
043120,000534: 20,3330           53675                           DXCH     TMP3                                  
043121,000535: 20,3331           21620                           DAS      DAP2                                  
043122,000536: 
043123,000537: 20,3332           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043124,000538: 20,3333           74753                           MASK     BIT14                                 
043125,000539: 20,3334           10000                           CCS      A                                     
043126,000540: 20,3335           13344                           TCF      3DAPCAS                               #  LEM ON
043127,000541: 20,3336           00006                           EXTEND                                         #  LEM OFF
043128,000542: 20,3337           31620                           DCA      DAP2                                  

Page 976

043130,000544: 20,3340           20001                           DDOUBL                                         
043131,000545: 20,3341           20001                           DDOUBL                                         
043132,000546: 20,3342           53622                           DXCH     DAP3                                  
043133,000547: 20,3343           13356                           TCF      OPTVARK                               
043134,000548: 
043135,000549: 20,3344           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
043136,000550: 20,3345           00006                           EXTEND                                         
043137,000551: 20,3346           71717                           MP       N10        +10D                       #        N30
043138,000552: 20,3347           55622                           TS       DAP3       +1                         
043139,000553: 20,3350           31617                           CA       DAP2                                  
043140,000554: 20,3351           00006                           EXTEND                                         
043141,000555: 20,3352           71717                           MP       N10        +10D                       #        N30
043142,000556: 20,3353           21622                           DAS      DAP3                                  
043143,000557: 20,3354           53701                           DXCH     TMP5                                  
043144,000558: 20,3355           21622                           DAS      DAP3                                  
043145,000559: 
043146,000560: 20,3356           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
043147,000561: 20,3357           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
043148,000562: 20,3360           71632                           MP       VARK                                  #        SCALED (1.08 B+2)   CSM/LM
043149,000563: 20,3361           55667                           TS       CMDTMP     +1                         #               (  "  B+4)   CSM
043150,000564: 20,3362           41621                           CS       DAP3                                  
043151,000565: 20,3363           00006                           EXTEND                                         
043152,000566: 20,3364           71632                           MP       VARK                                  
043153,000567: 20,3365           21667                           DAS      CMDTMP                                
043154,000568: 
043155,000569: 20,3366           53667                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+1 ASCREV
043156,000570: 20,3367           20001                           DDOUBL                                         
043157,000571: 20,3370           53667                           DXCH     CMDTMP                                #                 - SCALED B+0 ASCREV
043158,000572:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
043159,000573:                                                                                                  #  (B+1 ASCREV/REV) ON THE OUTPUT DACS.
043160,000574: 
043161,000575: 20,3371           00002                           TC       Q                                     
043162,000576: 
043163,000577: 
043164,000578:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043165,000579: 
043166,000580: 20,3372           34772        PRECOMP            CAF      ZERO                                  #  *****  FIRST CASCADE FILTER  **********
043167,000581: 20,3373           55611                           TS       TTMP1                                 
043168,000582: 20,3374           55613                           TS       TTMP2                                 
043169,000583: 
043170,000584: 20,3375           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
043171,000585: 20,3376           00006                           EXTEND                                         
043172,000586: 20,3377           71706                           MP       N10        +1                         #        N11/2
043173,000587: 20,3400           55612                           TS       TTMP1      +1                         
043174,000588: 20,3401           31664                           CA       ERRBTMP                               
043175,000589: 20,3402           00006                           EXTEND                                         
043176,000590: 20,3403           71706                           MP       N10        +1                         #        N11/2
043177,000591: 20,3404           21612                           DAS      TTMP1                                 
043178,000592: 
043179,000593: 20,3405           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY

Page 977

043181,000595: 20,3406           00006                           EXTEND                                         
043182,000596: 20,3407           71710                           MP       N10        +3                         #        D11/2
043183,000597: 20,3410           55614                           TS       TTMP2      +1                         
043184,000598: 20,3411           41615                           CS       DAP1                                  
043185,000599: 20,3412           00006                           EXTEND                                         
043186,000600: 20,3413           71710                           MP       N10        +3                         #        D11/2
043187,000601: 20,3414           21614                           DAS      TTMP2                                 
043188,000602: 
043189,000603: 20,3415           53614                           DXCH     TTMP2                                 
043190,000604: 20,3416           21612                           DAS      TTMP1                                 
043191,000605: 20,3417           53612                           DXCH     TTMP1                                 
043192,000606: 20,3420           20001                           DDOUBL                                         
043193,000607: 20,3421           21673                           DAS      TMP2                                  
043194,000608: 
043195,000609: 20,3422           53673                           DXCH     TMP2                                  
043196,000610: 20,3423           53671                           DXCH     TMP1                                  
043197,000611: 
043198,000612: 20,3424           34772                           CAF      ZERO                                  
043199,000613: 20,3425           55611                           TS       TTMP1                                 
043200,000614: 20,3426           55672                           TS       TMP2                                  
043201,000615: 
043202,000616: 20,3427           31665                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT  BY
043203,000617: 20,3430           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
043204,000618: 20,3431           71707                           MP       N10        +2                         #        N12
043205,000619: 20,3432           55612                           TS       TTMP1      +1                         
043206,000620: 20,3433           31664                           CA       ERRBTMP                               
043207,000621: 20,3434           00006                           EXTEND                                         
043208,000622: 20,3435           71707                           MP       N10        +2                         #        N12
043209,000623: 20,3436           21612                           DAS      TTMP1                                 
043210,000624: 
043211,000625: 20,3437           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
043212,000626: 20,3440           00006                           EXTEND                                         
043213,000627: 20,3441           71711                           MP       N10        +4                         #        D12
043214,000628: 20,3442           55673                           TS       TMP2       +1                         
043215,000629: 20,3443           41615                           CS       DAP1                                  
043216,000630: 20,3444           00006                           EXTEND                                         
043217,000631: 20,3445           71711                           MP       N10        +4                         #        D12
043218,000632: 20,3446           21673                           DAS      TMP2                                  
043219,000633: 
043220,000634: 20,3447           53612                           DXCH     TTMP1                                 
043221,000635: 20,3450           21673                           DAS      TMP2                                  
043222,000636: 
043223,000637: 20,3451           34772        2CASFLTR           CAF      ZERO                                  #  *****SECOND CASCADE FILTER*****
043224,000638: 20,3452           55611                           TS       TTMP1                                 
043225,000639: 20,3453           55613                           TS       TTMP2                                 
043226,000640: 
043227,000641: 20,3454           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
043228,000642: 20,3455           00006                           EXTEND                                         
043229,000643: 20,3456           71713                           MP       N10        +6                         #        N21/2

Page 978

043231,000645: 20,3457           55612                           TS       TTMP1      +1                         
043232,000646: 20,3460           31615                           CA       DAP1                                  
043233,000647: 20,3461           00006                           EXTEND                                         
043234,000648: 20,3462           71713                           MP       N10        +6                         #        N21/2
043235,000649: 20,3463           21612                           DAS      TTMP1                                 
043236,000650: 
043237,000651: 20,3464           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043238,000652: 20,3465           00006                           EXTEND                                         
043239,000653: 20,3466           71715                           MP       N10        +8D                        #        D21/2
043240,000654: 20,3467           55614                           TS       TTMP2      +1                         
043241,000655: 20,3470           41617                           CS       DAP2                                  
043242,000656: 20,3471           00006                           EXTEND                                         
043243,000657: 20,3472           71715                           MP       N10        +8D                        #        D21/2
043244,000658: 20,3473           21614                           DAS      TTMP2                                 
043245,000659: 
043246,000660: 20,3474           53614                           DXCH     TTMP2                                 
043247,000661: 20,3475           21612                           DAS      TTMP1                                 
043248,000662: 20,3476           53612                           DXCH     TTMP1                                 
043249,000663: 20,3477           20001                           DDOUBL                                         
043250,000664: 20,3500           21677                           DAS      TMP4                                  
043251,000665: 
043252,000666: 20,3501           53677                           DXCH     TMP4                                  
043253,000667: 20,3502           53675                           DXCH     TMP3                                  
043254,000668: 
043255,000669: 20,3503           34772                           CAF      ZERO                                  
043256,000670: 20,3504           55611                           TS       TTMP1                                 
043257,000671: 20,3505           55676                           TS       TMP4                                  
043258,000672: 
043259,000673: 20,3506           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT  BY
043260,000674: 20,3507           00006                           EXTEND                                         
043261,000675: 20,3510           71714                           MP       N10        +7                         #        N22
043262,000676: 20,3511           55612                           TS       TTMP1      +1                         
043263,000677: 20,3512           31615                           CA       DAP1                                  
043264,000678: 20,3513           00006                           EXTEND                                         
043265,000679: 20,3514           71714                           MP       N10        +7                         #        N22
043266,000680: 20,3515           21612                           DAS      TTMP1                                 
043267,000681: 
043268,000682: 20,3516           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043269,000683: 20,3517           00006                           EXTEND                                         
043270,000684: 20,3520           71716                           MP       N10        +9D                        #        D22
043271,000685: 20,3521           55677                           TS       TMP4       +1                         
043272,000686: 20,3522           41617                           CS       DAP2                                  
043273,000687: 20,3523           00006                           EXTEND                                         
043274,000688: 20,3524           71716                           MP       N10        +9D                        #        D22
043275,000689: 20,3525           21677                           DAS      TMP4                                  
043276,000690: 
043277,000691: 20,3526           53612                           DXCH     TTMP1                                 
043278,000692: 20,3527           21677                           DAS      TMP4                                  

Page 979

043280,000694: 20,3530           31465                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043281,000695: 20,3531           74754                           MASK     BIT13                                 
043282,000696: 20,3532           10000                           CCS      A                                     
043283,000697: 20,3533           00002                           TC       Q                                     #  EXIT IF LEM OFF
043284,000698: 
043285,000699: 20,3534           34772        3CASFLTR           CAF      ZERO                                  #  *****THIRD CASCADE FILTER*****
043286,000700: 20,3535           55611                           TS       TTMP1                                 
043287,000701: 20,3536           55613                           TS       TTMP2                                 
043288,000702: 
043289,000703: 20,3537           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY (1/2)
043290,000704: 20,3540           00006                           EXTEND                                         
043291,000705: 20,3541           71720                           MP       N10        +11D                       #        N31/2
043292,000706: 20,3542           55612                           TS       TTMP1      +1                         
043293,000707: 20,3543           31617                           CA       DAP2                                  
043294,000708: 20,3544           00006                           EXTEND                                         
043295,000709: 20,3545           71720                           MP       N10        +11D                       #        N31/2
043296,000710: 20,3546           21612                           DAS      TTMP1                                 
043297,000711: 
043298,000712: 20,3547           41622                           CS       DAP3       +1                         
043299,000713: 20,3550           00006                           EXTEND                                         
043300,000714: 20,3551           71722                           MP       N10        +13D                       #        D31/2
043301,000715: 20,3552           55614                           TS       TTMP2      +1                         
043302,000716: 20,3553           41621                           CS       DAP3                                  
043303,000717: 20,3554           00006                           EXTEND                                         
043304,000718: 20,3555           71722                           MP       N10        +13D                       #        D31/2
043305,000719: 20,3556           21614                           DAS      TTMP2                                 
043306,000720: 
043307,000721: 20,3557           53614                           DXCH     TTMP2                                 
043308,000722: 20,3560           21612                           DAS      TTMP1                                 
043309,000723: 20,3561           53612                           DXCH     TTMP1                                 
043310,000724: 20,3562           20001                           DDOUBL                                         
043311,000725: 20,3563           21703                           DAS      TMP6                                  
043312,000726: 
043313,000727: 20,3564           53703                           DXCH     TMP6                                  
043314,000728: 20,3565           53701                           DXCH     TMP5                                  
043315,000729: 
043316,000730: 20,3566           34772                           CAF      ZERO                                  
043317,000731: 20,3567           55611                           TS       TTMP1                                 
043318,000732: 20,3570           55702                           TS       TMP6                                  
043319,000733: 
043320,000734: 20,3571           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT  BY
043321,000735: 20,3572           00006                           EXTEND                                         
043322,000736: 20,3573           71721                           MP       N10        +12D                       #        N32
043323,000737: 20,3574           55612                           TS       TTMP1      +1                         
043324,000738: 20,3575           31617                           CA       DAP2                                  
043325,000739: 20,3576           00006                           EXTEND                                         
043326,000740: 20,3577           71721                           MP       N10        +12D                       #        N32
043327,000741: 20,3600           21612                           DAS      TTMP1                                 
043328,000742: 
043329,000743: 20,3601           41622                           CS       DAP3       +1                         

Page 980

043331,000745: 20,3602           00006                           EXTEND                                         
043332,000746: 20,3603           71723                           MP       N10        +14D                       #        D32
043333,000747: 20,3604           55703                           TS       TMP6       +1                         
043334,000748: 20,3605           41621                           CS       DAP3                                  
043335,000749: 20,3606           00006                           EXTEND                                         
043336,000750: 
043337,000751: 20,3607           71723                           MP       N10        +14D                       #        D32
043338,000752: 20,3610           21703                           DAS      TMP6                                  
043339,000753: 
043340,000754: 20,3611           53612                           DXCH     TTMP1                                 
043341,000755: 20,3612           21703                           DAS      TMP6                                  
043342,000756: 
043343,000757: 20,3613           00002                           TC       Q                                     
043344,000758: 

Page 981

043346,000760: 
043347,000761:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
043348,000762: 
043349,000763:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
043350,000764: 
043351,000765:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043352,000766: 
043353,000767: 20,3614           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
043354,000768: 20,3615           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
043355,000769: 
043356,000770: 20,3616     4754               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
043357,000771: 20,3616     4766               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
043358,000772: 
043359,000773: 20,3616           02644        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
043360,000774: 20,3617           03227        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
043361,000775: 20,3620           03042        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
043362,000776: 
043363,000777: 
043364,000778: 20,3621           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
043365,000779: 20,3622           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043366,000780: 20,3623           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)

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