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.

040012,000002:                                                                                                  ## Copyright:   Public domain.
040013,000003:                                                                                                  ## Filename:    TVCDAPS.agc
040014,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
040015,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
040016,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
040017,000007:                                                                                                  ## Assembler:   yaYUL
040018,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
040019,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
040020,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
040021,000011:                                                                                                  ## Mod history: 2011-03-06 JL   Adapted from corresponding Colossus 249 file.
040022,000012:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
040023,000013:                                                                                                  ##                              and fixed errors found.
040024,000014: 

Page 918

040026,000016:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
040027,000017:                                                                                                  #  LOG SECTION....TVCDAP           SUBROUTINE....DAPCSM
040028,000018:                                                                                                  #  MOD BY ENGEL                    DATE....27 OCT, 1967
040029,000019: 
040030,000020:                                                                                                  #  FUNCTIONAL DESCRIPTION....
040031,000021: 
040032,000022:                                                                                                  #       SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
040033,000023:                                                                                                  #       FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
040034,000024:                                                                                                  #       IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
040035,000025:                                                                                                  #       (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
040036,000026:                                                                                                  #       ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
040037,000027: 
040038,000028:                                                                                                  #       THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
040039,000029:                                                                                                  #       EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
040040,000030:                                                                                                  #       GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
040041,000031:                                                                                                  #       INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER  OR THE BRANCH
040042,000032:                                                                                                  #       POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER,  OUTPUT LIMITER,
040043,000033:                                                                                                  #       CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
040044,000034: 
040045,000035:                                                                                                  #       THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2  THE DAP SAMPLE
040046,000036:                                                                                                  #       TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
040047,000037:                                                                                                  #       REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
040048,000038:                                                                                                  #       TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
040049,000039:                                                                                                  #       MODING.
040050,000040: 
040051,000041:                                                                                                  #       REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY  STUBBS
040052,000042:                                                                                                  #       (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
040053,000043:                                                                                                  #       REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
040054,000044:                                                                                                  #       LU  (MIT IL JUNE 1966).
040055,000045: 
040056,000046:                                                                                                  #       OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
040057,000047:                                                                                                  #       NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
040058,000048:                                                                                                  #       (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
040059,000049: 
040060,000050:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
040061,000051: 
040062,000052:                                                                                                  #       T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
040063,000053:                                                                                                  #       T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
040064,000054:                                                                                                  #       T5 CALL OF DAPINIT BY DAPINIT
040065,000055:                                                                                                  #       T5 CALL OF PITCHDAP BY DAPINIT
040066,000056:                                                                                                  #       T5 CALL OF YAWDAP BY PITCHDAP
040067,000057:                                                                                                  #       T5 CALL OF PITCHDAP BY YAWDAP
040068,000058:                                                                                                  #                  ETC.
040069,000059:                                                                                                  #       (AUTOMATIC SEQUENCING FROM TVCDAPON)
040070,000060: 
040071,000061:                                                                                                  #  NORMAL EXIT MODE....RESUME
040072,000062: 
040073,000063:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
040074,000064: 
040075,000065:                                                                                                  #  SUBROUTINES CALLED....

Page 919

040077,000067:                                                                                                  #           HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
040078,000068:                                                                                                  #           NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
040079,000069:                                                                                                  #           PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
040080,000070:                                                                                                  #           DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
040081,000071:                                                                                                  #           ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
040082,000072:                                                                                                  #                 OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
040083,000073:                                                                                                  #                 YAW DAPS
040084,000074:                                                                                                  #           OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
040085,000075:                                                                                                  #                 PITCH AND YAW DAPS
040086,000076:                                                                                                  #           RESUME
040087,000077: 
040088,000078:                                                                                                  #  OTHER INTERFACES....
040089,000079: 
040090,000080:                                                                                                  #       S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE  COMMANDS OMEGAY,ZC
040091,000081:                                                                                                  #       S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
040092,000082:                                                                                                  #       TVCEXECUTIVE  FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
040093,000083:                                                                                                  #           GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
040094,000084:                                                                                                  #           AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
040095,000085:                                                                                                  #       TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
040096,000086: 
040097,000087:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
040098,000088: 
040099,000089:                                                                                                  #       29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
040100,000090:                                                                                                  #       KP/KPDN  (KPGEN3)  AS IN S40.15  (R03)
040101,000091:                                                                                                  #       CONFIGURATION BITS  (14, 13)  OF DAPDATR1 AS IN R03
040102,000092:                                                                                                  #       ENGINE-ON BIT (11.13) FOR RESTARTS
040103,000093:                                                                                                  #       TVCPHASE FOR RESTARTS  (SEE IGNOVER, AND TVCINIT4)
040104,000094:                                                                                                  #       T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
040105,000095:                                                                                                  #       MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
040106,000096:                                                                                                  #             INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
040107,000097:                                                                                                  #       CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
040108,000098:                                                                                                  #           UPDATES EVERY 1/2 SECOND)
040109,000099:                                                                                                  #       ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
040110,000100:                                                                                                  #           UNLESS BENCH-TESTING.
040111,000101: 
040112,000102:                                                                                                  #  OUTPUT....
040113,000103: 
040114,000104:                                                                                                  #       TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
040115,000105:                                                                                                  #           TAL  COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
040116,000106:                                                                                                  #           AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
040117,000107:                                                                                                  #           OFFSET-TRACKER-FILTER OUTPUTS, ETC.
040118,000108:                                                                                                  #  DEBRIS....
040119,000109: 
040120,000110:                                                                                                  #       MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
040121,000111: 
040122,000112: 
040123,000113: 17,2215                                           BANK     17                                    
040124,000114: 20,2000                                           SETLOC   DAPS2                                 
040125,000115: 20,2000                                           BANK                                           
040126,000116: 

Page 920

040128,000118: 20,2326  E6,1742                                  EBANK=   BZERO                                 
040129,000119: 
040130,000120: 
040131,000121: 20,2326                                           COUNT*   $$/DAPS                               
040132,000122: 

Page 921

040134,000124:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
040135,000125: 
040136,000126: 
040137,000127: 20,2326           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL OR VIA DAPINIT
040138,000128: 20,2327           00006                           EXTEND                                         
040139,000129: 20,2330           22012                           QXCH     QRUPT                                 
040140,000130: 
040141,000131: 20,2331           33403                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
040142,000132: 20,2332           55312                           TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
040143,000133: 20,2333           31635                           CAE      T5TVCDT                               
040144,000134: 20,2334           54030                           TS       TIME5                                 
040145,000135: 
040146,000136: 20,2335           11614        PSTROKER           CCS      STROKER                               #  (STRKFLG)  CHECK FOR STROKE TEST
040147,000137: 20,2336           03471                           TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
040148,000138: 20,2337           12341                           TCF      +2                                    #  NO-TEST
040149,000139: 20,2340           03471                           TC       HACK                                  #  TEST-IN-PROGRESS
040150,000140: 
040151,000141: 20,2341           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
040152,000142: 20,2342           57655                           XCH      PCDUYPST                              #       FOR PITCH AUTOPILOT
040153,000143: 20,2343           00006                           EXTEND                                         
040154,000144: 20,2344           21655                           MSU      PCDUYPST                              
040155,000145: 20,2345           55657                           TS       MCDUYDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
040156,000146: 
040157,000147: 20,2346           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
040158,000148: 20,2347           57656                           XCH      PCDUZPST                              #       FOR PITCH AUTOPILOT
040159,000149: 20,2350           00006                           EXTEND                                         
040160,000150: 20,2351           21656                           MSU      PCDUZPST                              
040161,000151: 20,2352           55660                           TS       MCDUZDOT                              #       (MINUS,  SC.AT  1/2TVCDT REVS/SEC)
040162,000152: 
040163,000153: 20,2353           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
040164,000154: 20,2354           31616                           DCA      PERRB                                 #       ERROR, SC.AT B-1 REVS
040165,000155: 20,2355           53743                           DXCH     ERRBTMP                               
040166,000156: 
040167,000157: 20,2356           00006                           EXTEND                                         
040168,000158: 20,2357           31530                           DCA      OMEGAYC                               
040169,000159: 20,2360           21743                           DAS      ERRBTMP                               
040170,000160: 
040171,000161: 20,2361           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
040172,000162: 20,2362           00006                           EXTEND                                         
040173,000163: 20,2363           70750                           MP       COSCDUX                               
040174,000164: 20,2364           20001                           DDOUBL                                         
040175,000165: 20,2365           00006                           EXTEND                                         
040176,000166: 20,2366           71657                           MP       MCDUYDOT                              
040177,000167: 20,2367           20001                           DDOUBL                                         
040178,000168: 20,2370           53536                           DXCH     OMEGAYB                               
040179,000169: 
040180,000170: 20,2371           41660                           CS       MCDUZDOT                              
040181,000171: 20,2372           00006                           EXTEND                                         
040182,000172: 20,2373           70742                           MP       SINCDUX                               
040183,000173: 20,2374           20001                           DDOUBL                                         

Page 922

040185,000175: 20,2375           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
040186,000176: 
040187,000177: 20,2376           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
040188,000178: 20,2377           41536                           DCS      OMEGAYB                               
040189,000179: 20,2400           21743                           DAS      ERRBTMP                               
040190,000180: 
040191,000181: 20,2401           03112        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR  INPUT LIMITER
040192,000182: 
040193,000183: 20,2402           31466        P1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040194,000184: 20,2403           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040195,000185: 20,2404           10000                           CCS      A                                     
040196,000186: 20,2405           12410                           TCF      +3                                    #  USE LEM-ON FILTER
040197,000187: 20,2406           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040198,000188: 20,2407           36215                           CADR     NP0NODE                               
040199,000189: 
040200,000190: 20,2410           00006        PFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS.
040201,000191: 20,2411           41544                           DCS      PDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040202,000192: 20,2412           53745                           DXCH     JZERO                                 
040203,000193: 
040204,000194: 20,2413           31742                           CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040205,000195: 20,2414           61541                           AD       PNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040206,000196: 20,2415           00006                           EXTEND                                         
040207,000197: 20,2416           74727                           MP       KPDN                                  #  KPDN, SC.AT B+1 SPASCREV
040208,000198: 20,2417           21745                           DAS      JZERO                                 
040209,000199: 20,2420           31542                           CAE      PNSUM      +1                         
040210,000200: 20,2421           00006                           EXTEND                                         
040211,000201: 20,2422           74727                           MP       KPDN                                  
040212,000202: 20,2423           27745                           ADS      JZERO      +1                         
040213,000203: 20,2424           54001                           TS       L                                     
040214,000204: 20,2425           12427                           TCF      +2                                    
040215,000205: 20,2426           27744                           ADS      JZERO                                 #  (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040216,000206: 
040217,000207: 20,2427           00006        JZSTORE            EXTEND                                         #  PREPARE JZERO FOR DENOMINATOR LADDER
040218,000208: 20,2430           31745                           DCA      JZERO                                 #       SC.AT B+0 SPASCREV
040219,000209: 20,2431           20001                           DDOUBL                                         
040220,000210: 20,2432           20001                           DDOUBL                                         
040221,000211: 20,2433           20001                           DDOUBL                                         
040222,000212: 20,2434           53727                           DXCH     J1TMP                                 #       SC.AT B-3 SPASCREV
040223,000213: 
040224,000214: 20,2435           03125        OPTVARKP           TCR      OPTVARK                               #  PITCH VARIABLE-GAIN PACKAGE
040225,000215: 
040226,000216: 20,2436           00006        POFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040227,000217: 20,2437           41745                           DCS      CMDTMP                                #       (GEN3DAP RETURNS AT POFFSET)
040228,000218: 20,2440           53745                           DXCH     CMDTMP                                
040229,000219: 20,2441           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040230,000220: 20,2442           31626                           DCA      PDELOFF                               
040231,000221: 20,2443           21745                           DAS      CMDTMP                                
040232,000222: 
040233,000223: 20,2444           31745        PROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040234,000224: 20,2445           60000                           DOUBLE                                         

Page 923

040236,000226: 20,2446           54001                           TS       L                                     
040237,000227: 20,2447           34714                           CAF      ZERO                                  
040238,000228: 20,2450           61744                           AD       CMDTMP                                
040239,000229: 
040240,000230: 20,2451           03145        PACLIM             TCR      ACTLIM                                #  PITCH ACTUATOR-COMMAND-LIMITER
040241,000231: 
040242,000232: 20,2452           41631        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
040243,000233: 20,2453           61744                           AD       CMDTMP                                
040244,000234: 20,2454           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
040245,000235:                                                                                                  #                                               PROTECT, SINCE ERROR CNTR ZEROED)
040246,000236: 
040247,000237: 20,2455           34700                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
040248,000238: 20,2456           00006                           EXTEND                                         
040249,000239: 20,2457           05014                           WOR      CHAN14                                
040250,000240: 20,2460           31466        P2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040251,000241: 20,2461           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040252,000242: 20,2462           10000                           CCS      A                                     
040253,000243: 20,2463           12466                           TCF      +3                                    #  USE LEM-ON FILTER
040254,000244: 20,2464           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040255,000245: 20,2465           36250                           CADR     NP1NODE                               
040256,000246: 
040257,000247: 
040258,000248: 20,2466           31742        BZSTORE            CAE      ERRBTMP                               #  PREPARE BZERO  (UPPER WORD OF ERRBTMP)
040259,000249: 20,2467           60000                           DOUBLE                                         #       FOR NUMERATOR LADDER....SC.AT B-1
040260,000250: 20,2470           55717                           TS       B1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040261,000251: 
040262,000252: 
040263,000253: 20,2471           00006        PNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040264,000254: 20,2472           31546                           DCA      B1                                    #       NUMERATOR LADDER
040265,000255: 20,2473           53721                           DXCH     B2TMP                                 
040266,000256: 20,2474           00006                           EXTEND                                         
040267,000257: 20,2475           31550                           DCA      B3                                    
040268,000258: 20,2476           53723                           DXCH     B4TMP                                 
040269,000259: 20,2477           00006                           EXTEND                                         
040270,000260: 20,2500           31552                           DCA      B5                                    
040271,000261: 20,2501           53725                           DXCH     B6TMP                                 
040272,000262: 
040273,000263: 20,2502           03157        PNSUMC             TCR      NSUM                                  #  PITCH NUMERATOR SUM
040274,000264: 
040275,000265: 20,2503           00006        PDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
040276,000266: 20,2504           31554                           DCA      J1                                    #       DENOMINATOR LADDER
040277,000267: 20,2505           53731                           DXCH     J2TMP                                 
040278,000268: 20,2506           00006                           EXTEND                                         
040279,000269: 20,2507           31556                           DCA      J2                                    
040280,000270: 20,2510           53733                           DXCH     J3TMP                                 
040281,000271: 20,2511           00006                           EXTEND                                         
040282,000272: 20,2512           31560                           DCA      J3                                    
040283,000273: 20,2513           53735                           DXCH     J4TMP                                 
040284,000274: 20,2514           00006                           EXTEND                                         

Page 924

040286,000276: 20,2515           31562                           DCA      J4                                    
040287,000277: 20,2516           53737                           DXCH     J5TMP                                 
040288,000278: 20,2517           00006                           EXTEND                                         
040289,000279: 20,2520           31564                           DCA      J5                                    
040290,000280: 20,2521           53741                           DXCH     J6TMP                                 
040291,000281: 
040292,000282: 20,2522           03217        PDSUMC             TCR      DSUM                                  #  PITCH DENOMINATOR SUM
040293,000283: 
040294,000284: 20,2523           31744        DELBARP            CAE      CMDTMP                                #  UPDATE PITCH OFFSET-TRACKER-FILTER
040295,000285: 20,2524           00006                           EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARP..  )
040296,000286: 20,2525           73404                           MP       1-E(-AT)                              
040297,000287: 20,2526           53716                           DXCH     DELBRTMP                              
040298,000288: 20,2527           31621                           CAE      DELPBAR                               
040299,000289: 20,2530           00006                           EXTEND                                         
040300,000290: 20,2531           73405                           MP       E(-AT)                                
040301,000291: 20,2532           21716                           DAS      DELBRTMP                              
040302,000292: 20,2533           31622                           CAE      DELPBAR    +1                         
040303,000293: 20,2534           00006                           EXTEND                                         
040304,000294: 20,2535           73405                           MP       E(-AT)                                
040305,000295: 20,2536           27716                           ADS      DELBRTMP   +1                         
040306,000296: 20,2537           54001                           TS       L                                     
040307,000297: 20,2540           12542                           TCF      +2                                    
040308,000298: 20,2541           27715                           ADS      DELBRTMP                              
040309,000299: 
040310,000300: 20,2542           02544        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
040311,000301: 
040312,000302: 20,2543           15222        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
040313,000303: 

Page 925

040315,000305:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
040316,000306: 
040317,000307: 20,2544           25654        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040318,000308:                                                                                                  #                                               NOTE POSSIBLE RE-ENTRY FROM RESTART
040319,000309:                                                                                                  #                                               PACKAGE, SHOULD A RESTART OCCUR
040320,000310:                                                                                                  #                                               DURING PITCH COPYCYCLE.
040321,000311: 
040322,000312: 20,2545           00006        NEWB(S)            EXTEND                                         #  UPDATE PITCH NUMERATOR LADDER FROM
040323,000313: 20,2546           31720                           DCA      B1TMP                                 #       TEMPORARIES
040324,000314: 20,2547           53546                           DXCH     B1                                    
040325,000315: 20,2550           00006                           EXTEND                                         
040326,000316: 20,2551           31722                           DCA      B3TMP                                 
040327,000317: 20,2552           53550                           DXCH     B3                                    
040328,000318: 20,2553           00006                           EXTEND                                         
040329,000319: 20,2554           31724                           DCA      B5TMP                                 
040330,000320: 20,2555           53552                           DXCH     B5                                    
040331,000321: 
040332,000322: 20,2556           00006        NEWJ(S)            EXTEND                                         #  UPDATE PITCH DENOMINATOR LADDER FROM
040333,000323: 20,2557           31727                           DCA      J1TMP                                 #       TEMPORARIES
040334,000324: 20,2560           53554                           DXCH     J1                                    
040335,000325: 20,2561           00006                           EXTEND                                         
040336,000326: 20,2562           31731                           DCA      J2TMP                                 
040337,000327: 20,2563           53556                           DXCH     J2                                    
040338,000328: 20,2564           00006                           EXTEND                                         
040339,000329: 20,2565           31733                           DCA      J3TMP                                 
040340,000330: 20,2566           53560                           DXCH     J3                                    
040341,000331: 20,2567           00006                           EXTEND                                         
040342,000332: 20,2570           31735                           DCA      J4TMP                                 
040343,000333: 20,2571           53562                           DXCH     J4                                    
040344,000334: 20,2572           00006                           EXTEND                                         #       (ALSO NP1TMP,+1 TO NP1,+1)
040345,000335: 20,2573           31737                           DCA      J5TMP                                 
040346,000336: 20,2574           53564                           DXCH     J5                                    
040347,000337: 
040348,000338: 20,2575           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
040349,000339: 20,2576           31743                           DCA      ERRBTMP                               
040350,000340: 20,2577           55477                           TS       AK1                                   #       FOR PITCH NEEDLES, SC.AT B-1 REVS
040351,000341: 20,2600           53616                           DXCH     PERRB                                 
040352,000342: 
040353,000343: 20,2601           00006                           EXTEND                                         #       PITCH NUMERATOR SUM
040354,000344: 20,2602           31712                           DCA      NSUMTMP                               #            (ALSO NP2TMP,+1 TO NP2,+1)
040355,000345: 20,2603           53542                           DXCH     PNSUM                                 
040356,000346: 
040357,000347: 20,2604           00006                           EXTEND                                         #       PITCH DENOMINATOR SUM
040358,000348: 20,2605           31714                           DCA      DSUMTMP                               #            (ALSO NP3TMP,+1 TO NP3,+1)
040359,000349: 20,2606           53544                           DXCH     PDSUM                                 
040360,000350: 
040361,000351: 20,2607           31744                           CAE      CMDTMP                                #       PITCH ACTUATOR COMMAND
040362,000352: 20,2610           55631                           TS       PCMD                                  
040363,000353: 
040364,000354: 20,2611           00006                           EXTEND                                         #       PITCH OFFSET-TRACKER-FILTER

Page 926

040366,000356: 20,2612           31716                           DCA      DELBRTMP                              
040367,000357: 20,2613           53622                           DXCH     DELPBAR                               
040368,000358: 
040369,000359: 20,2614           25654                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED
040370,000360: 
040371,000361: 20,2615           00002                           TC       Q                                     
040372,000362: 

Page 927

040374,000364:                                                                                                  #  YAW   TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER,  MODOR DESIGN)
040375,000365: 
040376,000366: 20,2616           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY,  NORMAL
040377,000367: 20,2617           00006                           EXTEND                                         
040378,000368: 20,2620           22012                           QXCH     QRUPT                                 
040379,000369: 
040380,000370: 20,2621           33401                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
040381,000371: 20,2622           55312                           TS       T5LOC                                 #       ORDER PART OF 2CADR ALREADY THERE)
040382,000372: 20,2623           31635                           CAE      T5TVCDT                               
040383,000373: 20,2624           54030                           TS       TIME5                                 
040384,000374: 
040385,000375: 20,2625           11614        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
040386,000376: 20,2626           03471                           TC       HACK                                  #  TEST-START  OR  TEST-IN-PROGRESS
040387,000377: 20,2627           12631                           TCF      +2                                    #  NO-TEST
040388,000378: 20,2630           03471                           TC       HACK                                  #  TEST-IN-PROGRESS
040389,000379: 
040390,000380:                                                                                                  #                                          USE BODY RATES FROM PITCHDAP (PCDUDOTS)
040391,000381: 
040392,000382: 20,2631           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
040393,000383: 20,2632           31620                           DCA      YERRB                                 #       ERROR, SC.AT B-1 REVS
040394,000384: 20,2633           53743                           DXCH     ERRBTMP                               
040395,000385: 
040396,000386: 20,2634           00006                           EXTEND                                         
040397,000387: 20,2635           31532                           DCA      OMEGAZC                               
040398,000388: 20,2636           21743                           DAS      ERRBTMP                               
040399,000389: 
040400,000390: 20,2637           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
040401,000391: 20,2640           00006                           EXTEND                                         
040402,000392: 20,2641           70742                           MP       SINCDUX                               
040403,000393: 20,2642           20001                           DDOUBL                                         
040404,000394: 20,2643           00006                           EXTEND                                         
040405,000395: 20,2644           71657                           MP       MCDUYDOT                              
040406,000396: 20,2645           20001                           DDOUBL                                         
040407,000397: 20,2646           53540                           DXCH     OMEGAZB                               
040408,000398: 
040409,000399: 20,2647           41660                           CS       MCDUZDOT                              
040410,000400: 20,2650           00006                           EXTEND                                         
040411,000401: 20,2651           70750                           MP       COSCDUX                               
040412,000402: 20,2652           20001                           DDOUBL                                         
040413,000403: 20,2653           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
040414,000404: 
040415,000405: 20,2654           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
040416,000406: 20,2655           41540                           DCS      OMEGAZB                               
040417,000407: 20,2656           21743                           DAS      ERRBTMP                               
040418,000408: 
040419,000409: 20,2657           03112        YERORLIM           TCR      ERRORLIM                              #  YAW   BODY-AXIS-ERROR  INPUT LIMITER
040420,000410: 
040421,000411: 20,2660           31466        Y1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040422,000412: 20,2661           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040423,000413: 

Page 928

040425,000415: 20,2662           10000                           CCS      A                                     
040426,000416: 20,2663           12666                           TCF      +3                                    #  USE LEM-ON FILTER
040427,000417: 20,2664           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040428,000418: 20,2665           36407                           CADR     NY0NODE                               
040429,000419: 
040430,000420: 20,2666           00006        YFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS
040431,000421: 20,2667           41570                           DCS      YDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040432,000422: 20,2670           53745                           DXCH     YZERO                                 
040433,000423: 
040434,000424: 20,2671           31742                           CAE      ERRBTMP                               #  INPUT ERROR,  SC.AT B-1 REVS
040435,000425: 20,2672           61565                           AD       YNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
040436,000426: 20,2673           00006                           EXTEND                                         
040437,000427: 20,2674           74727                           MP       KYDN                                  #  KYDN, SC.AT B+1 SPASCREV
040438,000428: 20,2675           21745                           DAS      YZERO                                 
040439,000429: 20,2676           31566                           CAE      YNSUM      +1                         
040440,000430: 20,2677           00006                           EXTEND                                         
040441,000431: 20,2700           74727                           MP       KYDN                                  
040442,000432: 20,2701           27745                           ADS      YZERO      +1                         
040443,000433: 20,2702           54001                           TS       L                                     
040444,000434: 20,2703           12705                           TCF      +2                                    
040445,000435: 20,2704           27744                           ADS      YZERO                                 #  (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
040446,000436: 
040447,000437: 20,2705           00006        YZSTORE            EXTEND                                         #  PREPARE YZERO FOR DENOMINATOR LADDER
040448,000438: 20,2706           31745                           DCA      YZERO                                 #       SC.AT B+0 SPASCREV
040449,000439: 20,2707           20001                           DDOUBL                                         
040450,000440: 20,2710           20001                           DDOUBL                                         
040451,000441: 20,2711           20001                           DDOUBL                                         
040452,000442: 20,2712           53727                           DXCH     Y1TMP                                 #       SC.AT B-3 SPASCREV
040453,000443: 
040454,000444: 20,2713           03125        OPTVARKY           TCR      OPTVARK                               #  YAW   VARIABLE-GAIN PACKAGE
040455,000445: 
040456,000446: 20,2714           00006        YOFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
040457,000447: 20,2715           41745                           DCS      CMDTMP                                #       (GEN3DAP RETURNS AT YOFFSET)
040458,000448: 20,2716           53745                           DXCH     CMDTMP                                
040459,000449: 20,2717           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
040460,000450: 20,2720           31630                           DCA      YDELOFF                               
040461,000451: 20,2721           21745                           DAS      CMDTMP                                
040462,000452: 
040463,000453: 20,2722           31745        YROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
040464,000454: 20,2723           60000                           DOUBLE                                         
040465,000455: 20,2724           54001                           TS       L                                     
040466,000456: 20,2725           34714                           CAF      ZERO                                  
040467,000457: 20,2726           61744                           AD       CMDTMP                                
040468,000458: 
040469,000459: 20,2727           03145        YACLIM             TCR      ACTLIM                                #  YAW   ACTUATOR-COMMAND-LIMITER
040470,000460: 
040471,000461: 20,2730           41632        YOUT               CS       YCMD                                  #  INCREMENTAL YAW   COMMAND
040472,000462: 20,2731           61744                           AD       CMDTMP                                
040473,000463: 20,2732           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
040474,000464:                                                                                                  #                                               PROTECT, SINCE ERROR CNTR ZEROED)
040475,000465: 

Page 929

040477,000467: 20,2733           34677                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
040478,000468: 20,2734           00006                           EXTEND                                         
040479,000469: 20,2735           05014                           WOR      CHAN14                                
040480,000470: 20,2736           31466        Y2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
040481,000471: 20,2737           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
040482,000472: 20,2740           10000                           CCS      A                                     
040483,000473: 20,2741           12744                           TCF      +3                                    #  USE LEM-ON FILTER
040484,000474: 20,2742           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
040485,000475: 20,2743           36442                           CADR     NY1NODE                               
040486,000476: 
040487,000477: 
040488,000478: 20,2744           31742        CZSTORE            CAE      ERRBTMP                               #  PREPARE CZERO  (UPPER WORD OF ERRBTMP)
040489,000479: 20,2745           60000                           DOUBLE                                         #       FOR NUMERATOR LADDER....SC.AT B-1
040490,000480: 20,2746           55717                           TS       C1TMP                                 #       SC.AT B-2 REVS FOR LADDER
040491,000481: 
040492,000482: 
040493,000483: 20,2747           00006        YNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040494,000484: 20,2750           31572                           DCA      C1                                    #       NUMERATOR LADDER
040495,000485: 20,2751           53721                           DXCH     C2TMP                                 
040496,000486: 20,2752           00006                           EXTEND                                         
040497,000487: 20,2753           31574                           DCA      C3                                    
040498,000488: 20,2754           53723                           DXCH     C4TMP                                 
040499,000489: 20,2755           00006                           EXTEND                                         
040500,000490: 20,2756           31576                           DCA      C5                                    
040501,000491: 20,2757           53725                           DXCH     C6TMP                                 
040502,000492: 
040503,000493: 20,2760           03157        YNSUMC             TCR      NSUM                                  #  YAW   NUMERATOR SUM
040504,000494: 
040505,000495: 
040506,000496: 20,2761           00006        YDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
040507,000497: 20,2762           31600                           DCA      Y1                                    #       DENOMINATOR LADDER
040508,000498: 20,2763           53731                           DXCH     Y2TMP                                 
040509,000499: 20,2764           00006                           EXTEND                                         
040510,000500: 20,2765           31602                           DCA      Y2                                    
040511,000501: 20,2766           53733                           DXCH     Y3TMP                                 
040512,000502: 20,2767           00006                           EXTEND                                         
040513,000503: 20,2770           31604                           DCA      Y3                                    
040514,000504: 20,2771           53735                           DXCH     Y4TMP                                 
040515,000505: 20,2772           00006                           EXTEND                                         
040516,000506: 20,2773           31606                           DCA      Y4                                    
040517,000507: 20,2774           53737                           DXCH     Y5TMP                                 
040518,000508: 20,2775           00006                           EXTEND                                         
040519,000509: 20,2776           31610                           DCA      Y5                                    
040520,000510: 20,2777           53741                           DXCH     Y6TMP                                 
040521,000511: 
040522,000512: 20,3000           03217        YDSUMC             TCR      DSUM                                  #  YAW   DENOMINATOR SUM
040523,000513: 
040524,000514: 20,3001           31744        DELBARY            CAE      CMDTMP                                #  UPDATE YAW   OFFSET-TRACKER-FILTER
040525,000515: 20,3002           00006                           EXTEND                                         #       (GEN3DAP RETURNS AT  ..DELBARY..  )
040526,000516: 20,3003           73404                           MP       1-E(-AT)                              

Page 930

040528,000518: 20,3004           53716                           DXCH     DELBRTMP                              
040529,000519: 20,3005           31623                           CAE      DELYBAR                               
040530,000520: 20,3006           00006                           EXTEND                                         
040531,000521: 20,3007           73405                           MP       E(-AT)                                
040532,000522: 20,3010           21716                           DAS      DELBRTMP                              
040533,000523: 20,3011           31624                           CAE      DELYBAR    +1                         
040534,000524: 20,3012           00006                           EXTEND                                         
040535,000525: 20,3013           73405                           MP       E(-AT)                                
040536,000526: 20,3014           27716                           ADS      DELBRTMP   +1                         
040537,000527: 20,3015           54001                           TS       L                                     
040538,000528: 20,3016           13020                           TCF      +2                                    
040539,000529: 20,3017           27715                           ADS      DELBRTMP                              
040540,000530: 
040541,000531: 20,3020           03022        YCOPYCYC           TCR      YCOPY                                 #  YAW   COPYCYCLE
040542,000532: 
040543,000533: 20,3021           15222        YDAPEND            TCF      RESUME                                #  YAW   DAP COMPLETED
040544,000534: 

Page 931

040546,000536:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
040547,000537: 
040548,000538: 20,3022           25654        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
040549,000539:                                                                                                  #                                                NOTE POSSIBLE RE-ENTRY FROM RESTART
040550,000540:                                                                                                  #                                                PACKAGE, SHOULD A RESTART OCCUR
040551,000541:                                                                                                  #                                                DURING YAW   COPYCYCLE.
040552,000542: 
040553,000543: 20,3023           00006        NEWC(S)            EXTEND                                         #  UPDATE YAW   NUMERATOR LADDER FROM
040554,000544: 20,3024           31720                           DCA      C1TMP                                 #       TEMPORARIES
040555,000545: 20,3025           53572                           DXCH     C1                                    
040556,000546: 20,3026           00006                           EXTEND                                         
040557,000547: 20,3027           31722                           DCA      C3TMP                                 
040558,000548: 20,3030           53574                           DXCH     C3                                    
040559,000549: 20,3031           00006                           EXTEND                                         
040560,000550: 20,3032           31724                           DCA      C5TMP                                 
040561,000551: 20,3033           53576                           DXCH     C5                                    
040562,000552: 
040563,000553: 20,3034           00006        NEWY(S)            EXTEND                                         #  UPDATE YAW   DENOMINATOR LADDER FROM
040564,000554: 20,3035           31727                           DCA      Y1TMP                                 #       TEMPORARIES
040565,000555: 20,3036           53600                           DXCH     Y1                                    
040566,000556: 20,3037           00006                           EXTEND                                         
040567,000557: 20,3040           31731                           DCA      Y2TMP                                 
040568,000558: 20,3041           53602                           DXCH     Y2                                    
040569,000559: 20,3042           00006                           EXTEND                                         
040570,000560: 20,3043           31733                           DCA      Y3TMP                                 
040571,000561: 20,3044           53604                           DXCH     Y3                                    
040572,000562: 20,3045           00006                           EXTEND                                         
040573,000563: 20,3046           31735                           DCA      Y4TMP                                 
040574,000564: 20,3047           53606                           DXCH     Y4                                    
040575,000565: 20,3050           00006                           EXTEND                                         #       (ALSO NY1TMP,+1 TO NY1,+1)
040576,000566: 20,3051           31737                           DCA      Y5TMP                                 
040577,000567: 20,3052           53610                           DXCH     Y5                                    
040578,000568: 
040579,000569: 20,3053           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
040580,000570: 20,3054           31743                           DCA      ERRBTMP                               
040581,000571: 20,3055           55500                           TS       AK2                                   #       FOR YAW   NEEDLES, SC.AT B-1 REVS
040582,000572: 20,3056           53620                           DXCH     YERRB                                 
040583,000573: 
040584,000574: 20,3057           00006                           EXTEND                                         #       YAW   NUMERATOR SUM
040585,000575: 20,3060           31712                           DCA      NSUMTMP                               #            (ALSO NY2TMP,+1 TO NY2,+1)
040586,000576: 20,3061           53566                           DXCH     YNSUM                                 
040587,000577: 
040588,000578: 20,3062           00006                           EXTEND                                         #       YAW   DENOMINATOR SUM
040589,000579: 20,3063           31714                           DCA      DSUMTMP                               #            (ALSO NY3TMP,+1 TO NY3,+1)
040590,000580: 20,3064           53570                           DXCH     YDSUM                                 
040591,000581: 
040592,000582: 20,3065           31744                           CAE      CMDTMP                                #       YAW   ACTUATOR COMMAND
040593,000583: 20,3066           55632                           TS       YCMD                                  
040594,000584: 
040595,000585: 20,3067           00006                           EXTEND                                         #       YAW   OFFSET-TRACKER-FILTER

Page 932

040597,000587: 20,3070           31716                           DCA      DELBRTMP                              
040598,000588: 20,3071           53624                           DXCH     DELYBAR                               
040599,000589: 
040600,000590: 20,3072           34714                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
040601,000591: 20,3073           55654                           TS       TVCPHASE                              #       RESET TVCPHASE
040602,000592: 
040603,000593: 20,3074           00002                           TC       Q                                     
040604,000594: 

Page 933

040606,000596:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
040607,000597: 
040608,000598: 
040609,000599:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
040610,000600: 
040611,000601: 20,3075           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
040612,000602: 
040613,000603: 20,3076           37716                           CAF      NEGONE                                #       SET UP
040614,000604: 20,3077           61635                           AD       T5TVCDT                               #       T5 CALL FOR PITCHDAP IN TVCDT SECS
040615,000605: 20,3100           64674                           AD       NEGMAX                                #       (T5TVCDT = POSMAX - TVCDT/2 +1)
040616,000606: 20,3101           61635                           AD       T5TVCDT                               
040617,000607: 20,3102           54030                           TS       TIME5                                 
040618,000608: 20,3103           33401                           CAF      PITCHT5                               #       (BBCON ALREADY THERE)
040619,000609: 20,3104           55312                           TS       T5LOC                                 
040620,000610: 
040621,000611: 20,3105           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
040622,000612: 20,3106           55655                           TS       PCDUYPST                              #       PAST-VALUES
040623,000613: 20,3107           30034                           CAE      CDUZ                                  
040624,000614: 20,3110           55656                           TS       PCDUZPST                              
040625,000615: 
040626,000616: 20,3111           15224                           TCF      NOQRSM                                
040627,000617: 
040628,000618: 
040629,000619:                                                                                                  #  BODY-AXIS-ERROR  INPUT LIMITER PACKAGE....
040630,000620: 
040631,000621: 20,3112           31742        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
040632,000622: 20,3113           00006                           EXTEND                                         #       CHECKS UPPER WORD ONLY
040633,000623: 20,3114           74710                           MP       1/ERRLIM                              
040634,000624: 20,3115           00006                           EXTEND                                         
040635,000625: 20,3116           13124                           BZF      +6                                    
040636,000626: 20,3117           11742                           CCS      ERRBTMP                               
040637,000627: 20,3120           34676                           CAF      ERRLIM                                
040638,000628: 20,3121           13123                           TCF      +2                                    
040639,000629: 20,3122           44676                           CS       ERRLIM                                
040640,000630: 20,3123           55742                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
040641,000631: 
040642,000632: 20,3124           00002                           TC       Q                                     
040643,000633: 
040644,000634: 
040645,000635:                                                                                                  #  VARIABLE-GAIN PACKAGE....
040646,000636: 
040647,000637: 20,3125           31744        OPTVARK            CAE      CMDTMP                                #  VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
040648,000638: 20,3126           00006                           EXTEND                                         #       JZERO OR YZERO
040649,000639: 20,3127           71651                           MP       VARK                                  #  VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
040650,000640: 20,3130           53745                           DXCH     CMDTMP                                
040651,000641: 20,3131           22000                           LXCH     A                                     #  LO-ORDER WORD OF INPUT CMDTMP
040652,000642: 20,3132           00006                           EXTEND                                         
040653,000643: 20,3133           71651                           MP       VARK                                  
040654,000644: 20,3134           27745                           ADS      CMDTMP     +1                         
040655,000645: 20,3135           54001                           TS       L                                     

Page 934

040657,000647: 20,3136           13140                           TCF      +2                                    
040658,000648: 20,3137           27744                           ADS      CMDTMP                                
040659,000649: 
040660,000650: 20,3140           53745                           DXCH     CMDTMP                                #  FIX UP SCALING
040661,000651: 20,3141           20001                           DDOUBL                                         
040662,000652: 20,3142           20001                           DDOUBL                                         
040663,000653: 20,3143           53745                           DXCH     CMDTMP                                
040664,000654: 
040665,000655: 20,3144           00002                           TC       Q                                     
040666,000656: 
040667,000657: 
040668,000658:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
040669,000659: 
040670,000660: 20,3145           00006        ACTLIM             EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
040671,000661: 20,3146           73400                           MP       1/ACTSAT                              
040672,000662: 20,3147           00006                           EXTEND                                         
040673,000663: 20,3150           13156                           BZF      +6                                    
040674,000664: 20,3151           11744                           CCS      CMDTMP                                #  APPLY LIMITS
040675,000665: 20,3152           33377                           CAF      ACTSAT                                
040676,000666: 20,3153           13155                           TCF      +2                                    
040677,000667: 20,3154           43377                           CS       ACTSAT                                
040678,000668: 20,3155           55744                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
040679,000669: 
040680,000670: 20,3156           00002                           TC       Q                                     
040681,000671: 
040682,000672: 
040683,000673:                                                                                                  #  NUMERATOR-SUM COMPUTATION....
040684,000674: 
040685,000675: 20,3157           31717        NSUM               CAE      B1TMP                                 #  PREPARE NUMERATOR SUM, SCALING IS AT
040686,000676: 20,3160           00006                           EXTEND                                         #       B+0 REVS  ( = B+2 X B-2 )
040687,000677: 20,3161           73406                           MP       N1                                    
040688,000678: 20,3162           53712                           DXCH     NSUMTMP                               
040689,000679: 
040690,000680: 20,3163           31720                           CAE      B2TMP                                 
040691,000681: 20,3164           00006                           EXTEND                                         
040692,000682: 20,3165           73407                           MP       N2                                    
040693,000683: 20,3166           21712                           DAS      NSUMTMP                               
040694,000684: 
040695,000685: 20,3167           31721                           CAE      B3TMP                                 
040696,000686: 20,3170           00006                           EXTEND                                         
040697,000687: 20,3171           73410                           MP       N3                                    
040698,000688: 20,3172           21712                           DAS      NSUMTMP                               
040699,000689: 
040700,000690: 20,3173           31722                           CAE      B4TMP                                 
040701,000691: 20,3174           00006                           EXTEND                                         
040702,000692: 20,3175           73411                           MP       N4                                    
040703,000693: 20,3176           21712                           DAS      NSUMTMP                               
040704,000694: 
040705,000695: 20,3177           31723                           CAE      B5TMP                                 
040706,000696: 20,3200           00006                           EXTEND                                         

Page 935

040708,000698: 20,3201           73412                           MP       N5                                    
040709,000699: 20,3202           21712                           DAS      NSUMTMP                               
040710,000700: 
040711,000701: 20,3203           31724                           CAE      B6TMP                                 
040712,000702: 20,3204           00006                           EXTEND                                         
040713,000703: 20,3205           73413                           MP       N6                                    
040714,000704: 20,3206           21712                           DAS      NSUMTMP                               
040715,000705: 
040716,000706: 20,3207           31725                           CAE      B7TMP                                 
040717,000707: 20,3210           00006                           EXTEND                                         
040718,000708: 20,3211           73414                           MP       N7                                    
040719,000709: 20,3212           21712                           DAS      NSUMTMP                               
040720,000710: 
040721,000711: 20,3213           53712        NSUMSC             DXCH     NSUMTMP                               #  FIX UP SCALING (NOW AT B+0 REVS)
040722,000712: 20,3214           20001                           DDOUBL                                         
040723,000713: 20,3215           53712                           DXCH     NSUMTMP                               #  SC.AT B-1 REV
040724,000714: 
040725,000715: 20,3216           00002                           TC       Q                                     
040726,000716: 
040727,000717: 
040728,000718:                                                                                                  #  DENOMINATOR-SUM COMPUTATION....
040729,000719: 
040730,000720: 20,3217           31726        DSUM               CAE      J1TMP                                 #  PREPARE DENOMINATOR SUM, SCALED
040731,000721: 20,3220           00006                           EXTEND                                         #       AT B+1 SPASCREVS ( = B+4 X B-3 )
040732,000722: 20,3221           73415                           MP       D1                                    #       (J1TMP = J,YZERO,  SC.AT  B-3 REVS)
040733,000723: 20,3222           53714                           DXCH     DSUMTMP                               
040734,000724: 20,3223           31726                           CAE      J1TMP                                 
040735,000725: 20,3224           00006                           EXTEND                                         
040736,000726: 20,3225           73416                           MP       D1         +1                         
040737,000727: 20,3226           27714                           ADS      DSUMTMP    +1                         
040738,000728: 20,3227           54001                           TS       L                                     
040739,000729: 20,3230           13232                           TCF      +2                                    
040740,000730: 20,3231           27713                           ADS      DSUMTMP                               
040741,000731: 20,3232           31727                           CAE      J1TMP      +1                         
040742,000732: 20,3233           00006                           EXTEND                                         
040743,000733: 20,3234           73415                           MP       D1                                    
040744,000734: 20,3235           27714                           ADS      DSUMTMP    +1                         
040745,000735: 20,3236           54001                           TS       L                                     
040746,000736: 20,3237           13241                           TCF      +2                                    
040747,000737: 20,3240           27713                           ADS      DSUMTMP                               
040748,000738: 
040749,000739: 20,3241           31730        D2J2               CAE      J2TMP                                 
040750,000740: 20,3242           00006                           EXTEND                                         
040751,000741: 20,3243           73417                           MP       D2                                    
040752,000742: 20,3244           21714                           DAS      DSUMTMP                               
040753,000743: 20,3245           31730                           CAE      J2TMP                                 
040754,000744: 20,3246           00006                           EXTEND                                         
040755,000745: 20,3247           73420                           MP       D2         +1                         
040756,000746: 20,3250           27714                           ADS      DSUMTMP    +1                         
040757,000747: 20,3251           54001                           TS       L                                     

Page 936

040759,000749: 20,3252           13254                           TCF      +2                                    
040760,000750: 20,3253           27713                           ADS      DSUMTMP                               
040761,000751: 20,3254           31731                           CAE      J2TMP      +1                         
040762,000752: 20,3255           00006                           EXTEND                                         
040763,000753: 20,3256           73417                           MP       D2                                    
040764,000754: 20,3257           27714                           ADS      DSUMTMP    +1                         
040765,000755: 20,3260           54001                           TS       L                                     
040766,000756: 20,3261           13263                           TCF      +2                                    
040767,000757: 20,3262           27713                           ADS      DSUMTMP                               
040768,000758: 
040769,000759: 20,3263           31732        D3J3               CAE      J3TMP                                 
040770,000760: 20,3264           00006                           EXTEND                                         
040771,000761: 20,3265           73421                           MP       D3                                    
040772,000762: 20,3266           21714                           DAS      DSUMTMP                               
040773,000763: 20,3267           31732                           CAE      J3TMP                                 
040774,000764: 20,3270           00006                           EXTEND                                         
040775,000765: 20,3271           73422                           MP       D3         +1                         
040776,000766: 20,3272           27714                           ADS      DSUMTMP    +1                         
040777,000767: 20,3273           54001                           TS       L                                     
040778,000768: 20,3274           13276                           TCF      +2                                    
040779,000769: 20,3275           27713                           ADS      DSUMTMP                               
040780,000770: 20,3276           31733                           CAE      J3TMP      +1                         
040781,000771: 20,3277           00006                           EXTEND                                         
040782,000772: 20,3300           73421                           MP       D3                                    
040783,000773: 20,3301           27714                           ADS      DSUMTMP    +1                         
040784,000774: 20,3302           54001                           TS       L                                     
040785,000775: 20,3303           13305                           TCF      +2                                    
040786,000776: 20,3304           27713                           ADS      DSUMTMP                               
040787,000777: 
040788,000778: 20,3305           31734        D4J4               CAE      J4TMP                                 
040789,000779: 20,3306           00006                           EXTEND                                         
040790,000780: 20,3307           73423                           MP       D4                                    
040791,000781: 20,3310           21714                           DAS      DSUMTMP                               
040792,000782: 20,3311           31734                           CAE      J4TMP                                 
040793,000783: 20,3312           00006                           EXTEND                                         
040794,000784: 20,3313           73424                           MP       D4         +1                         
040795,000785: 20,3314           27714                           ADS      DSUMTMP    +1                         
040796,000786: 20,3315           54001                           TS       L                                     
040797,000787: 20,3316           13320                           TCF      +2                                    
040798,000788: 20,3317           27713                           ADS      DSUMTMP                               
040799,000789: 20,3320           31735                           CAE      J4TMP      +1                         
040800,000790: 20,3321           00006                           EXTEND                                         
040801,000791: 20,3322           73423                           MP       D4                                    
040802,000792: 20,3323           27714                           ADS      DSUMTMP    +1                         
040803,000793: 20,3324           54001                           TS       L                                     
040804,000794: 20,3325           13327                           TCF      +2                                    
040805,000795: 20,3326           27713                           ADS      DSUMTMP                               
040806,000796: 
040807,000797: 20,3327           31736        D5J5               CAE      J5TMP                                 
040808,000798: 20,3330           00006                           EXTEND                                         

Page 937

040810,000800: 20,3331           73425                           MP       D5                                    
040811,000801: 20,3332           21714                           DAS      DSUMTMP                               
040812,000802: 20,3333           31736                           CAE      J5TMP                                 
040813,000803: 20,3334           00006                           EXTEND                                         
040814,000804: 20,3335           73426                           MP       D5         +1                         
040815,000805: 20,3336           27714                           ADS      DSUMTMP    +1                         
040816,000806: 20,3337           54001                           TS       L                                     
040817,000807: 20,3340           13342                           TCF      +2                                    
040818,000808: 20,3341           27713                           ADS      DSUMTMP                               
040819,000809: 20,3342           31737                           CAE      J5TMP      +1                         
040820,000810: 20,3343           00006                           EXTEND                                         
040821,000811: 20,3344           73425                           MP       D5                                    
040822,000812: 20,3345           27714                           ADS      DSUMTMP    +1                         
040823,000813: 20,3346           54001                           TS       L                                     
040824,000814: 20,3347           13351                           TCF      +2                                    
040825,000815: 20,3350           27713                           ADS      DSUMTMP                               
040826,000816: 
040827,000817: 20,3351           31740        D6J6               CAE      J6TMP                                 
040828,000818: 20,3352           00006                           EXTEND                                         
040829,000819: 20,3353           73427                           MP       D6                                    
040830,000820: 20,3354           21714                           DAS      DSUMTMP                               
040831,000821: 20,3355           31740                           CAE      J6TMP                                 
040832,000822: 20,3356           00006                           EXTEND                                         
040833,000823: 20,3357           73430                           MP       D6         +1                         
040834,000824: 20,3360           27714                           ADS      DSUMTMP    +1                         
040835,000825: 20,3361           54001                           TS       L                                     
040836,000826: 20,3362           13364                           TCF      +2                                    
040837,000827: 20,3363           27713                           ADS      DSUMTMP                               
040838,000828: 20,3364           31741                           CAE      J6TMP      +1                         
040839,000829: 20,3365           00006                           EXTEND                                         
040840,000830: 20,3366           73427                           MP       D6                                    
040841,000831: 20,3367           27714                           ADS      DSUMTMP    +1                         
040842,000832: 20,3370           54001                           TS       L                                     
040843,000833: 20,3371           13373                           TCF      +2                                    
040844,000834: 20,3372           27713                           ADS      DSUMTMP                               
040845,000835: 
040846,000836: 20,3373           53714        DSUMSC             DXCH     DSUMTMP                               #  FIX UP SCALING  (NOW AT B+1 SPASCREV)
040847,000837: 20,3374           20001                           DDOUBL                                         
040848,000838: 20,3375           53714                           DXCH     DSUMTMP                               #  SC.AT B+0 SPASCREV
040849,000839: 
040850,000840: 20,3376           00002                           TC       Q                                     
040851,000841: 

Page 938

040853,000843:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
040854,000844: 
040855,000845: 
040856,000846:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT  OR  1.07975111 REVS (85.41X16384/3600/360)
040857,000847: 
040858,000848:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
040859,000849: 
040860,000850: 20,3377           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG),  SC.AT 1ASCREV
040861,000851: 20,3400           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
040862,000852: 
040863,000853: 20,3401     4676               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
040864,000854: 20,3401     4710               1/ERRLIM           EQUALS   BIT3                                  #       SC.AT B-1 REV, AND ITS RECIPROCAL
040865,000855: 
040866,000856: 20,3401     4727               KPDN               =        DEC45                                 #  DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
040867,000857: 20,3401     4727               KYDN               =        KPDN                                  #       SPASCREV (FOR DEC45 BITS EXACTLY)
040868,000858:                                                                                                  #                                                    KPDN = .005747 DEG/DEG
040869,000859:                                                                                                  #                                                    SCALED KPDN = DEC45
040870,000860:                                                                                                  #                                                    1SPASCREV = KPDN(B+14)/(2X45)
040871,000861:                                                                                                  #                                                               = 1.04620942 REVS
040872,000862: 
040873,000863: 
040874,000864: 20,3401           02326        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
040875,000865: 20,3402           03075        DAPT5              GENADR   DAPINIT                               #       (BBCON) ALREADY THERE.  ORDER IS
040876,000866: 20,3403           02616        YAWT5              GENADR   YAWDAP                                #       REQUIRED.
040877,000867: 
040878,000868: 
040879,000869: 20,3404           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
040880,000870: 20,3405           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
040881,000871: 
040882,000872: 20,3406           50166        N1                 DEC      -2.9708385 B-2                        #  NUMERATOR COEFS (CSM/LEM), SC.AT B+2
040883,000873: 20,3407           31436        N2                 DEC      3.1947342  B-2                        
040884,000874: 20,3410           74561        N3                 DEC      -0.40962906 B-2                        
040885,000875: 20,3411           53277        N4                 DEC      -2.5780275 B-2                        
040886,000876: 20,3412           27550        N5                 DEC      2.9629319  B-2                        
040887,000877: 20,3413           63725        N6                 DEC      -1.5101470 B-2                        
040888,000878: 20,3414           02400        N7                 DEC      0.31243224 B-2                        
040889,000879: 
040890,000880: 20,3415           66341 54237  D1                 2DEC     -4.7798977 B-4                        #  DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
040891,000881: 
040892,000882: 20,3417           22707 36641  D2                 2DEC     9.4452763  B-4                        

Page 939

040894,000884: 20,3421           54220 40714  D3                 2DEC     -9.8593475 B-4                        
040895,000885: 20,3423           13344 21146  D4                 2DEC     5.7231811  B-4                        
040896,000886: 20,3425           74401 61760  D5                 2DEC     -1.7484750 B-4                        
040897,000887: 20,3427           00340 23073  D6                 2DEC     0.21933335 B-4                        

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