Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

044701,000002:                                                                                                  ## Copyright:   Public domain.
044702,000003:                                                                                                  ## Filename:    CM_ENTRY_DIGITAL_AUTOPILOT.agc
044703,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
044704,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
044705,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
044706,000007:                                                                                                  ## Assembler:   yaYUL
044707,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
044708,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
044709,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
044710,000011:                                                                                                  ## Mod history: 2011-04-09 JL   Adapted from corresponding Colossus 249 file.
044711,000012:                                                                                                  ##              2011-04-17 JL   Removed temporary line.
044712,000013:                                                                                                  ##              2011-04-27 JL   Fixed symbol name.
044713,000014:                                                                                                  ##              2011-04-29 JL   Had = instead of DEC.
044714,000015:                                                                                                  ##              2016-11-02 RSB  Typo (offset-target +4 was not indented).
044715,000016:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
044716,000017:                                                                                                  ##                              and fixed errors found.
044717,000018:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
044718,000019:                                                                                                  ##                              Colossus 249.
044719,000020:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
044720,000021:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
044721,000022:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 4-way side-by-side
044722,000023:                                                                                                  ##                              diff of Colossus237/249/Comanche55/Artemis72.
044723,000024: 

Page 1031

044725,000026:                                                                                                  #  SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES.   GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
044726,000027:                                                                                                  #  DIFFERENCES ARE IN 1S COMP.     ENTER AND READ ANGLES EACH .1 SEC.
044727,000028: 
044728,000029:                                                                                                  #           CM/DSTBY = 1  FOR DAP OPERATION
044729,000030:                                                                                                  #           CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
044730,000031: 
044731,000032: 15,2454                                           BANK     15                                    
044732,000033: 
044733,000034: 15,2000                                           SETLOC   ETRYDAP                               
044734,000035: 15,2000                                           BANK                                           
044735,000036: 
044736,000037: 15,2454                                           COUNT    15/DAPEN                              
044737,000038: 
044738,000039: 15,2454  E6,1661                                  EBANK=   AOG                                   
044739,000040: 
044740,000041: 15,2454           34377        READGYMB           CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
044741,000042: 15,2455           27725                           ADS      CM/GYMDT                              #  PIPTIME. (GROUP 6)
044742,000043: 
044743,000044:                                                                                                  #                               IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
044744,000045:                                                                                                  #                               PHASCHNG PROTECTION IS IN CM/DAPIC.
044745,000046: 
044746,000047: 15,2456           34705                           CA       BIT6                                  #  CHECK FOR FINE ALIGN MODE OF CDU.
044747,000048: 15,2457           71321                           MASK     IMODES33                              #  ( PROTECT AOG/PIP ETC AS WELL AS
044748,000049: 15,2460           00006                           EXTEND                                         #   GIMBAL DIFFERENCES)
044749,000050: 15,2461           12467                           BZF      READGYM1                              #  OK
044750,000051: 
044751,000052: 15,2462           44712                           CS       BIT1                                  #  NOT IN FINE ALIGN, SO IDLE.
044752,000053: 15,2463           70102                           MASK     CM/FLAGS                              #  SET GYMDIFSW = 0
044753,000054: 15,2464           54102                           TS       CM/FLAGS                              
044754,000055: 15,2465           06000                           TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
044755,000056: 15,2466           02534                           TC       CM/GYMIC   +2                         
044756,000057: 
044757,000058: 15,2467           30032        READGYM1           CA       CDUX                                  
044758,000059: 15,2470           57661                           XCH      AOG                                   
044759,000060: 15,2471           00006                           EXTEND                                         
044760,000061: 15,2472           21661                           MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
044761,000062: 15,2473           55675                           TS       -DELAOG                               
044762,000063: 
044763,000064: 15,2474           30033                           CA       CDUY                                  
044764,000065: 15,2475           57662                           XCH      AIG                                   
044765,000066: 15,2476           00006                           EXTEND                                         
044766,000067: 15,2477           21662                           MSU      AIG                                   
044767,000068: 15,2500           55676                           TS       -DELAIG                               
044768,000069: 
044769,000070: 15,2501           30034                           CA       CDUZ                                  
044770,000071: 15,2502           57663                           XCH      AMG                                   
044771,000072: 15,2503           00006                           EXTEND                                         
044772,000073: 15,2504           21663                           MSU      AMG                                   
044773,000074: 15,2505           55677                           TS       -DELAMG                               
044774,000075: 

Page 1032

044776,000077: 15,2506           40102        DOBRATE?           CS       CM/FLAGS                              #  CM/DSTBY=103D BIT2  GYMDIFSW=104D BIT1
044777,000078: 15,2507           76214                           MASK     THREE                                 
044778,000079: 15,2510           50000                           INDEX    A                                     
044779,000080: 15,2511           02512                           TC       +1                                    
044780,000081: 15,2512           02521                           TC       DOBRATE                               #  OK, GO ON
044781,000082: 15,2513           02532                           TC       CM/GYMIC                              #  DONT CALC BODYRATE ON FIRST PASS.
044782,000083: 15,2514           12515                           NOOP                                           
044783,000084: 15,2515           06000                           TC       FLUSHJET                              #  TURN OFF ALL JETS
044784,000085: 
044785,000086: 15,2516           05301                           TC       PHASCHNG                              
044786,000087: 15,2517           00006                           OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
044787,000088: 
044788,000089: 15,2520           05213                           TC       TASKOVER                              
044789,000090: 
044790,000091: 15,2521           34712        DOBRATE            CA       ONE                                   #  DO BODYRATE
044791,000092: 15,2522           55720        DOBRATE1           TS       JETEM                                 #  SKIP BODYRATE.
044792,000093: 
044793,000094: 15,2523           34377                           CA       TEN                                   #  KEEP CDU READ GOING.
044794,000095: 15,2524           05140                           TC       WAITLIST                              
044795,000096: 15,2525  E6,1661                                  EBANK=   AOG                                   
044796,000097: 15,2525           02454 32066                     2CADR    READGYMB                              
044797,000098: 
044798,000099:                                                                                                  #                               DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
044799,000100: 
044800,000101: 15,2527           11720                           CCS      JETEM                                 
044801,000102: 15,2530           02556                           TC       BODYRATE                              
044802,000103: 15,2531           05213                           TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS. (PASSES)
044803,000104: 
044804,000105: 15,2532           26102        CM/GYMIC           ADS      CM/FLAGS                              #  GYMDIFSW: C(A)=1, KNOW BIT IS 0
044805,000106: 15,2533           34714                           CAF      ZERO                                  
044806,000107: 15,2534           55711                           TS       JETAG                                 
044807,000108: 15,2535           55706                           TS       OLDELP                                
044808,000109: 15,2536           55707                           TS       OLDELQ                                
044809,000110: 15,2537           55710                           TS       OLDELR                                
044810,000111: 15,2540           55723                           TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
044811,000112: 15,2541           02522                           TC       DOBRATE1                              
044812,000113: 

Page 1033

044814,000115:                                                                                                  #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
044815,000116: 
044816,000117: 15,2542           54001        ANGOVCOR           TS       L                                     #  THIS COSTS 2 MCT TO USE.
044817,000118: 15,2543           00002                           TC       Q                                     #  NO OVFL
044818,000119: 15,2544           50000                           INDEX    A                                     
044819,000120: 15,2545           34673                           CAF      LIMITS                                
044820,000121: 15,2546           26001                           ADS      L                                     
044821,000122: 15,2547           00002                           TC       Q                                     
044822,000123: 
044823,000124:    6000                                           BLOCK    3                                     
044824,000125: 
044825,000126:    6000                                           COUNT    03/DAPEN                              
044826,000127: 
044827,000128:    6000           30007        FLUSHJET           CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
044828,000129:    6001           00006                           EXTEND                                         
044829,000130:    6002           01006                           WRITE    ROLLJETS                              #  ZERO CHANNEL 6
044830,000131:    6003           00006                           EXTEND                                         
044831,000132:    6004           01005                           WRITE    PYJETS                                #  ZERO CHANNEL 5
044832,000133:    6005           00002                           TC       Q                                     
044833,000134: 
044834,000135: 15,2550                                           BANK     15                                    
044835,000136: 
044836,000137: 15,2550                                           COUNT    15/DAPEN                              
044837,000138: 
044838,000139: 15,2000                                           SETLOC   ETRYDAP                               
044839,000140: 15,2000                                           BANK                                           
044840,000141: 
044841,000142: 15,2550           40000        RATEAVG            COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
044842,000143: 15,2551           61720                           AD       JETEM                                 #  OF CONSTANT ACCELERATION.
044843,000144: 15,2552           00006                           EXTEND                                         
044844,000145: 15,2553           74675                           MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
044845,000146: 15,2554           61720                           AD       JETEM                                 
044846,000147: 15,2555           00002                           TC       Q                                     
044847,000148: 

Page 1034

044849,000150:                                                                                                  #   THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
044850,000151: 
044851,000152: 20,3550                                           BANK     20                                    
044852,000153: 20,2000                                           SETLOC   DAPS1                                 
044853,000154: 20,2000                                           BANK                                           
044854,000155: 
044855,000156: 20,3550                                           COUNT    20/DAPEN                              
044856,000157: 
044857,000158: 20,3550  E6,1661                                  EBANK=   AOG                                   
044858,000159: 
044859,000160: 20,3550           34752        CM/DAPON           CA       EBAOG                                 
044860,000161: 20,3551           54003                           TS       EBANK                                 
044861,000162: 
044862,000163: 20,3552           05447                           TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
044863,000164: 20,3553           00132                           ADRES    DAPBIT1                               #  BIT 15  FLAG 6           CM FLAGS.
044864,000165: 20,3554           05447                           TC       DOWNFLAG                              #  RESET DAPBIT2
044865,000166: 20,3555           00133                           ADRES    DAPBIT2                               #  BIT 14  FLAG 6
044866,000167: 20,3556           00006                           EXTEND                                         
044867,000168: 20,3557           33675                           DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
044868,000169: 20,3560           53313                           DXCH     T5LOC                                 
044869,000170: 20,3561           00006                           EXTEND                                         
044870,000171: 20,3562           33675                           DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
044871,000172: 20,3563           53311                           DXCH     T6LOC                                 
044872,000173: 
044873,000174: 20,3564           06000                           TC       FLUSHJET                              #  JETS DEPARTED  ON SM. ZERO JET BITS.
044874,000175: 
044875,000176: 20,3565           47707                           CS       13,14,15                              
044876,000177: 20,3566           71466                           MASK     DAPDATR1                              #  SET  CONFIG  BITS =0 FOR ENTRY
044877,000178: 20,3567           55466                           TS       DAPDATR1                              
044878,000179: 20,3570           03574                           TC       +4                                    
044879,000180: 
044880,000181: 20,3571           34731        NOTYET             CA       .5SEC                                 
044881,000182: 20,3572           04555                           TC       BANKCALL                              
044882,000183: 20,3573           01730                           CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
044883,000184: 20,3574           34700                 +4        CA       BIT11                                 #  GAMDIFSW = 94D BIT11,  INITLY=0
044884,000185: 20,3575           70102                           MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
044885,000186: 20,3576           00006                           EXTEND                                         
044886,000187: 20,3577           13571                           BZF      NOTYET                                
044887,000188: 
044888,000189: 20,3600           44712                           CS       ONE                                   #  ACTIVATE CM/DAP
044889,000190: 20,3601           55501                           TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
044890,000191:                                                                                                  #                                          NEXT PASS.
044891,000192: 20,3602           55727                           TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
044892,000193:                                                                                                  #                                          HEADSUP IS SET IN P62.
044893,000194:                                                                                                  #                               FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
044894,000195: 
044895,000196: 20,3603           30007                           CA       7                                     
044896,000197: 20,3604           55711                           TS       JETAG                                 
044897,000198: 20,3605           55713                           TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
044898,000199:                                                                                                  #                                          IN CASE CMDAPMOD IS NOT +1.

Page 1035

044900,000201: 20,3606           00004                           INHINT                                         
044901,000202: 20,3607           00006                           EXTEND                                         
044902,000203: 20,3610           31666                           DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD
044903,000204: 20,3611           53604                           DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
044904,000205: 20,3612           31664                           CA       ROLL/180                              
044905,000206: 20,3613           55717                           TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
044906,000207: 20,3614           00006                           EXTEND                                         
044907,000208: 20,3615           74675                           MP       HALF                                  
044908,000209: 20,3616           55715                           TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
044909,000210: 
044910,000211: 20,3617           40102                           CS       CM/FLAGS                              
044911,000212: 20,3620           74677                           MASK     BIT12                                 #  CMDAPARM =93D BIT12  INITLY=0
044912,000213: 20,3621           26102                           ADS      CM/FLAGS                              #  SET BIT TO 1.
044913,000214: 
044914,000215: 20,3622           40076                           CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
044915,000216: 20,3623           74712                           MASK     BIT1                                  #  V 37 ENTRIES.
044916,000217: 20,3624           26076                           ADS      FLAGWRD2                              
044917,000218: 
044918,000219: 20,3625           00003                           RELINT                                         
044919,000220: 
044920,000221: 20,3626           04574                           TC       POSTJUMP                              
044921,000222: 20,3627           54342                           CADR     P62.1                                 
044922,000223: 

Page 1036

044924,000225:                                                                                                  #  INITIALIZE CM/DAP.   WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
044925,000226:                                                                                                  #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG  .
044926,000227:                                                                                                  #   CMDAPARM  = 0   , SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
044927,000228:                                                                                                  #  SET AVEGEXIT TO CONTINUE AT CM/POSE
044928,000229: 
044929,000230: 
044930,000231: 20,3630           34752        CM/DAPIC           CA       EBAOG                                 
044931,000232: 20,3631           54003                           TS       EBANK                                 
044932,000233: 
044933,000234: 20,3632           00004                           INHINT                                         
044934,000235: 20,3633           41205        CM/DAP2C           CS       PIPTIME    +1                         
044935,000236:                                                                                                  #                                          PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
044936,000237: 20,3634           55720                           TS       JETEM                                 
044937,000238: 
044938,000239: 20,3635           34675                           CA       POS1/2                                
044939,000240: 20,3636           64675                           AD       POS1/2                                
044940,000241: 20,3637           60025                           AD       TIME1                                 #  OVFL GUARANTEED
044941,000242: 20,3640           27720                           ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
044942,000243: 
044943,000244: 20,3641           44715                           CS       FIVE                                  
044944,000245: 20,3642           61720                           AD       JETEM                                 
044945,000246: 20,3643           10000                           CCS      A                                     
044946,000247: 20,3644           63673                           AD       -CDUT+1                               
044947,000248: 20,3645           13643                           TCF      -2                                    
044948,000249: 20,3646           13647                           NOOP                                           
044949,000250: 20,3647           64712                           AD       ONE                                   #  SEND NO ZERO TO WTLST
044950,000251: 20,3650           55725                           TS       CM/GYMDT                              #  FOR RESTART
044951,000252: 20,3651           05140                           TC       WAITLIST                              
044952,000253: 20,3652  E6,1661                                  EBANK=   AOG                                   
044953,000254: 20,3652           02454 32066                     2CADR    READGYMB                              
044954,000255: 
044955,000256: 20,3654           43672                           CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
044956,000257: 20,3655           70102                           MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
044957,000258: 20,3656           64377                           AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
044958,000259:                                                                                                  #                                          DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
044959,000260:                                                                                                  #                                          CALC. (P62.3) GOES TO ENDEXIT.
044960,000261: 20,3657           54102                           TS       CM/FLAGS                              
044961,000262: 
044962,000263: 20,3660           30007                           CA       7                                     
044963,000264: 20,3661           55666                           TS       BETA/180                              #  NECESSARY: NO OVFL CORRECTION
044964,000265: 20,3662           34712                           CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
044965,000266: 20,3663           54305                           TS       SW/NDX                                #    UPBUFF.
044966,000267: 
044967,000268: 20,3664           05261                           TC       2PHSCHNG                              #  DOES INHINT/RELINT
044968,000269: 20,3665           40116                           OCT      40116                                 #  SAVE TBASE6
044969,000270: 20,3666           05024                           OCT      05024                                 
044970,000271: 20,3667           13000                           OCT      13000                                 
044971,000272: 
044972,000273: 20,3670           04574                           TC       POSTJUMP                              

Page 1037

044974,000275: 20,3671           54326                           CADR     P62.2                                 
044975,000276: 
044976,000277: 20,3672           16017        CM/SWIC1           OCT      16017                                 
044977,000278: 20,3673     4377               CM/SWIC2           =        TEN                                   #  00012 : CM/DSTBY, LATSW
044978,000279: 20,3673           77766        -CDUT+1            OCT      77766                                 
044979,000280: 20,3674     1312                                  EBANK=   T5LOC                                 
044980,000281: 20,3674           03132 12062  T5IDLER1           2CADR    T5IDLOC                               
044981,000282: 

Page 1038

044983,000284:                                                                                                  #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
044984,000285:                                                                                                  #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED  P, Q, R.       REQUIREMENT:  TEMPORARY ERASE. JETEM, JETEM +1
044985,000286: 
044986,000287:                                                                                                  #           SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE  ENTRY DAPS. THAT IS,
044987,000288:                                                                                                  #  THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
044988,000289:                                                                                                  #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE  SECTION TIMETST HAS
044989,000290:                                                                                                  #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
044990,000291:                                                                                                  #  THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
044991,000292: 
044992,000293: 20,3676  E6,1661                                  EBANK=   AOG                                   
044993,000294: 15,2556                                           BANK     15                                    
044994,000295: 15,2000                                           SETLOC   ETRYDAP                               
044995,000296: 15,2000                                           BANK                                           
044996,000297: 
044997,000298: 15,2556                                           COUNT    15/DAPEN                              
044998,000299: 
044999,000300: 15,2556           31663        BODYRATE           CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
045000,000301: 15,2557           04767                           TC       SPCOS                                 
045001,000302: 15,2560           55511                           TS       COSM                                  
045002,000303: 
045003,000304: 15,2561           31661                           CA       AOG                                   #  C(AOG) = AOG/180
045004,000305: 15,2562           04770                           TC       SPSIN                                 #  SINO
045005,000306: 15,2563           55512                           TS       SINO                                  #  SINO = SIN(AOG)
045006,000307: 
045007,000308: 15,2564           00006                           EXTEND                                         
045008,000309: 15,2565           71511                           MP       COSM                                  
045009,000310: 15,2566           55514                           TS       SINOCOSM                              #  SO CM
045010,000311: 
045011,000312: 15,2567           31661                           CA       AOG                                   
045012,000313: 15,2570           04767                           TC       SPCOS                                 #  COSO
045013,000314: 15,2571           55513                           TS       COSO                                  
045014,000315: 
045015,000316: 15,2572           00006                           EXTEND                                         
045016,000317: 15,2573           71511                           MP       COSM                                  
045017,000318: 15,2574           55515                           TS       COSOCOSM                              #  CO CM
045018,000319: 
045019,000320:                                                                                                  #  PITCHDOT:    Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
045020,000321: 
045021,000322: 15,2575           41677                           CS       -DELAMG                               
045022,000323: 15,2576           00006                           EXTEND                                         
045023,000324: 15,2577           71512                           MP       SINO                                  
045024,000325: 15,2600           53721                           DXCH     JETEM                                 #  2 LOCS _
045025,000326: 15,2601           41676                           CS       -DELAIG                               
045026,000327: 15,2602           00006                           EXTEND                                         
045027,000328: 15,2603           71515                           MP       COSOCOSM                              
045028,000329: 15,2604           21721                           DAS      JETEM                                 
045029,000330: 15,2605           31720                           CA       JETEM                                 
045030,000331: 15,2606           57707                           XCH      OLDELQ                                
045031,000332: 15,2607           02550                           TC       RATEAVG                               
045032,000333: 15,2610           55702                           TS       QREL                                  #  PITCHDOT = Q TCDU/180
045033,000334: 

Page 1039

045035,000336:                                                                                                  #  YAWDOT:   R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
045036,000337: 
045037,000338: 15,2611           41677                           CS       -DELAMG                               
045038,000339: 15,2612           00006                           EXTEND                                         
045039,000340: 15,2613           71513                           MP       COSO                                  
045040,000341: 15,2614           53721                           DXCH     JETEM                                 
045041,000342: 15,2615           31676                           CA       -DELAIG                               
045042,000343: 15,2616           00006                           EXTEND                                         
045043,000344: 15,2617           71514                           MP       SINOCOSM                              
045044,000345: 15,2620           21721                           DAS      JETEM                                 
045045,000346: 15,2621           31720                           CA       JETEM                                 
045046,000347: 15,2622           57710                           XCH      OLDELR                                
045047,000348: 15,2623           02550                           TC       RATEAVG                               
045048,000349: 15,2624           55703                           TS       RREL                                  #  YAWDOT = R TCDU/180
045049,000350: 
045050,000351:                                                                                                  #  ROLLDOT:   P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
045051,000352: 
045052,000353: 15,2625           31663                           CA       AMG                                   
045053,000354: 15,2626           04770                           TC       SPSIN                                 
045054,000355: 15,2627           55510                           TS       SINM                                  
045055,000356: 
045056,000357: 15,2630           00006                           EXTEND                                         
045057,000358: 15,2631           71676                           MP       -DELAIG                               
045058,000359: 15,2632           55720                           TS       JETEM                                 
045059,000360: 15,2633           34714                           CA       ZERO                                  
045060,000361: 15,2634           20001                           DDOUBL                                         #  ROUND L INTO A
045061,000362: 15,2635           61675                           AD       -DELAOG                               
045062,000363: 15,2636           61720                           AD       JETEM                                 
045063,000364: 15,2637           40000                           CS       A                                     
045064,000365: 15,2640           55720                           TS       JETEM                                 
045065,000366: 15,2641           57706                           XCH      OLDELP                                
045066,000367: 15,2642           02550                           TC       RATEAVG                               
045067,000368: 15,2643           55701                           TS       PREL                                  #  ROLLDOT = P TCDU/180
045068,000369: 
045069,000370:                                                                                                  #                               IF GAMDOT  < 0.5 DEG/SEC, THEN GAMDOT =0
045070,000371: 
045071,000372: 15,2644           11723                           CCS      GAMDOT                                
045072,000373: 15,2645           02647                           TC       +2                                    
045073,000374: 15,2646           02671                           TC       NOGAMDUT                              
045074,000375: 15,2647           41664                           CS       ROLL/180                              
045075,000376: 15,2650           04770                           TC       SPSIN                                 
045076,000377: 15,2651           00006                           EXTEND                                         
045077,000378: 15,2652           71723                           MP       GAMDOT                                
045078,000379: 15,2653           55721                           TS       JETEM      +1                         #  -SR GAMDOT
045079,000380: 15,2654           00006                           EXTEND                                         
045080,000381: 15,2655           71507                           MP       SALFA                                 #  SIN(ALFA)
045081,000382: 15,2656           27701                           ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
045082,000383: 
045083,000384: 15,2657           31664                           CA       ROLL/180                              
045084,000385: 15,2660           04767                           TC       SPCOS                                 

Page 1040

045086,000387: 15,2661           40000                           COM                                            
045087,000388: 15,2662           00006                           EXTEND                                         
045088,000389: 15,2663           71723                           MP       GAMDOT                                
045089,000390: 15,2664           27702                           ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
045090,000391: 
045091,000392: 15,2665           41721                           CS       JETEM      +1                         #  B( ) = -SR GAMDOT
045092,000393: 15,2666           00006                           EXTEND                                         
045093,000394: 15,2667           71506                           MP       CALFA                                 #  COS(ALFA)
045094,000395: 15,2670           27703                           ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
045095,000396: 
045096,000397: 15,2671           34677        NOGAMDUT           CA       BIT12                                 #  CMDAPARM = 93D  BIT 12
045097,000398: 15,2672           70102                           MASK     CM/FLAGS                              
045098,000399: 15,2673           00006                           EXTEND                                         
045099,000400: 15,2674           15213        STBYDUMP           BZF      TASKOVER                              #  DAP NOT ARMED.
045100,000401: 
045101,000402: 15,2675           34672                           CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
045102,000403: 15,2676           54030                           TS       TIME5                                 
045103,000404: 
045104,000405: 15,2677           00006                           EXTEND                                         
045105,000406: 15,2700           32704                           DCA      ATDOTCAD                              
045106,000407: 15,2701           53313                           DXCH     T5LOC                                 
045107,000408:                                                                                                  #                               DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
045108,000409: 
045109,000410: 15,2702           05213                           TC       TASKOVER                              
045110,000411: 
045111,000412: 15,2703  E6,1661                                  EBANK=   AOG                                   
045112,000413: 15,2703           02705 32066  ATDOTCAD           2CADR    ATTRATES                              
045113,000414: 

Page 1041

045115,000416:                                                                                                  #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
045116,000417: 
045117,000418:                                                                                                  #           CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
045118,000419:                                                                                                  #           BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
045119,000420:                                                                                                  #           ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
045120,000421: 
045121,000422: 15,2705           22016        ATTRATES           LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
045122,000423: 15,2706           00006                           EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
045123,000424: 15,2707           22012                           QXCH     QRUPT                                 
045124,000425: 15,2710           30021                           CA       SR                                    
045125,000426: 15,2711           60000                           DOUBLE                                         
045126,000427: 15,2712           55623                           TS       CM/SAVE                               
045127,000428:                                                                                                  #                               DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
045128,000429: 
045129,000430: 15,2713           31702                           CA       QREL                                  
045130,000431: 15,2714           61665                           AD       ALFA/180                              
045131,000432: 15,2715           02542                           TC       ANGOVCOR                              
045132,000433: 15,2716           55665                           TS       ALFA/180                              
045133,000434: 15,2717           04767                           TC       SPCOS                                 
045134,000435: 15,2720           55506                           TS       CALFA                                 #  CALFA
045135,000436: 15,2721           55705                           TS       PHIDOT                                
045136,000437: 
045137,000438: 15,2722           00006                           EXTEND                                         
045138,000439: 15,2723           71701                           MP       PREL                                  
045139,000440: 15,2724           57705                           XCH      PHIDOT                                #  CA PREL
045140,000441: 15,2725           00006                           EXTEND                                         
045141,000442: 15,2726           71703                           MP       RREL                                  #  CA RREL
045142,000443: 15,2727           55704                           TS       BETADOT                               
045143,000444: 
045144,000445: 15,2730           31665                           CA       ALFA/180                              
045145,000446: 15,2731           04770                           TC       SPSIN                                 
045146,000447: 15,2732           55507                           TS       SALFA                                 #  SIN(ALFA)
045147,000448: 
045148,000449: 15,2733           00006                           EXTEND                                         
045149,000450: 15,2734           71703                           MP       RREL                                  #  SA RREL
045150,000451: 15,2735           27705                           ADS      PHIDOT                                #  CB PHIDOT, SAVED.
045151,000452: 
045152,000453: 15,2736           41507                           CS       SALFA                                 
045153,000454: 15,2737           00006                           EXTEND                                         
045154,000455: 15,2740           71701                           MP       PREL                                  
045155,000456: 15,2741           27704                           ADS      BETADOT                               #  SAVE BETADOT TCDU/180
045156,000457: 15,2742           27666                           ADS      BETA/180                              #  BETA DONE.
045157,000458: 
045158,000459: 15,2743           04770                           TC       SPSIN                                 
045159,000460: 15,2744           00006                           EXTEND                                         
045160,000461: 15,2745           71705                           MP       PHIDOT                                #  NEGLECT CB IN  CB PHIDOT
045161,000462: 15,2746           61665                           AD       ALFA/180                              
045162,000463: 15,2747           02542                           TC       ANGOVCOR                              
045163,000464: 15,2750           55665                           TS       ALFA/180                              #  ALFA DONE.
045164,000465: 

Page 1042

045166,000467: 15,2751           40000                           COM                                            
045167,000468: 15,2752           61603                           AD       ALFACOM                               
045168,000469: 15,2753           02542                           TC       ANGOVCOR                              #  JUST IN CASE ...
045169,000470: 15,2754           55477                           TS       AK1                                   
045170,000471: 15,2755           55572                           TS       QAXERR                                #  FOR PITCH FDAI   AND EDIT.
045171,000472: 
045172,000473: 15,2756           31705                           CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
045173,000474: 15,2757           61664                           AD       ROLL/180                              
045174,000475: 15,2760           02542                           TC       ANGOVCOR                              
045175,000476: 15,2761           55714                           TS       ROLLTM                                #  ROLL/180 FOR TM.
045176,000477: 15,2762           55664                           TS       ROLL/180                              #  ROLL DONE.
045177,000478: 
045178,000479:                                                                                                  #      START YAW AUTOPILOT HERE .  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
045179,000480: 
045180,000481: 15,2763           34710                           CA       BIT3                                  #  .05GSW =102D BIT3        SW=0, LESS .05G
045181,000482: 15,2764           70102                           MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
045182,000483: 15,2765           00006                           EXTEND                                         
045183,000484: 15,2766           13053                           BZF      EXDAP                                 #  IF G LESS THAN .05
045184,000485: 15,2767           44712                           CS       ONE                                   #  IF G GEQ  THAN .05
045185,000486: 15,2770           55700                           TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
045186,000487: 
045187,000488: 15,2771           55477                           TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
045188,000489: 15,2772           55500                           TS       AK2                                   #  IN ATM.  (MODE =-1)
045189,000490: 
045190,000491: 15,2773           31704                           CA       BETADOT                               
045191,000492: 15,2774           00006                           EXTEND                                         
045192,000493: 15,2775           11506                           DV       CALFA                                 
045193,000494: 15,2776           03043                           TC       2D/SDZ                                #  GO TEST DZ. GET TAG: +0 IF IN DZ
045194,000495: 15,2777           50000                           INDEX    A                                     #  +/- 1 IF NOT
045195,000496: 15,3000           33215                           CAF      YJETCODE                              
045196,000497: 
045197,000498: 15,3001           55720                           TS       JETEM                                 
045198,000499: 
045199,000500:                                                                                                  #     START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
045200,000501: 
045201,000502: 15,3002           31702                           CA       QREL                                  
045202,000503: 15,3003           03043                           TC       2D/SDZ                                
045203,000504: 15,3004           50000        EXDAPIN            INDEX    A                                     #  COME HERE FROM EX ATM DAP
045204,000505: 15,3005           33220                           CAF      P/RJCODE                              
045205,000506: 15,3006           27720                           ADS      JETEM                                 #  COMBINE ALL NEW BITS.
045206,000507: 
045207,000508: 15,3007           00006                           EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.
045208,000509: 15,3010           01005                           WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
045209,000510: 
045210,000511: 15,3011           11711                           CCS      JETAG                                 
045211,000512: 15,3012           03231                           TC       CM/RCS                                
045212,000513: 15,3013           03677                           TC       CM/FDAI                               
045213,000514: 15,3014           03677                           TC       CM/FDAI                               
045214,000515: 

Page 1043

045216,000517:                                                                                                  #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
045217,000518: 
045218,000519: 15,3015           10000        3DDZ               CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
045219,000520: 15,3016           63212                           AD       YAWLIM                                
045220,000521: 15,3017           13047                           TCF      DZCOM                                 
045221,000522: 15,3020           63212                           AD       YAWLIM                                
045222,000523: 15,3021           13050                           TCF      DZNOCOM                               
045223,000524: 
045224,000525:                                                                                                  #                               BIASED DZ FOR EXT ATM DAP.
045225,000526: 15,3022           55624        BIASEDZ            TS       JETEM2                                #  SAVE RATE/180. ERROR/180 IS IN L.
045226,000527: 15,3023           10000                           CCS      A                                     #  START ERROR DZ.
045227,000528: 15,3024           43211                           CS       CM/BIAS                               #  = .6/180
045228,000529: 15,3025           13027                           TCF      +2                                    
045229,000530: 15,3026           33211                           CA       CM/BIAS                               
045230,000531: 15,3027           60001                           AD       L                                     #  BIAS THE ERROR.
045231,000532: 15,3030           22002                           LXCH     Q                                     #  SAVE CALLERS RETURN ADDRESS.
045232,000533: 15,3031           03015                           TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
045233,000534: 15,3032           52002                           DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
045234,000535: 15,3033           11624        4D/SDZ             CCS      JETEM2                                #  CAME HERE IN EXT ATM. C(L) = ERROR BIT
045235,000536: 15,3034           63207                           AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
045236,000537: 15,3035           13037                           TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
045237,000538: 15,3036           63207                           AD       4D/SLIM                               
045238,000539: 15,3037           54000                           TS       A                                     
045239,000540: 15,3040           13042                           TCF      +2                                    #  RATE OK. CONTINUE
045240,000541: 15,3041           22007                           ZL                                             #  RATE GEQ 4 D/S. OVER RIDE ERROR BIT
045241,000542: 15,3042           57624                           XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
045242,000543: 
045243,000544: 15,3043           10000        2D/SDZ             CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
045244,000545: 15,3044           63210                           AD       YDOTLIM                               #  1.0 - YDOT DZ        ( OR PDOT)
045245,000546: 15,3045           13050                           TCF      +3                                    
045246,000547: 15,3046           63210                           AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
045247,000548: 15,3047           40000        DZCOM              COM                                            
045248,000549: 15,3050           55721        DZNOCOM            TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
045249,000550: 15,3051           34714                           CA       ZERO                                  #  SET C(A) = +0 INSIDE
045250,000551: 15,3052           00002                           TC       Q                                     
045251,000552: 

Page 1044

045253,000554:                                                                                                  #           EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
045254,000555: 
045255,000556:                                                                                                  #           1.    IF ABS(CALF) -C(45) POS, USE                             IF CALFA POS, CMDAPMOD= +0
045256,000557:                                                                                                  #             BETA:   YAW ERROR = SGN(CALF) (BETACOM -BETA)                IF CALFA NEG, CMDAPMOD =-0
045257,000558:                                                                                                  #                          RATE = BETADOT                                  IF CMDAPMOD =-0, RATE =  RREL
045258,000559:                                                                                                  #                        R-AXIS = CONTROL
045259,000560: 
045260,000561:                                                                                                  #             ROLL:   ROLL ERROR = SGN(CALF) (ROLLC - ROLL)                IF CMDAPMOD = -0, RATE DAMP ONLY.
045261,000562:                                                                                                  #                          RATE = PREL
045262,000563:                                                                                                  #                        P-AXIS = CONTROL
045263,000564: 
045264,000565:                                                                                                  #           2.    IF C(45) GEQ CALFA GEQ -C(45), USE                       CMDAPMOD = +1
045265,000566:                                                                                                  #             BETA:   ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
045266,000567:                                                                                                  #                          RATE = BETADOT
045267,000568:                                                                                                  #                        P-AXIS = CONTROL
045268,000569: 
045269,000570:                                                                                                  #             ROLL:   YAW ERROR = SGN(SALF) (ROLLC - ROLL)                 RATE DAMP ONLY.
045270,000571:                                                                                                  #                          RATE = RREL
045271,000572:                                                                                                  #                        R-AXIS = CONTROL
045272,000573: 
045273,000574:                                                                                                  #           3.    FOR ALL CASES, USE
045274,000575:                                                                                                  #             ALFA:   PITCH ERROR = (ALFACOM - ALFA)
045275,000576:                                                                                                  #                          RATE = QREL
045276,000577:                                                                                                  #                        Q-AXIS = CONTROL
045277,000578: 
045278,000579: 
045279,000580: 
045280,000581: 15,3053           55700        EXDAP              TS       CMDAPMOD                              #  +0 FOR NOW
045281,000582: 15,3054           41666                           CS       BETA/180                              
045282,000583: 15,3055           61604                           AD       BETACOM                               
045283,000584: 15,3056           55721                           TS       JETEM      +1                         #  PRESERVE THIS FOR A WHILE.
045284,000585: 
045285,000586: 15,3057           11506                           CCS      CALFA                                 
045286,000587: 15,3060           63213                           AD       C45LIM                                #  =1.0-COS(45)
045287,000588: 15,3061           13063                           TCF      +2                                    
045288,000589: 15,3062           63213                           AD       C45LIM                                
045289,000590: 15,3063           54000                           TS       A                                     
045290,000591: 15,3064           13143                           TCF      EXDAP2                                #  HERE IF ABS(CALFA)  L  COS(45)
045291,000592: 
045292,000593: 15,3065           11727                           CCS      P63FLAG                               
045293,000594: 15,3066           03101                           TC       EXDAP4                                
045294,000595: 15,3067           03071                           TC       +2                                    
045295,000596: 15,3070           03101                           TC       EXDAP4                                
045296,000597: 15,3071           05301                           TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
045297,000598: 15,3072           40334                           OCT      40334                                 
045298,000599: 15,3073           44712                           CS       ONE                                   
045299,000600: 15,3074           55727                           TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
045300,000601: 15,3075           33206                           CA       NSEC                                  
045301,000602: 15,3076           05140                           TC       WAITLIST                              
045302,000603: 15,3077  E6,1661                                  EBANK=   AOG                                   

Page 1045

045304,000605: 15,3077           02374 54066                     2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.
045305,000606: 
045306,000607:                                                                                                  #                                          65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
045307,000608:                                                                                                  #                                          TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
045308,000609: 
045309,000610: 15,3101           11711        EXDAP4             CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
045310,000611: 15,3102           13110                           TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
045311,000612: 15,3103           13110                           TCF      EXDAP3                                
045312,000613: 15,3104           34714                           CA       ZERO                                  
045313,000614: 15,3105           00006                           EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
045314,000615: 15,3106           01006                           WRITE    ROLLJETS                              #  UNTIL START OF 2 SEC CM/RCS CYCLE
045315,000616: 15,3107           55711                           TS       JETAG                                 #  RESTORE PROPER VALUE +0
045316,000617: 
045317,000618:                                                                                                  #                               ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
045318,000619: 15,3110           11506        EXDAP3             CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
045319,000620: 15,3111           31721                           CA       JETEM      +1                         
045320,000621: 15,3112           13116                           TCF      EXDAP1                                
045321,000622: 15,3113           44714                           CS       ZERO                                  
045322,000623: 15,3114           55700                           TS       CMDAPMOD                              #  FOR CM/RCS
045323,000624: 15,3115           41721                           CS       JETEM      +1                         
045324,000625: 15,3116           55573        EXDAP1             TS       RAXERR                                #  FOR YAW FDAI
045325,000626: 15,3117           55500                           TS       AK2                                   #  WANT RAXERR FOR TM.
045326,000627: 15,3120           54001                           TS       L                                     
045327,000628: 15,3121           11700                           CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
045328,000629: 15,3122           03125                           TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
045329,000630: 15,3123           34712                           CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
045330,000631: 15,3124           50000                           INDEX    A                                     #  OTHERWISE USE RREL.
045331,000632: 15,3125           31703                           CA       RREL                                  
045332,000633: 15,3126           03022                           TC       BIASEDZ                               #  GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
045333,000634:                                                                                                  #                                          IF GEQ 4D/S, SET ERROR BIT IN L =0)
045334,000635: 15,3127           00006                           EXTEND                                         
045335,000636: 15,3130           04001                           ROR      LCHAN                                 #  L HAS BETA BIT
045336,000637: 15,3131           50000                           INDEX    A                                     
045337,000638: 15,3132           33215                           CAF      YJETCODE                              
045338,000639: 15,3133           55720                           TS       JETEM                                 
045339,000640: 
045340,000641: 15,3134           31572                           CA       QAXERR                                #  ALFA ERROR.
045341,000642: 15,3135           54001                           TS       L                                     
045342,000643: 15,3136           31702                           CA       QREL                                  #  FOR ALFADOT USE QREL
045343,000644: 15,3137           03022                           TC       BIASEDZ                               
045344,000645: 15,3140           00006                           EXTEND                                         
045345,000646: 15,3141           04001                           ROR      LCHAN                                 
045346,000647: 15,3142           13004                           TCF      EXDAPIN                               #  CONTINUE ON IN DAP
045347,000648: 
045348,000649: 15,3143           25700        EXDAP2             INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
045349,000650: 
045350,000651: 15,3144           44712                           CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
045351,000652: 15,3145           55711                           TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
045352,000653:                                                                                                  #                                          =0 AND JETAG =-1, QUENCHES JETS IF ON)
045353,000654: 

Page 1046

045355,000656: 15,3146           11727                           CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
045356,000657: 15,3147           55727                           TS       P63FLAG                               
045357,000658: 15,3150           13151                           NOOP                                           
045358,000659: 
045359,000660: 15,3151           11507                           CCS      SALFA                                 #  BETA CONTROL WITH P JETS
045360,000661: 15,3152           41721                           CS       JETEM      +1                         
045361,000662: 15,3153           13155                           TCF      +2                                    
045362,000663: 15,3154           31721                           CA       JETEM      +1                         
045363,000664: 15,3155           55713                           TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
045364,000665: 15,3156           00006                           EXTEND                                         
045365,000666: 15,3157           74675                           MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
045366,000667: 15,3160           57713                           XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
045367,000668: 15,3161           54001                           TS       L                                     
045368,000669: 15,3162           11507                           CCS      SALFA                                 
045369,000670: 15,3163           41704                           CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
045370,000671: 15,3164           03166                           TC       +2                                    
045371,000672: 15,3165           31704                           CA       BETADOT                               
045372,000673: 15,3166           03022                           TC       BIASEDZ                               
045373,000674: 15,3167           00006                           EXTEND                                         
045374,000675: 15,3170           04001                           ROR      LCHAN                                 
045375,000676: 15,3171           50000                           INDEX    A                                     
045376,000677: 15,3172           33220                           CAF      P/RJCODE                              #  GET ROLL CODE
045377,000678: 15,3173           00006                           EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
045378,000679: 15,3174           01006                           WRITE    ROLLJETS                              #  WE,LL SKIP REGULAR ROLL SYST
045379,000680: 
045380,000681: 15,3175           31717                           CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
045381,000682: 15,3176           00006                           EXTEND                                         
045382,000683: 15,3177           21664                           MSU      ROLL/180                              #  1,S COMPL, BUT SO WHATS A BIT.?
045383,000684: 15,3200           54001                           TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
045384,000685: 15,3201           11507                           CCS      SALFA                                 
045385,000686: 15,3202           30001                           CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
045386,000687: 15,3203           03116                           TC       EXDAP1                                
045387,000688: 15,3204           40001                           CS       L                                     
045388,000689: 15,3205           03116                           TC       EXDAP1                                
045389,000690: 
045390,000691: 15,3206           04064        NSEC               DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
045391,000692:                                                                                                  #                               IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
045392,000693: 15,3207           37734        4D/SLIM            DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
045393,000694: 15,3210           37756        YDOTLIM            DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
045394,000695:                                                                                                  #                                          YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
045395,000696: 
045396,000697: 15,3211           00067        CM/BIAS            DEC      55         B-14                       #  =.6/180 B14  = 55
045397,000698: 15,3212           37267        YAWLIM             DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
045398,000699: 15,3213           11277        C45LIM             DEC      .29289                                #  =1.0-COS(45)
045399,000700: 
045400,000701:                                                                                                  #  JET CODE TABLES FOLLOW _
045401,000702: 
045402,000703: 15,3214           00120                           OCTAL    00120                                 #  POS Y
045403,000704: 15,3215           00000        YJETCODE           OCTAL    00000                                 #  RCS JET BITS
045404,000705: 15,3216           00240                           OCTAL    00240                                 #  NEG Y

Page 1047

045406,000707: 15,3217           00005                           OCTAL    00005                                 #  POS R JET BITS    ALSO POS P JET BITS
045407,000708: 15,3220           00000        P/RJCODE           OCTAL    00000                                 
045408,000709: 15,3221           00012                           OCTAL    00012                                 #  NEG R             ALSO NEG P
045409,000710: 

Page 1048

045411,000712:                                                                                                  #  RCS        THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
045412,000713:                                                                                                  #  THE TASK SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE WILL BE
045413,000714:                                                                                                  #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.   THE
045414,000715:                                                                                                  #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
045415,000716:                                                                                                  #  NEXT UPDATE.
045416,000717: 
045417,000718: 15,3222           40025        SETJTAG            CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
045418,000719: 15,3223           55712                           TS       TUSED                                 
045419,000720:                                                                                                  #                                           THE 5 CS APPEARS IN TIMETST.
045420,000721: 15,3224           34712                           CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
045421,000722: 15,3225           55711                           TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
045422,000723: 15,3226           05301                           TC       PHASCHNG                              
045423,000724: 15,3227           00001                           OCT      00001                                 
045424,000725: 
045425,000726: 15,3230           05213                           TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
045426,000727: 
045427,000728:                                                                                                  #  PREDICTIVE ROLL SYSTEM    ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
045428,000729:                                                                                                  #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
045429,000730:                                                                                                  #  THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T  (2 SEC) ARE ENTERED IN
045430,000731:                                                                                                  #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
045431,000732: 
045432,000733: 15,3231     4674               HALFPR             EQUALS   NEG1/2     +1                         
045433,000734: 
045434,000735:                                                                                                  #                               CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
045435,000736:                                                                                                  #                               ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
045436,000737:                                                                                                  #                               MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
045437,000738:                                                                                                  #                               IF A RESTART OCCURS AFTER TIMETST COMMENCES.
045438,000739: 
045439,000740: 15,3231           44712        CM/RCS             CS       ONE                                   
045440,000741: 15,3232           55617                           TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
045441,000742: 
045442,000743: 15,3233           44726                           CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
045443,000744: 15,3234           00006                           EXTEND                                         
045444,000745: 15,3235           71701                           MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
045445,000746: 15,3236           60001                           AD       L                                     #  -2 RDOT T/180 IN L
045446,000747: 15,3237           55613                           TS       -VT/180                               #  SAVE -2VT/180 HERE
045447,000748: 
045448,000749: 15,3240           41664                           CS       ROLL/180                              
045449,000750: 15,3241           54021                           TS       SR                                    #  SAVE (-R/180) /2
045450,000751: 
045451,000752: 15,3242           40102                           CS       CM/FLAGS                              
045452,000753: 15,3243           74707                           MASK     BIT4                                  #  LATSW = 101D BIT4
045453,000754: 15,3244           00006                           EXTEND                                         #  ROLL OVER TOP $
045454,000755: 15,3245           13253                           BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
045455,000756: 15,3246           26102                           ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
045456,000757: 15,3247           31715                           CA       ROLLC                                 #  (ROLLC/180) /2
045457,000758: 15,3250           60021                           AD       SR                                    #  -(R/180) /2
045458,000759: 15,3251           57614                           XCH      LCX/360                               #  DIFFERENT X REQD HERE. DISCONT AT 180.
045459,000760: 15,3252           13313                           TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
045460,000761: 

Page 1049

045462,000763: 15,3253           34675        GETLCX             CA       POS1/2                                #  FORM RCOM/360
045463,000764: 15,3254           60000                           DOUBLE                                         
045464,000765: 15,3255           61715                           AD       ROLLC                                 
045465,000766: 15,3256           57614                           XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
045466,000767: 
045467,000768: 15,3257           30021                           CA       SR                                    #  FORM -R/360
045468,000769: 15,3260           64673                           AD       NEG1/2                                
045469,000770: 15,3261           64673                           AD       NEG1/2                                #  IGNORE OVFL
045470,000771: 15,3262           57614                           XCH      LCX/360                               #  -R/360
045471,000772: 15,3263           27614                           ADS      LCX/360                               #  LCX/360 = RCOM/360 -R/360  RANGE (-1,1)
045472,000773: 
045473,000774:                                                                                                  #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2            OVFL   ?
045474,000775: 
045475,000776: 15,3264           11613                           CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
045476,000777: 15,3265           64712                           AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
045477,000778: 15,3266           13270                           TCF      +2                                    
045478,000779: 15,3267           64712                           AD       ONE                                   
045479,000780: 15,3270           00006                           EXTEND                                         
045480,000781: 15,3271           71613                           MP       -VT/180                               #  C(-VT/180) = -2 VT/180
045481,000782: 15,3272           00006                           EXTEND                                         
045482,000783: 15,3273           73754                           MP       1/16A1                                #  = 180/(16 A1 TT )
045483,000784: 15,3274           00006                           EXTEND                                         
045484,000785: 15,3275           11506                           DV       CALFA                                 
045485,000786: 15,3276           54001                           TS       L                                     
045486,000787: 15,3277           11614                           CCS      LCX/360                               
045487,000788: 15,3300           34675                           CAF      POS1/2                                
045488,000789: 15,3301           13303                           TCF      +2                                    
045489,000790: 15,3302           44675                           CS       POS1/2                                
045490,000791: 15,3303           61614                           AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG  $
045491,000792: 15,3304           60001                           AD       L                                     
045492,000793: 15,3305           54001                           TS       L                                     
045493,000794: 15,3306           13313                           TCF      COMPAT                                #  YES, GO ON.
045494,000795: 15,3307           50000        TRTAGXPI           INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
045495,000796: 15,3310           44674                           CS       HALFPR                                #  +A YIELDS -1/2
045496,000797: 15,3311           60000                           DOUBLE                                         
045497,000798: 15,3312           27614                           ADS      LCX/360                               
045498,000799: 
045499,000800: 15,3313           31614        COMPAT             CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
045500,000801: 15,3314           00006                           EXTEND                                         
045501,000802: 15,3315           71506                           MP       CALFA                                 #  COS ALFA
045502,000803: 15,3316           55614                           TS       LCX/360                               #  SCALED LCX OK HERE.
045503,000804: 
045504,000805: 15,3317           11700                           CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
045505,000806: 15,3320           03675                           TC       DZCALL1                               #  EXIT, SETTING JETAG=0.(C(A)=0)
045506,000807:                                                                                                  #                                          ALL 3 AXES ALREADY DONE.
045507,000808: 15,3321           03322                           TC       +1                                    #  G LESS THAN .05. CA POS. CONTINUE
045508,000809: 15,3322           31614                           CA       LCX/360                               #  G GEQ .05. CONTINUE IN CM/RCS
045509,000810: 15,3323           55614                           TS       LCX/360                               #  CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
045510,000811: 15,3324           55713                           TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.(  /360)
045511,000812: 

Page 1050

045513,000814: 15,3325           31613                           CA       -VT/180                               #  GET - 2 VT/180
045514,000815: 15,3326           54021                           TS       SR                                    
045515,000816: 15,3327           30021                           CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
045516,000817: 15,3330           55570                           TS       -VT/180E                              #                         DIAGNOSTIC  ****
045517,000818: 15,3331           57613                           XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
045518,000819: 15,3332           00006                           EXTEND                                         
045519,000820: 15,3333           71613                           MP       -VT/180                               #  B(A) = -2VT/180
045520,000821: 15,3334           00006                           EXTEND                                         
045521,000822: 15,3335           73754                           MP       180/8ATT                              
045522,000823: 15,3336           55616                           TS       VSQ/4API                              
045523,000824: 
045524,000825:                                                                                                  #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     - .5 BUFLIM/360   POS  ?
045525,000826: 
045526,000827: 15,3337           60000        WHICHALF           DOUBLE                                         #  FOR SECOND BURN,  A1
045527,000828: 15,3340           40000                           COM                                            
045528,000829: 15,3341           63761                           AD       BUFLIM                                #  =BUFLIM/(2 360)
045529,000830: 15,3342           54001                           TS       L                                     
045530,000831: 15,3343           11613                           CCS      -VT/180                               
045531,000832: 15,3344           40001                           CS       L                                     
045532,000833: 15,3345           13347                           TCF      +2                                    
045533,000834: 15,3346           30001                           CA       L                                     
045534,000835: 15,3347           61614                           AD       LCX/360                               
045535,000836: 15,3350           63761                           AD       BUFLIM                                
045536,000837: 15,3351           00006                           EXTEND                                         
045537,000838: 15,3352           63367                           BZMF     REFLECT                               #  POINT (X,V) IN LHP.
045538,000839: 
045539,000840:                                                                                                  #    IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 )  -X/360     + .5 BUFLIM/360   NEG  ?
045540,000841: 
045541,000842: 15,3353           40000                           COM                                            
045542,000843: 15,3354           63761                           AD       BUFLIM                                
045543,000844: 15,3355           63761                           AD       BUFLIM                                
045544,000845: 15,3356           00006                           EXTEND                                         
045545,000846: 15,3357           63376                           BZMF     DZ1                                   #  POINT (X,V) IN RHP.
045546,000847: 
045547,000848:                                                                                                  #    IS POINT WITHIN VELOCITY DZ ?
045548,000849: 
045549,000850: 15,3360           43753                           CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  ?
045550,000851: 15,3361           61616                           AD       VSQ/4API                              
045551,000852: 15,3362           00006                           EXTEND                                         
045552,000853: 15,3363           63671                           BZMF     DZCALL                                #  YES.
045553,000854: 
045554,000855:                                                                                                  #        POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
045555,000856: 
045556,000857: 15,3364           41617                           CS       JNDX                                  
045557,000858: 15,3365           55620                           TS       JNDX1                                 
045558,000859: 15,3366           03451                           TC       OVRLINE1                              
045559,000860: 
045560,000861: 15,3367           41613        REFLECT            CS       -VT/180                               #  REFLECT LHP INTO RHP REL TO TERM CONTR
045561,000862: 15,3370           55613                           TS       -VT/180                               
045562,000863: 15,3371           54021                           TS       SR                                    #  -VT/360  SAVED FOR DZ.

Page 1051

045564,000865: 15,3372           41614                           CS       LCX/360                               
045565,000866: 15,3373           55614                           TS       LCX/360                               
045566,000867: 15,3374           41617                           CS       JNDX                                  
045567,000868: 15,3375           55617                           TS       JNDX                                  
045568,000869: 
045569,000870:                                                                                                  #   IS VSQ/4API - (VSQ/4API) MIN  NEG   $
045570,000871: 
045571,000872: 15,3376           43753        DZ1                CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN  NEG  $
045572,000873: 15,3377           61616                           AD       VSQ/4API                              
045573,000874: 15,3400           00006                           EXTEND                                         
045574,000875: 15,3401           63403                           BZMF     DZ2                                   #  YES, GO TEST FURTHER.
045575,000876: 15,3402           13410                           TCF      MAXVTEST                              #  NO
045576,000877: 
045577,000878:                                                                                                  #   IS X/360 - XMIN/360 -VT/360  NEG  $
045578,000879: 
045579,000880: 15,3403           43757        DZ2                CS       XMIN/360                              #  XMIN/360 = 4/360
045580,000881: 15,3404           61614                           AD       LCX/360                               
045581,000882: 15,3405           60021                           AD       SR                                    #  C(SR) = -VT/360
045582,000883: 15,3406           00006                           EXTEND                                         #  IS X/360 - XMIN/360 -VT/360  NEG  $
045583,000884: 15,3407           63671                           BZMF     DZCALL                                #  YES,IN DZ. EXIT SETTING JETAG=0.
045584,000885: 
045585,000886:                                                                                                  #   IS XD/360 - VM/360K - XS/360   POS   ?
045586,000887: 
045587,000888: 15,3410           41617        MAXVTEST           CS       JNDX                                  
045588,000889: 15,3411           55620                           TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
045589,000890: 15,3412           43761                           CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
045590,000891: 15,3413           61616                           AD       VSQ/4API                              
045591,000892: 15,3414           61614                           AD       LCX/360                               
045592,000893: 15,3415           55615                           TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
045593,000894:                                                                                                  #                                          BUT C(XD/360) = (XD - XS) /360
045594,000895: 15,3416           63760                           AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
045595,000896: 15,3417           40000                           COM                                            
045596,000897: 15,3420           00006                           EXTEND                                         
045597,000898: 15,3421           63427                           BZMF     MAXVTIM1                              #  YES, THRUST TO VM
045598,000899: 15,3422           31615                           CA       XD/360                                
045599,000900: 15,3423           00006                           EXTEND                                         
045600,000901: 15,3424           74675                           MP       KTRCS                                 
045601,000902: 15,3425           20001                           DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
045602,000903: 
045603,000904: 15,3426           03432                           TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
045604,000905: 15,3427           00006        MAXVTIM1           EXTEND                                         
045605,000906: 15,3430           22007                           ZQ                                             #  SET +0 AS TAG
045606,000907: 15,3431           33755                           CA       VMT/180                               
045607,000908: 15,3432           55567        GETON1             TS       VDT/180                               #  VDT/180 OR VMT/180.
045608,000909: 15,3433           61613                           AD       -VT/180                               
045609,000910: 15,3434           60000                           DOUBLE                                         
045610,000911: 15,3435           00006                           EXTEND                                         
045611,000912: 15,3436           73754                           MP       180/8ATT                              
045612,000913: 15,3437           55621                           TS       TON1                                  #  TON1 / 4T
045613,000914: 

Page 1052

045615,000916: 15,3440           00006                           EXTEND                                         
045616,000917: 15,3441           63443                           BZMF     OVRLINE                               
045617,000918: 15,3442           03455                           TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
045618,000919: 
045619,000920: 15,3443           10002        OVRLINE            CCS      Q                                     
045620,000921: 15,3444           13451                           TCF      OVRLINE1                              
045621,000922: 15,3445           31620        MAXVTIM2           CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
045622,000923: 15,3446           55617                           TS       JNDX                                  
045623,000924: 15,3447           41621                           CS       TON1                                  
045624,000925: 15,3450           13454                           TCF      OVRLINE2   +1                         
045625,000926: 
045626,000927: 15,3451           41613        OVRLINE1           CS       -VT/180                               #  DRIFT AT V
045627,000928: 15,3452           55567                           TS       VDT/180                               
045628,000929: 15,3453           34714        OVRLINE2           CA       ZERO                                  
045629,000930: 15,3454           55621                           TS       TON1                                  
045630,000931: 15,3455           31567        GETON2             CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
045631,000932: 15,3456           60000                           DOUBLE                                         
045632,000933: 15,3457           00006                           EXTEND                                         
045633,000934: 15,3460           73754                           MP       180/8ATT                              
045634,000935: 15,3461           60000                           DOUBLE                                         #  FOR SECOND BURN, A1
045635,000936: 15,3462           55607                           TS       TON2                                  #  = TON2 / 4T
045636,000937: 
045637,000938: 15,3463           40000                           COM                                            
045638,000939: 15,3464           00006                           EXTEND                                         
045639,000940: 15,3465           63471                           BZMF     GETOFF                                
045640,000941: 15,3466           55607                           TS       TON2                                  
045641,000942: 15,3467           31617                           CA       JNDX                                  
045642,000943: 15,3470           55620                           TS       JNDX1                                 
045643,000944: 
045644,000945: 15,3471           41607        GETOFF             CS       TON2                                  #  TON2 / 4T
045645,000946: 15,3472           00006                           EXTEND                                         
045646,000947: 15,3473           71567                           MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
045647,000948: 15,3474           55615                           TS       XD/360                                #  USE AS TEMP
045648,000949: 15,3475           41567                           CS       VDT/180                               
045649,000950: 15,3476           00006                           EXTEND                                         
045650,000951: 15,3477           13513                           BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
045651,000952: 15,3500           61613                           AD       -VT/180                               
045652,000953: 15,3501           00006                           EXTEND                                         
045653,000954: 15,3502           71621                           MP       TON1                                  #  TON1 /4T
045654,000955: 15,3503           61615                           AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
045655,000956: 15,3504           61614                           AD       LCX/360                               
045656,000957: 15,3505           22007                           ZL                                             
045657,000958: 15,3506           56001                           XCH      L                                     #  TEST THE DIVIDE
045658,000959: 15,3507           00006                           EXTEND                                         
045659,000960: 15,3510           11567                           DV       VDT/180                               
045660,000961: 15,3511           00006                           EXTEND                                         
045661,000962: 15,3512           13515                           BZF      GETOFF2                               #  DIVIDE OK
045662,000963: 
045663,000964: 15,3513           34740        TOFFOVFL           CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
045664,000965: 15,3514           13522                           TCF      TIMSCAL                               

Page 1053

045666,000967: 15,3515           56001        GETOFF2            XCH      L                                     #  GET NUMERATOR.
045667,000968: 15,3516           00006                           EXTEND                                         
045668,000969: 15,3517           11567                           DV       VDT/180                               #  C(A) = TOFF / 2T
045669,000970: 15,3520           00006                           EXTEND                                         
045670,000971: 15,3521           74740                           MP       2JETT                                 
045671,000972: 15,3522           55605        TIMSCAL            TS       TOFF                                  #  IN CS
045672,000973: 
045673,000974: 15,3523           33756                           CAF      4JETT                                 
045674,000975: 15,3524           00006                           EXTEND                                         
045675,000976: 15,3525           71621                           MP       TON1                                  #  C(TON1) = TON1 / 4T
045676,000977: 15,3526           55621                           TS       TON1                                  #   IN CS
045677,000978: 
045678,000979: 15,3527           33756                           CAF      4JETT                                 
045679,000980: 15,3530           00006                           EXTEND                                         
045680,000981: 15,3531           71607                           MP       TON2                                  #  C(TON2) = TON2 / 4T
045681,000982: 15,3532           55607                           TS       TON2                                  #  IN CS
045682,000983: 
045683,000984: 15,3533           34714                           CA       ZERO                                  #  CANNOT REDO AFTER TIMETST. TUSED GONE
045684,000985: 15,3534           55711                           TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
045685,000986: 
045686,000987:                                                                                                  #                               CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
045687,000988:                                                                                                  #                               INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
045688,000989:                                                                                                  #                               AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
045689,000990: 
045690,000991: 15,3535           34712                           CA       ONE                                   
045691,000992: 15,3536           54305                           TS       SW/NDX                                
045692,000993: 

Page 1054

045694,000995:                                                                                                  #  TIMETEST SECTION FOR RCS
045695,000996:                                                                                                  #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
045696,000997:                                                                                                  #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
045697,000998:                                                                                                  #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS  2 CS) AND
045698,000999:                                                                                                  #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T  (2 SEC).
045699,001000:                                                                                                  #  TIMETST  ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME  INTERVALS. THUS: TON1, T1BITS,
045700,001001:                                                                                                  #  TOFF, TBITS,  TON2, T2BITS.   OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
045701,001002:                                                                                                  #  SECTION JETCALL  BELOW PROCESSES THIS LIST.
045702,001003: 
045703,001004: 15,3537           30025        TIMETST            CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
045704,001005: 15,3540           64675                           AD       POS1/2                                
045705,001006: 15,3541           64675                           AD       POS1/2                                #  OVFL GUARANTEED.
045706,001007: 15,3542           27712                           ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
045707,001008: 
045708,001009: 15,3543           33752                           CA       -T-3                                  #  =-T +2 -5  (SEE SETJTAG)
045709,001010:                                                                                                  #                                          THE +2 REQUIRED FOR PROPER BRANCH.
045710,001011: 15,3544           27712                           ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
045711,001012: 
045712,001013: 15,3545           44711                           CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
045713,001014: 15,3546           61621                           AD       TON1                                  
045714,001015: 15,3547           00006                           EXTEND                                         
045715,001016: 15,3550           63562                           BZMF     TIMETST1                              
045716,001017: 15,3551           51617                           INDEX    JNDX                                  
045717,001018: 15,3552           33220                           CAF      P/RJCODE                              
045718,001019: 15,3553           55622                           TS       T1BITS                                
045719,001020: 
045720,001021: 15,3554           31621                           CA       TON1                                  
045721,001022: 15,3555           27712                           ADS      TUSED                                 
045722,001023: 15,3556           00006                           EXTEND                                         
045723,001024: 15,3557           63564                           BZMF     TOFFTEST                              
045724,001025: 15,3560           34714                           CA       ZERO                                  
045725,001026: 15,3561           13615                           TCF      TIMETST3                              
045726,001027: 15,3562           44712        TIMETST1           CS       ONE                                   
045727,001028: 15,3563           55621                           TS       TON1                                  
045728,001029: 15,3564           44711        TOFFTEST           CS       TWO                                   
045729,001030: 15,3565           61605                           AD       TOFF                                  
045730,001031: 15,3566           00006                           EXTEND                                         
045731,001032: 15,3567           63576                           BZMF     TIMETST2                              
045732,001033: 15,3570           31605                           CA       TOFF                                  
045733,001034: 15,3571           27712                           ADS      TUSED                                 
045734,001035: 15,3572           00006                           EXTEND                                         
045735,001036: 15,3573           63600                           BZMF     TON2TEST                              
045736,001037: 15,3574           34714                           CA       ZERO                                  
045737,001038: 15,3575           13617                           TCF      TIMETST4                              
045738,001039: 15,3576           44712        TIMETST2           CS       ONE                                   
045739,001040: 15,3577           55605                           TS       TOFF                                  
045740,001041: 15,3600           44711        TON2TEST           CS       TWO                                   
045741,001042: 15,3601           61607                           AD       TON2                                  
045742,001043: 15,3602           00006                           EXTEND                                         
045743,001044: 15,3603           63620                           BZMF     TIMETST5                              

Page 1055

045745,001046: 15,3604           51620                           INDEX    JNDX1                                 
045746,001047: 15,3605           33220                           CAF      P/RJCODE                              
045747,001048: 15,3606           55610                           TS       T2BITS                                
045748,001049: 15,3607           31607                           CA       TON2                                  
045749,001050: 15,3610           27712                           ADS      TUSED                                 
045750,001051: 15,3611           00006                           EXTEND                                         
045751,001052: 15,3612           63622                           BZMF     JETCALL1                              
045752,001053: 15,3613           34714                           CA       ZERO                                  
045753,001054: 15,3614           13621                           TCF      TIMETST5   +1                         
045754,001055: 15,3615           55621        TIMETST3           TS       TON1                                  
045755,001056: 15,3616           44712                           CS       ONE                                   
045756,001057: 15,3617           55605        TIMETST4           TS       TOFF                                  
045757,001058: 15,3620           44712        TIMETST5           CS       ONE                                   
045758,001059: 15,3621           55607                           TS       TON2                                  
045759,001060: 
045760,001061:                                                                                                  #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
045761,001062:                                                                                                  #  JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
045762,001063:                                                                                                  #  EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE  CORRESPONDING JET BITS ARE TO BE
045763,001064:                                                                                                  #  EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE 
045764,001065:                                                                                                  #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
045765,001066:                                                                                                  #  THAN ONE REGISTER.
045766,001067: 
045767,001068: 15,3622           34714        JETCALL1           CA       ZERO                                  
045768,001069: 15,3623           55611                           TS       OUTTAG                                
045769,001070: 15,3624           55612                           TS       NUJET                                 
045770,001071: 15,3625           55606                           TS       TBITS                                 
045771,001072: 15,3626           53622                           DXCH     TON1                                  
045772,001073: 15,3627           10000                           CCS      A                                     
045773,001074: 15,3630           13645                           TCF      JETCALL2                              #  CALL WTLST
045774,001075: 15,3631           23612        JETCALL3           LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
045775,001076: 15,3632           44712                           CS       ONE                                   
045776,001077: 15,3633           53606                           DXCH     TOFF                                  
045777,001078: 15,3634           10000                           CCS      A                                     
045778,001079: 15,3635           13645                           TCF      JETCALL2                              #  CALL WTLST
045779,001080: 15,3636           23612                           LXCH     NUJET                                 
045780,001081: 15,3637           44712                           CS       ONE                                   
045781,001082: 15,3640           53610                           DXCH     TON2                                  
045782,001083: 15,3641           10000                           CCS      A                                     
045783,001084: 15,3642           13645                           TCF      JETCALL2                              #  CALL WTLST
045784,001085: 15,3643           23612                           LXCH     NUJET                                 
045785,001086: 15,3644           03654                           TC       JETACTN                               #  C(A) = +0
045786,001087: 15,3645           56001        JETCALL2           XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
045787,001088: 15,3646           27612                           ADS      NUJET                                 
045788,001089: 15,3647           56001                           XCH      L                                     
045789,001090: 15,3650           64712                           AD       ONE                                   #  RESTORE FOR CCS
045790,001091: 15,3651           05140                           TC       WAITLIST                              
045791,001092: 15,3652  E6,1661                                  EBANK=   AOG                                   
045792,001093: 15,3652           03662 32066                     2CADR    JETCALL                               
045793,001094: 15,3654           31612        JETACTN            CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN

Page 1056

045795,001096: 15,3655           00006                           EXTEND                                         #  NO NEED TO SAVE OLD CODES
045796,001097: 15,3656           01006                           WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.
045797,001098: 
045798,001099: 15,3657           11611                           CCS      OUTTAG                                
045799,001100: 15,3660           05213                           TC       TASKOVER                              
045800,001101: 15,3661           03711        ROLLDUMP           TC       CM/FDAIR                              
045801,001102: 
045802,001103:                                                                                                  #                               EDIT DUMP AT ABOVE LOCATION.
045803,001104: 
045804,001105:                                                                                                  #   WAITLIST ENTRIES COME HERE.
045805,001106: 
045806,001107: 15,3662           34711        JETCALL            CAF      BIT2                                  #  CM/DSTBY =103D BIT2
045807,001108: 15,3663           55611                           TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
045808,001109: 15,3664           70102                           MASK     CM/FLAGS                              #  IS SYSTEM DISABLED  $
045809,001110: 15,3665           00006                           EXTEND                                         
045810,001111: 15,3666           13655                           BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS,IF ON AND EXIT.
045811,001112: 15,3667           22007                           ZL                                             #  NO, CONTINUE.
045812,001113: 15,3670           13631                           TCF      JETCALL3                              #  C(A) POS, C(L) =+0
045813,001114: 
045814,001115:                                                                                                  #   DEAD ZONE ENTRIES COME HERE.
045815,001116: 
045816,001117: 15,3671           34714        DZCALL             CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCELL JETS
045817,001118: 15,3672           00006                           EXTEND                                         #  INHINT NOT NEEDED HERE.
045818,001119: 15,3673           01006                           WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
045819,001120: 15,3674           55567                           TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
045820,001121: 15,3675           55711        DZCALL1            TS       JETAG                                 #  COME HERE WITH C(A)=0.
045821,001122: 15,3676           03661                           TC       ROLLDUMP                              
045822,001123: 

Page 1057

045824,001125:                                                                                                  #   CM ENTRY FDAI DISPLAY
045825,001126: 
045826,001127:                                                                                                  #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
045827,001128:                                                                                                  #           ATM DAP:    DISPLAY ONLY ROLL ATTITUDE ERROR.
045828,001129:                                                                                                  #           EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
045829,001130:                                                                                                  #                                         ROLL    ROLLC-ROLL
045830,001131:                                                                                                  #                                         PITCH   ALFAC-ALFA
045831,001132:                                                                                                  #                                         YAW     BETAC-BETA
045832,001133: 
045833,001134:                                                                                                  #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND  16.875 DEG IN PITCH AND YAW.
045834,001135:                                                                                                  #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG   FULL SCALE.
045835,001136: 
045836,001137: 15,3677           11700        CM/FDAI            CCS      CMDAPMOD                              #  COME HERE EACH 0.1 SEC.
045837,001138: 15,3700           13710                           TCF      CM/FDAIR   -1                         #   C(A) =0, FOR DUMP.
045838,001139: 15,3701           13703                           TCF      +2                                    
045839,001140: 15,3702           13703                           TCF      +1                                    #  (IN ATM, COME HERE TO   )
045840,001141: 15,3703           41705                           CS       PHIDOT                                #  INTEGRATE ROLL ERROR.BETWEEN 2 SEC
045841,001142: 15,3704           00006                           EXTEND                                         
045842,001143: 15,3705           71506                           MP       CALFA                                 #  FOR ASSUMED COORDINATION.
045843,001144: 15,3706           00006                           EXTEND                                         
045844,001145: 15,3707           74675                           MP       HALF                                  
045845,001146: 15,3710           27713                           ADS      PAXERR1                               #  ROLL ERROR/360.    OVFL OK.
045846,001147: 
045847,001148:                                                                                                  #                               EDIT DUMP AT ABOVE LOCATION.
045848,001149: 15,3711           34675        CM/FDAIR           CA       HALF                                  
045849,001150: 15,3712           00006                           EXTEND                                         
045850,001151: 15,3713           71713                           MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
045851,001152: 15,3714           55476                           TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
045852,001153: 
045853,001154:                                                                                                  #                               PROGRAM TO FILE BODY  RATES FOR TM ON ONE PASS AND
045854,001155:                                                                                                  #                               TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
045855,001156:                                                                                                  #                               SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
045856,001157:                                                                                                  #                               IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
045857,001158:                                                                                                  #                               THE SUBSEQUENT PASS.
045858,001159: 
045859,001160: 
045860,001161: 15,3715           40305        CM/DUMPR           CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
045861,001162: 15,3716           54305                           TS       SW/NDX                                
045862,001163: 15,3717           00006                           EXTEND                                         #  INDEX.
045863,001164: 15,3720           63724                           BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
045864,001165:                                                                                                  #                                          ENDBUF.
045865,001166:                                                                                                  #                                          INDEX IS POS FOR NEEDLES
045866,001167: 
045867,001168: 15,3721           04633                           TC       IBNKCALL                              
045868,001169: 15,3722           42404                           CADR     NEEDLER                               
045869,001170: 
045870,001171: 15,3723           03742                           TC       CM/END                                
045871,001172: 
045872,001173:                                                                                                  #                                          INDEX IS NEG FOR TM FILE
045873,001174: 

Page 1058

045875,001176: 15,3724           66214        CMTMFILE           AD       THREE                                 
045876,001177: 15,3725           00006                           EXTEND                                         
045877,001178: 15,3726           63732                           BZMF     SAVENDX                               
045878,001179: 
045879,001180: 15,3727           30025                           CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
045880,001181: 15,3730           54304                           TS       CMTMTIME                              
045881,001182: 15,3731           44720                           CS       THIRTEEN                              #   INITIALIZE COUNTER
045882,001183: 15,3732           54305        SAVENDX            TS       SW/NDX                                #  A NEGATIVE NUMBER.
045883,001184: 15,3733           00006                           EXTEND                                         
045884,001185: 15,3734           31702                           DCA      PREL                                  
045885,001186: 15,3735           50305                           INDEX    SW/NDX                                
045886,001187: 15,3736           52324                           DXCH     ENDBUF     -1                         
045887,001188: 15,3737           31703                           CA       RREL                                  
045888,001189: 15,3740           50305                           INDEX    SW/NDX                                
045889,001190: 15,3741           54325                           TS       ENDBUF     +1                         
045890,001191: 
045891,001192: 15,3742           31623        CM/END             CA       CM/SAVE                               
045892,001193: 15,3743           54021                           TS       SR                                    
045893,001194:                                                                                                  #                               DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
045894,001195: 
045895,001196: 15,3744           00006                           EXTEND                                         
045896,001197: 15,3745           33751                           DCA      T5IDLER2                              
045897,001198: 15,3746           53313                           DXCH     T5LOC                                 
045898,001199: 15,3747           05222                           TC       RESUME                                
045899,001200: 
045900,001201: 15,3750     1312                                  EBANK=   T5LOC                                 
045901,001202: 15,3750           03132 12062  T5IDLER2           2CADR    T5IDLOC                               
045902,001203:                                                                                                  #                               DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
045903,001204:                                                                                                  #                               USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
045904,001205:                                                                                                  #                               THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
045905,001206:                                                                                                  #                               DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
045906,001207:                                                                                                  #                               EACH 2 SECONDS.
045907,001208: 
045908,001209:                                                                                                  #                               THE SEQUENCE IS:    SP TIME       INITIAL TIME
045909,001210:                                                                                                  #                                                   SWITCH         ALSO INDEX.
045910,001211:                                                                                                  #                                                   P              ROLL RATE
045911,001212:                                                                                                  #                                                   Q              PITCH RATE
045912,001213:                                                                                                  #                                                   R              YAW RATE
045913,001214:                                                                                                  #                                                   ETC.
045914,001215: 
045915,001216:                                                                                                  # CMTMTIME       =       UPBUFF
045916,001217:                                                                                                  # SW/NDX         =       UPBUFF  +1
045917,001218:                                                                                                  # ENDBUF         =       UPBUFF  +16D
045918,001219: 
045919,001220:                                                                                                  #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:    
045920,001221:                                                                                                  #  CONSTANTS ARE THE FOLLOWING:  A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC,       T = 2 SEC, TCDU = .1 SEC,
045921,001222:                                                                                                  #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ,           VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
045922,001223:                                                                                                  #  XBUF = 4DEG
045923,001224: 

Page 1059

045925,001226: 15,3752           77464        -T-3               DEC      -203       B-14                       #  CS
045926,001227: 15,3753           00012        VSQMIN             DEC      .61050061  E-3                        #  VSQ MIN/4 A PI = 4/(4  (9.1)  180)
045927,001228: 15,3754     4726               2T/TCDU            =        OCT50                                 #  T/TCDU  EXP-14   TCDU =.1SEC
045928,001229: 15,3754           23617        180/8ATT           DEC      .61813187                             #  180/(8  (9.1) 4)=(180/ATT)  EXP -3
045929,001230: 15,3755           07071        VMT/180            DEC      .222222222                            #  20 (2) / 180
045930,001231: 15,3756     4740               2JETT              =        4SECS                                 #  CS           2 (2) 100   INTEGER
045931,001232: 15,3756           01440        4JETT              DEC      800        B-14                       #  CS           4 (2) 100   INTEGER
045932,001233: 15,3757           00266        XMIN/360           DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
045933,001234: 15,3760           70706        -VM/360K           DEC      -.22222222                            #  =-20/( 360  (.25))
045934,001235: 15,3761  15,3754               1/16A1             =        180/8ATT                              
045935,001236:                                                                                                  #                                  1/16A1  = 180/(16 A1 TT)
045936,001237:                                                                                                  #                                          =180/(16  4.55  4)
045937,001238: 15,3761           00133        XS/360             DEC      91         B-14                       #  =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
045938,001239: 15,3762  15,3761               BUFLIM             =        XS/360                                #  4/(2  360)
045939,001240: 
045940,001241: 15,3762     4675               KTRCS              =        HALF                                  #  KT = (.25) 2 = .5

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