Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality 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:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

046098,000002:                                                                                                  ## Copyright:   Public domain.
046099,000003:                                                                                                  ## Filename:    CM_ENTRY_DIGITAL_AUTOPILOT.agc
046100,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
046101,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
046102,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
046103,000007:                                                                                                  ## Assembler:   yaYUL
046104,000008:                                                                                                  ## Reference:   Starts on p. 1034
046105,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
046106,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
046107,000011:                                                                                                  ## Mod history: 08/27/04 RSB.   Began transcribing.
046108,000012:                                                                                                  ##              2010-10-24 JL   Indentation fixes.
046109,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
046110,000014:                                                                                                  ##                              original harcopy, as opposed to the PDF page
046111,000015:                                                                                                  ##                              numbers in 1701.pdf.
046112,000016:                                                                                                  ##              2017-01-07 RSB  Cross-diff'd comment text (not whitespace)
046113,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
046114,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
046115,000019:                                                                                                  ##                              and corrected errors found.
046116,000020:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
046117,000021:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
046118,000022:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 4-way side-by-side
046119,000023:                                                                                                  ##                              diff of Colossus237/249/Comanche55/Artemis72.
046120,000024: 
046121,000025:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
046122,000026:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
046123,000027:                                                                                                  ## document read, in part:
046124,000028:                                                                                                  ##
046125,000029:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
046126,000030:                                                                                                  ##      2021111-041.  October 28, 1968.  
046127,000031:                                                                                                  ##
046128,000032:                                                                                                  ##      This AGC program shall also be referred to as
046129,000033:                                                                                                  ##                              Colossus 1A
046130,000034:                                                                                                  ##
046131,000035:                                                                                                  ##      Prepared by
046132,000036:                                                                                                  ##                      Massachusetts Institute of Technology
046133,000037:                                                                                                  ##                      75 Cambridge Parkway
046134,000038:                                                                                                  ##                      Cambridge, Massachusetts
046135,000039:                                                                                                  ##      under NASA contract NAS 9-4065.
046136,000040:                                                                                                  ##
046137,000041:                                                                                                  ## Refer directly to the online document mentioned above for further information.
046138,000042:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
046139,000043:                                                                                                  ##
046140,000044:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
046141,000045:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
046142,000046:                                                                                                  ## source file, and then is proofed to incorporate any changes.
046143,000047: 

Page 1034

046145,000049:                                                                                                  #  SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES.  GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046146,000050:                                                                                                  #  DIFFERENCES ARE IN 1S COMP.  ENTER AND READ ANGLES EACH .1 SEC.
046147,000051: 
046148,000052:                                                                                                  #        CM/DSTBY = 1 FOR DAP OPERATION
046149,000053:                                                                                                  #        CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046150,000054: 
046151,000055: 15,2454                                           BANK     15                                    
046152,000056: 
046153,000057: 15,2000                                           SETLOC   ETRYDAP                               
046154,000058: 15,2000                                           BANK                                           
046155,000059: 
046156,000060: 15,2454                                           COUNT    15/DAPEN                              
046157,000061: 
046158,000062: 15,2454  E6,1661                                  EBANK=   AOG                                   
046159,000063: 
046160,000064: 15,2454           34377        READGYMB           CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
046161,000065: 15,2455           27725                           ADS      CM/GYMDT                              #  PIPTIME.  (GROUP 6)
046162,000066: 
046163,000067:                                                                                                  #  IF A RESTART OCCURS, SKIP PRESENT CYCLE.  THE
046164,000068:                                                                                                  #  PHASCHNG PROTECTION IS IN CM/DAPIC.
046165,000069: 
046166,000070: 15,2456           34705                           CA       BIT6                                  #  CHECK FOR FINE ALIGN MODE OF CDU.
046167,000071: 15,2457           71321                           MASK     IMODES33                              #  (PROTECT AOG/PIP ETC AS WELL AS
046168,000072: 15,2460           00006                           EXTEND                                         #  GIMBAL DIFFERENCES)
046169,000073: 15,2461           12467                           BZF      READGYM1                              #  OK
046170,000074: 
046171,000075: 15,2462           44712                           CS       BIT1                                  #  NOT IN FINE ALIGN, SO IDLE.
046172,000076: 15,2463           70102                           MASK     CM/FLAGS                              #  SET GYMDIFSW = 0
046173,000077: 15,2464           54102                           TS       CM/FLAGS                              
046174,000078: 15,2465           06000                           TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
046175,000079: 15,2466           02534                           TC       CM/GYMIC   +2                         
046176,000080: 
046177,000081: 15,2467           30032        READGYM1           CA       CDUX                                  
046178,000082: 15,2470           57661                           XCH      AOG                                   
046179,000083: 15,2471           00006                           EXTEND                                         
046180,000084: 15,2472           21661                           MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
046181,000085: 15,2473           55675                           TS       -DELAOG                               
046182,000086: 
046183,000087: 15,2474           30033                           CA       CDUY                                  
046184,000088: 15,2475           57662                           XCH      AIG                                   
046185,000089: 15,2476           00006                           EXTEND                                         
046186,000090: 15,2477           21662                           MSU      AIG                                   
046187,000091: 15,2500           55676                           TS       -DELAIG                               
046188,000092: 
046189,000093: 15,2501           30034                           CA       CDUZ                                  
046190,000094: 15,2502           57663                           XCH      AMG                                   
046191,000095: 15,2503           00006                           EXTEND                                         
046192,000096: 15,2504           21663                           MSU      AMG                                   
046193,000097: 15,2505           55677                           TS       -DELAMG                               
046194,000098: 

Page 1035

046196,000100: 15,2506           40102        DOBRATEW           CS       CM/FLAGS                              #  CM/DSTBY=103D BIT2  GYMDIFSW=104D BIT1
046197,000101: 15,2507           76214                           MASK     THREE                                 
046198,000102: 15,2510           50000                           INDEX    A                                     
046199,000103: 15,2511           02512                           TC       +1                                    
046200,000104: 15,2512           02521                           TC       DOBRATE                               #  OK, GO ON
046201,000105: 15,2513           02532                           TC       CM/GYMIC                              #  DONT CALC BODYRATE ON FIRST PASS.
046202,000106: 15,2514           12515                           NOOP                                           
046203,000107: 15,2515           06000                           TC       FLUSHJET                              #  TURN OFF ALL JETS
046204,000108: 
046205,000109: 15,2516           05301                           TC       PHASCHNG                              
046206,000110: 15,2517           00006                           OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
046207,000111: 
046208,000112: 15,2520           05213                           TC       TASKOVER                              
046209,000113: 
046210,000114: 15,2521           34712        DOBRATE            CA       ONE                                   #  DO BODYRATE
046211,000115: 15,2522           55720        DOBRATE1           TS       JETEM                                 #  SKIP BODYRATE.
046212,000116: 
046213,000117: 15,2523           34377                           CA       TEN                                   #  KEEP CDU READ GOING.
046214,000118: 15,2524           05140                           TC       WAITLIST                              
046215,000119: 15,2525  E6,1661                                  EBANK=   AOG                                   
046216,000120: 15,2525           02454 32066                     2CADR    READGYMB                              
046217,000121: 
046218,000122:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046219,000123: 
046220,000124: 15,2527           11720                           CCS      JETEM                                 
046221,000125: 15,2530           02556                           TC       BODYRATE                              
046222,000126: 15,2531           05213                           TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS.  (PASSES)
046223,000127: 
046224,000128: 15,2532           26102        CM/GYMIC           ADS      CM/FLAGS                              #  GYMDIFSW:  C(A)=1, KNOW BIT IS 0
046225,000129: 15,2533           34714                           CAF      ZERO                                  
046226,000130: 15,2534           55711                           TS       JETAG                                 
046227,000131: 15,2535           55706                           TS       OLDELP                                
046228,000132: 15,2536           55707                           TS       OLDELQ                                
046229,000133: 15,2537           55710                           TS       OLDELR                                
046230,000134: 15,2540           55723                           TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
046231,000135: 15,2541           02522                           TC       DOBRATE1                              
046232,000136: 

Page 1036

046234,000138:                                                                                                  #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046235,000139: 
046236,000140: 15,2542           54001        ANGOVCOR           TS       L                                     #  THIS COSTS 2 MCT TO USE.
046237,000141: 15,2543           00002                           TC       Q                                     #  NO OVFL
046238,000142: 15,2544           50000                           INDEX    A                                     
046239,000143: 15,2545           34673                           CAF      LIMITS                                
046240,000144: 15,2546           26001                           ADS      L                                     
046241,000145: 15,2547           00002                           TC       Q                                     
046242,000146: 
046243,000147:    6000                                           BLOCK    3                                     
046244,000148: 
046245,000149:    6000                                           COUNT    03/DAPEN                              
046246,000150: 
046247,000151:    6000           30007        FLUSHJET           CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
046248,000152:    6001           00006                           EXTEND                                         
046249,000153:    6002           01006                           WRITE    ROLLJETS                              #  ZERO CHANNEL 6
046250,000154:    6003           00006                           EXTEND                                         
046251,000155:    6004           01005                           WRITE    PYJETS                                #  ZERO CHANNEL 5
046252,000156:    6005           00002                           TC       Q                                     
046253,000157: 
046254,000158: 15,2550                                           BANK     15                                    
046255,000159: 
046256,000160: 15,2550                                           COUNT    15/DAPEN                              
046257,000161: 
046258,000162: 15,2000                                           SETLOC   ETRYDAP                               
046259,000163: 15,2000                                           BANK                                           
046260,000164: 
046261,000165: 15,2550           40000        RATEAVG            COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046262,000166: 15,2551           61720                           AD       JETEM                                 #  OF CONSTANT ACCELERATION.
046263,000167: 15,2552           00006                           EXTEND                                         
046264,000168: 15,2553           74675                           MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
046265,000169: 15,2554           61720                           AD       JETEM                                 
046266,000170: 15,2555           00002                           TC       Q                                     
046267,000171: 

Page 1037

046269,000173:                                                                                                  #  THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046270,000174: 
046271,000175: 20,3565                                           BANK     20                                    
046272,000176: 20,2000                                           SETLOC   DAPS1                                 
046273,000177: 20,2000                                           BANK                                           
046274,000178: 
046275,000179: 20,3565                                           COUNT    20/DAPEN                              
046276,000180: 20,3565  E6,1661                                  EBANK=   AOG                                   
046277,000181: 
046278,000182: 20,3565           34752        CM/DAPON           CA       EBAOG                                 
046279,000183: 20,3566           54003                           TS       EBANK                                 
046280,000184: 
046281,000185: 20,3567           05447                           TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
046282,000186: 20,3570           00132                           ADRES    DAPBIT1                               #  BIT 15 FLAG 6         CMFLAGS.
046283,000187: 20,3571           05447                           TC       DOWNFLAG                              #  RESET DAPBIT2
046284,000188: 20,3572           00133                           ADRES    DAPBIT2                               #  BIT 14 FLAG 6
046285,000189: 20,3573           00006                           EXTEND                                         
046286,000190: 20,3574           33712                           DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
046287,000191: 20,3575           53313                           DXCH     T5LOC                                 
046288,000192: 20,3576           00006                           EXTEND                                         
046289,000193: 20,3577           33712                           DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
046290,000194: 20,3600           53311                           DXCH     T6LOC                                 
046291,000195: 
046292,000196: 20,3601           06000                           TC       FLUSHJET                              #  JETS DEPARTED ON SM. ZERO JET BITS.
046293,000197: 
046294,000198: 20,3602           47707                           CS       13,14,15                              
046295,000199: 20,3603           71466                           MASK     DAPDATR1                              #  SET CONFIG BITS=0 FOR ENTRY
046296,000200: 20,3604           55466                           TS       DAPDATR1                              
046297,000201: 20,3605           03611                           TC       +4                                    
046298,000202: 
046299,000203: 20,3606           34731        NOTYET             CA       .5SEC                                 
046300,000204: 20,3607           04555                           TC       BANKCALL                              
046301,000205: 20,3610           01732                           CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
046302,000206: 20,3611           34700                 +4        CA       BIT11                                 #  GAMDIFSW = 94D BIT11, INITLY=0
046303,000207: 20,3612           70102                           MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046304,000208: 20,3613           00006                           EXTEND                                         
046305,000209: 20,3614           13606                           BZF      NOTYET                                
046306,000210: 
046307,000211: 20,3615           44712                           CS       ONE                                   #  ACTIVATE CM/DAP
046308,000212: 20,3616           55501                           TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
046309,000213:                                                                                                  #  NEXT PASS.
046310,000214: 20,3617           55727                           TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
046311,000215:                                                                                                  #  HEADSUP IS SET IN P62.
046312,000216: 
046313,000217:                                                                                                  #  FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046314,000218: 
046315,000219: 20,3620           30007                           CA       7                                     
046316,000220: 20,3621           55711                           TS       JETAG                                 
046317,000221: 20,3622           55713                           TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
046318,000222:                                                                                                  #  IN CASE CMDAPMOD IS NOT +1.

Page 1038

046320,000224: 20,3623           00004                           INHINT                                         
046321,000225: 20,3624           00006                           EXTEND                                         
046322,000226: 20,3625           31666                           DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD
046323,000227: 20,3626           53604                           DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
046324,000228: 20,3627           31664                           CA       ROLL/180                              
046325,000229: 20,3630           55717                           TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
046326,000230: 20,3631           00006                           EXTEND                                         
046327,000231: 20,3632           74675                           MP       HALF                                  
046328,000232: 20,3633           55715                           TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
046329,000233: 
046330,000234: 20,3634           40102                           CS       CM/FLAGS                              
046331,000235: 20,3635           74677                           MASK     BIT12                                 #  CMDAPARM =93D BIT12  INITLY=0
046332,000236: 20,3636           26102                           ADS      CM/FLAGS                              #  SET BIT TO 1.
046333,000237: 
046334,000238: 20,3637           40076                           CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
046335,000239: 20,3640           74712                           MASK     BIT1                                  #  V 37 ENTRIES.
046336,000240: 20,3641           26076                           ADS      FLAGWRD2                              
046337,000241: 
046338,000242: 20,3642           00003                           RELINT                                         
046339,000243: 
046340,000244: 20,3643           04574                           TC       POSTJUMP                              
046341,000245: 20,3644           54342                           CADR     P62.1                                 
046342,000246: 

Page 1039

046344,000248:                                                                                                  #  INITIALIZE CM/DAP.  WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
046345,000249:                                                                                                  #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG .
046346,000250:                                                                                                  #   CMDAPARM  = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046347,000251:                                                                                                  #  SET AVEGEXIT TO CONTINUE AT CM/POSE
046348,000252: 
046349,000253: 20,3645           34752        CM/DAPIC           CA       EBAOG                                 
046350,000254: 20,3646           54003                           TS       EBANK                                 
046351,000255: 
046352,000256: 20,3647           00004                           INHINT                                         
046353,000257: 20,3650           41205        CM/DAP2C           CS       PIPTIME    +1                         
046354,000258:                                                                                                  #  PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046355,000259: 20,3651           55720                           TS       JETEM                                 
046356,000260: 
046357,000261: 20,3652           34675                           CA       POS1/2                                
046358,000262: 20,3653           64675                           AD       POS1/2                                
046359,000263: 20,3654           60025                           AD       TIME1                                 #  OVFL GUARANTEED
046360,000264: 20,3655           27720                           ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
046361,000265: 
046362,000266: 20,3656           44715                           CS       FIVE                                  
046363,000267: 20,3657           61720                           AD       JETEM                                 
046364,000268: 20,3660           10000                           CCS      A                                     
046365,000269: 20,3661           63710                           AD       -CDUT+1                               
046366,000270: 20,3662           13660                           TCF      -2                                    
046367,000271: 20,3663           13664                           NOOP                                           
046368,000272: 20,3664           64712                           AD       ONE                                   #  SEND NO ZERO TO WTLST
046369,000273: 20,3665           55725                           TS       CM/GYMDT                              #  FOR RESTART
046370,000274: 20,3666           05140                           TC       WAITLIST                              
046371,000275: 20,3667  E6,1661                                  EBANK=   AOG                                   
046372,000276: 20,3667           02454 32066                     2CADR    READGYMB                              
046373,000277: 
046374,000278: 20,3671           43707                           CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
046375,000279: 20,3672           70102                           MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
046376,000280: 20,3673           64377                           AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
046377,000281:                                                                                                  #  DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046378,000282:                                                                                                  #  CALC.  (P62.3) GOES TO ENDEXIT.
046379,000283: 20,3674           54102                           TS       CM/FLAGS                              
046380,000284: 
046381,000285: 20,3675           30007                           CA       7                                     
046382,000286: 20,3676           55666                           TS       BETA/180                              #  NECESSARY:  NO OVFL CORRECTION
046383,000287: 20,3677           34712                           CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
046384,000288: 20,3700           54305                           TS       SW/NDX                                #  UPBUFF.
046385,000289: 
046386,000290: 20,3701           05261                           TC       2PHSCHNG                              #  DOES INHINT/RELINT
046387,000291: 20,3702           40116                           OCT      40116                                 #  SAVE TBASE6
046388,000292: 20,3703           05024                           OCT      05024                                 
046389,000293: 20,3704           13000                           OCT      13000                                 
046390,000294: 
046391,000295: 20,3705           04574                           TC       POSTJUMP                              

Page 1040

046393,000297: 20,3706           54326                           CADR     P62.2                                 
046394,000298: 
046395,000299: 20,3707           16017        CM/SWIC1           OCT      16017                                 
046396,000300: 20,3710     4377               CM/SWIC2           =        TEN                                   #  00012: CM/DSTBY, LATSW
046397,000301: 20,3710           77766        -CDUT+1            OCT      77766                                 
046398,000302: 20,3711     1312                                  EBANK=   T5LOC                                 
046399,000303: 20,3711           03143 12062  T5IDLER1           2CADR    T5IDLOC                               
046400,000304: 

Page 1041

046402,000306:                                                                                                  #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046403,000307:                                                                                                  #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R.      REQUIREMENT:  TEMPORARY ERASE.  JETEM, JETEM +1
046404,000308: 
046405,000309:                                                                                                  #  SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS.  THAT IS,
046406,000310:                                                                                                  #  THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE.  MOST OF THE TIME THE 2 SEC
046407,000311:                                                                                                  #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL.  HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046408,000312:                                                                                                  #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046409,000313:                                                                                                  #  THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046410,000314: 
046411,000315: 20,3713  E6,1661                                  EBANK=   AOG                                   
046412,000316: 15,2556                                           BANK     15                                    
046413,000317: 15,2000                                           SETLOC   ETRYDAP                               
046414,000318: 15,2000                                           BANK                                           
046415,000319: 
046416,000320: 15,2556                                           COUNT    15/DAPEN                              
046417,000321: 
046418,000322: 15,2556           31663        BODYRATE           CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046419,000323: 15,2557           04767                           TC       SPCOS                                 
046420,000324: 15,2560           55511                           TS       COSM                                  
046421,000325: 
046422,000326: 15,2561           31661                           CA       AOG                                   #  C(AOG) = AOG/180
046423,000327: 15,2562           04770                           TC       SPSIN                                 #  SINO
046424,000328: 15,2563           55512                           TS       SINO                                  #  SINO = SIN(AOG)
046425,000329: 
046426,000330: 15,2564           00006                           EXTEND                                         
046427,000331: 15,2565           71511                           MP       COSM                                  
046428,000332: 15,2566           55514                           TS       SINOCOSM                              #  SO CM
046429,000333: 
046430,000334: 15,2567           31661                           CA       AOG                                   
046431,000335: 15,2570           04767                           TC       SPCOS                                 #  COSO
046432,000336: 15,2571           55513                           TS       COSO                                  
046433,000337: 
046434,000338: 15,2572           00006                           EXTEND                                         
046435,000339: 15,2573           71511                           MP       COSM                                  
046436,000340: 15,2574           55515                           TS       COSOCOSM                              #  CO CM
046437,000341: 
046438,000342:                                                                                                  #  PITCHDOT:  Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046439,000343: 
046440,000344: 15,2575           41677                           CS       -DELAMG                               
046441,000345: 15,2576           00006                           EXTEND                                         
046442,000346: 15,2577           71512                           MP       SINO                                  
046443,000347: 15,2600           53721                           DXCH     JETEM                                 #  2 LOCS _
046444,000348: 15,2601           41676                           CS       -DELAIG                               
046445,000349: 15,2602           00006                           EXTEND                                         
046446,000350: 15,2603           71515                           MP       COSOCOSM                              
046447,000351: 15,2604           21721                           DAS      JETEM                                 
046448,000352: 15,2605           31720                           CA       JETEM                                 
046449,000353: 15,2606           57707                           XCH      OLDELQ                                
046450,000354: 15,2607           02550                           TC       RATEAVG                               
046451,000355: 15,2610           55702                           TS       QREL                                  #  PITCHDOT = Q TCDU/180
046452,000356: 

Page 1042

046454,000358:                                                                                                  #  YAWDOT:  R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046455,000359: 
046456,000360: 15,2611           41677                           CS       -DELAMG                               
046457,000361: 15,2612           00006                           EXTEND                                         
046458,000362: 15,2613           71513                           MP       COSO                                  
046459,000363: 15,2614           53721                           DXCH     JETEM                                 
046460,000364: 15,2615           31676                           CA       -DELAIG                               
046461,000365: 15,2616           00006                           EXTEND                                         
046462,000366: 15,2617           71514                           MP       SINOCOSM                              
046463,000367: 15,2620           21721                           DAS      JETEM                                 
046464,000368: 15,2621           31720                           CA       JETEM                                 
046465,000369: 15,2622           57710                           XCH      OLDELR                                
046466,000370: 15,2623           02550                           TC       RATEAVG                               
046467,000371: 15,2624           55703                           TS       RREL                                  #  YAWDOT = R TCDU/180
046468,000372: 
046469,000373:                                                                                                  #  ROLLDOT:  P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046470,000374: 
046471,000375: 15,2625           31663                           CA       AMG                                   
046472,000376: 15,2626           04770                           TC       SPSIN                                 
046473,000377: 15,2627           55510                           TS       SINM                                  
046474,000378: 
046475,000379: 15,2630           00006                           EXTEND                                         
046476,000380: 15,2631           71676                           MP       -DELAIG                               
046477,000381: 15,2632           55720                           TS       JETEM                                 
046478,000382: 15,2633           34714                           CA       ZERO                                  
046479,000383: 15,2634           20001                           DDOUBL                                         #  ROUND L INTO A
046480,000384: 15,2635           61675                           AD       -DELAOG                               
046481,000385: 15,2636           61720                           AD       JETEM                                 
046482,000386: 15,2637           40000                           CS       A                                     
046483,000387: 15,2640           55720                           TS       JETEM                                 
046484,000388: 15,2641           57706                           XCH      OLDELP                                
046485,000389: 15,2642           02550                           TC       RATEAVG                               
046486,000390: 15,2643           55701                           TS       PREL                                  #  ROLLDOT = P TCDU/180
046487,000391: 
046488,000392:                                                                                                  #  IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046489,000393: 
046490,000394: 15,2644           11723                           CCS      GAMDOT                                
046491,000395: 15,2645           02647                           TC       +2                                    
046492,000396: 15,2646           02671                           TC       NOGAMDUT                              
046493,000397: 15,2647           41664                           CS       ROLL/180                              
046494,000398: 15,2650           04770                           TC       SPSIN                                 
046495,000399: 15,2651           00006                           EXTEND                                         
046496,000400: 15,2652           71723                           MP       GAMDOT                                
046497,000401: 15,2653           55721                           TS       JETEM      +1                         #  -SR GAMDOT
046498,000402: 15,2654           00006                           EXTEND                                         
046499,000403: 15,2655           73217                           MP       SINTRIM                               #  SIN(-20)      (FOR NOMINAL L/D = .3)
046500,000404: 15,2656           27701                           ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046501,000405: 
046502,000406: 15,2657           31664                           CA       ROLL/180                              
046503,000407: 15,2660           04767                           TC       SPCOS                                 

Page 1043

046505,000409: 15,2661           40000                           COM                                            
046506,000410: 15,2662           00006                           EXTEND                                         
046507,000411: 15,2663           71723                           MP       GAMDOT                                
046508,000412: 15,2664           27702                           ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046509,000413: 
046510,000414: 15,2665           41721                           CS       JETEM      +1                         #  B( ) = -SR GAMDOT
046511,000415: 15,2666           00006                           EXTEND                                         
046512,000416: 15,2667           73220                           MP       COSTRIM                               #  COS(-20)      (FOR NOMINAL L/D = .3)
046513,000417: 15,2670           27703                           ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046514,000418: 
046515,000419: 15,2671           34677        NOGAMDUT           CA       BIT12                                 #  CMDAPARM = 93D BIT 12
046516,000420: 15,2672           70102                           MASK     CM/FLAGS                              
046517,000421: 15,2673           00006                           EXTEND                                         
046518,000422: 15,2674           15213        STBYDUMP           BZF      TASKOVER                              #  DAP NOT ARMED.
046519,000423: 
046520,000424: 15,2675           34672                           CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
046521,000425: 15,2676           54030                           TS       TIME5                                 
046522,000426: 
046523,000427: 15,2677           00006                           EXTEND                                         
046524,000428: 15,2700           32704                           DCA      ATDOTCAD                              
046525,000429: 15,2701           53313                           DXCH     T5LOC                                 
046526,000430:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046527,000431: 
046528,000432: 15,2702           05213                           TC       TASKOVER                              
046529,000433: 
046530,000434: 15,2703  E6,1661                                  EBANK=   AOG                                   
046531,000435: 15,2703           02705 32066  ATDOTCAD           2CADR    ATTRATES                              
046532,000436: 

Page 1044

046534,000438:                                                                                                  #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046535,000439: 
046536,000440:                                                                                                  #        CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046537,000441:                                                                                                  #        BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046538,000442:                                                                                                  #        ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046539,000443: 
046540,000444: 15,2705           22016        ATTRATES           LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
046541,000445: 15,2706           00006                           EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
046542,000446: 15,2707           22012                           QXCH     QRUPT                                 
046543,000447: 15,2710           30021                           CA       SR                                    
046544,000448: 15,2711           60000                           DOUBLE                                         
046545,000449: 15,2712           55623                           TS       CM/SAVE                               
046546,000450:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046547,000451: 
046548,000452: 15,2713           31702                           CA       QREL                                  
046549,000453: 15,2714           61665                           AD       ALFA/180                              
046550,000454: 15,2715           02542                           TC       ANGOVCOR                              
046551,000455: 15,2716           55665                           TS       ALFA/180                              
046552,000456: 15,2717           04767                           TC       SPCOS                                 
046553,000457: 15,2720           55506                           TS       CALFA                                 #  CALFA
046554,000458: 15,2721           55705                           TS       PHIDOT                                
046555,000459: 
046556,000460: 15,2722           00006                           EXTEND                                         
046557,000461: 15,2723           71701                           MP       PREL                                  
046558,000462: 15,2724           57705                           XCH      PHIDOT                                #  CA PREL
046559,000463: 15,2725           00006                           EXTEND                                         
046560,000464: 15,2726           71703                           MP       RREL                                  #  CA RREL
046561,000465: 15,2727           55704                           TS       BETADOT                               
046562,000466: 
046563,000467: 15,2730           31665                           CA       ALFA/180                              
046564,000468: 15,2731           04770                           TC       SPSIN                                 
046565,000469: 15,2732           55507                           TS       SALFA                                 #  SIN(ALFA)
046566,000470: 
046567,000471: 15,2733           00006                           EXTEND                                         
046568,000472: 15,2734           71703                           MP       RREL                                  #  SA RREL
046569,000473: 15,2735           27705                           ADS      PHIDOT                                #  CB PHIDOT, SAVED.
046570,000474: 
046571,000475: 15,2736           41507                           CS       SALFA                                 
046572,000476: 15,2737           00006                           EXTEND                                         
046573,000477: 15,2740           71701                           MP       PREL                                  
046574,000478: 15,2741           27704                           ADS      BETADOT                               #  SAVE BETADOT TCDU/180
046575,000479: 15,2742           27666                           ADS      BETA/180                              #  BETA DONE.
046576,000480: 
046577,000481: 15,2743           04770                           TC       SPSIN                                 
046578,000482: 15,2744           00006                           EXTEND                                         
046579,000483: 15,2745           71705                           MP       PHIDOT                                #  NEGLECT CB IN CB PHIDOT
046580,000484: 15,2746           61665                           AD       ALFA/180                              
046581,000485: 15,2747           02542                           TC       ANGOVCOR                              
046582,000486: 15,2750           55665                           TS       ALFA/180                              #  ALFA DONE.

Page 1045

046584,000488: 15,2751           40000                           COM                                            
046585,000489: 15,2752           61603                           AD       ALFACOM                               
046586,000490: 15,2753           02542                           TC       ANGOVCOR                              #  JUST IN CASE ...
046587,000491: 15,2754           55477                           TS       AK1                                   
046588,000492: 15,2755           55572                           TS       QAXERR                                #  FOR PITCH FDAI AND EDIT.
046589,000493: 
046590,000494: 15,2756           31705                           CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
046591,000495: 15,2757           61664                           AD       ROLL/180                              
046592,000496: 15,2760           02542                           TC       ANGOVCOR                              
046593,000497: 15,2761           55714                           TS       ROLLTM                                #  ROLL/180 FOR TM.
046594,000498: 15,2762           55664                           TS       ROLL/180                              #  ROLL DONE.
046595,000499: 
046596,000500:                                                                                                  #  START YAW AUTOPILOT HERE.  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
046597,000501: 
046598,000502: 15,2763           34710                           CA       BIT3                                  #  .05GSW = 102D BIT3    SW=0, LESS .05G
046599,000503: 15,2764           70102                           MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
046600,000504: 15,2765           00006                           EXTEND                                         
046601,000505: 15,2766           13054                           BZF      EXDAP                                 #  IF G LESS THAN .05
046602,000506: 15,2767           44712                           CS       ONE                                   #  IF G GEQ  THAN .05
046603,000507: 15,2770           55700                           TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
046604,000508: 
046605,000509: 15,2771           55477                           TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
046606,000510: 15,2772           55500                           TS       AK2                                   #  IN ATM.  (MODE =-1)
046607,000511: 
046608,000512: 15,2773           41701                           CS       PREL                                  #  YAW ERROR = RREL - PREL TAN(ALFA)
046609,000513: 15,2774           00006                           EXTEND                                         
046610,000514: 15,2775           73217                           MP       SINTRIM                               #  LET SIN(-20) BE APPROX FOR TAN(-20)
046611,000515: 15,2776           61703                           AD       RREL                                  
046612,000516: 15,2777           03044                           TC       2D/SDZ                                #  GO TEST DZ.  GET TAG: +0 IF IN DZ
046613,000517: 15,3000           50000                           INDEX    A                                     #  +/- 1 IF NOT
046614,000518: 15,3001           33222                           CAF      YJETCODE                              
046615,000519: 
046616,000520: 15,3002           55720                           TS       JETEM                                 
046617,000521: 
046618,000522:                                                                                                  #  START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
046619,000523: 
046620,000524: 15,3003           31702                           CA       QREL                                  
046621,000525: 15,3004           03044                           TC       2D/SDZ                                
046622,000526: 15,3005           50000        EXDAPIN            INDEX    A                                     #  COME HERE FROM EX ATM DAP
046623,000527: 15,3006           33225                           CAF      P/RJCODE                              
046624,000528: 15,3007           27720                           ADS      JETEM                                 #  COMBINE ALL NEW BITS.
046625,000529: 
046626,000530: 15,3010           00006                           EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.
046627,000531: 15,3011           01005                           WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
046628,000532: 
046629,000533: 15,3012           11711                           CCS      JETAG                                 
046630,000534: 15,3013           03236                           TC       CM/RCS                                
046631,000535: 15,3014           03716                           TC       CM/FDAI                               
046632,000536: 15,3015           03723                           TC       CM/FDAIR   -1                         #  (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
046633,000537: 

Page 1046

046635,000539:                                                                                                  #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
046636,000540: 
046637,000541: 15,3016           10000        3DDZ               CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
046638,000542: 15,3017           63215                           AD       YAWLIM                                
046639,000543: 15,3020           13050                           TCF      DZCOM                                 
046640,000544: 15,3021           63215                           AD       YAWLIM                                
046641,000545: 15,3022           13051                           TCF      DZNOCOM                               
046642,000546: 
046643,000547:                                                                                                  #  BIASED DZ FOR EXT ATM DAP.
046644,000548: 15,3023           55624        BIASEDZ            TS       JETEM2                                #  SAVE RATE/180.  ERROR/180 IS IN L.
046645,000549: 15,3024           10000                           CCS      A                                     #  START ERROR DZ.
046646,000550: 15,3025           43214                           CS       CM/BIAS                               #  = .6/180
046647,000551: 15,3026           13030                           TCF      +2                                    
046648,000552: 15,3027           33214                           CA       CM/BIAS                               
046649,000553: 15,3030           60001                           AD       L                                     #  BIAS THE ERROR.
046650,000554: 15,3031           22002                           LXCH     Q                                     #  SAVE CALLERS RETURN ADDRESS.
046651,000555: 15,3032           03016                           TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
046652,000556: 15,3033           52002                           DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
046653,000557: 15,3034           11624        4D/SDZ             CCS      JETEM2                                #  CAME HERE IN EXT ATM.  C(L) = ERROR BIT
046654,000558: 15,3035           63212                           AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
046655,000559: 15,3036           13040                           TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
046656,000560: 15,3037           63212                           AD       4D/SLIM                               
046657,000561: 15,3040           54000                           TS       A                                     
046658,000562: 15,3041           13043                           TCF      +2                                    #  RATE OK. CONTINUE
046659,000563: 15,3042           22007                           ZL                                             #  RATE GEQ 4 D/S.  OVER RIDE ERROR BIT
046660,000564: 15,3043           57624                           XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
046661,000565: 
046662,000566: 15,3044           10000        2D/SDZ             CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
046663,000567: 15,3045           63213                           AD       YDOTLIM                               #  1.0 - YDOT DZ         (OR PDOT)
046664,000568: 15,3046           13051                           TCF      +3                                    
046665,000569: 15,3047           63213                           AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
046666,000570: 15,3050           40000        DZCOM              COM                                            
046667,000571: 15,3051           55721        DZNOCOM            TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
046668,000572: 15,3052           34714                           CA       ZERO                                  #  SET C(A) = +0 INSIDE
046669,000573: 15,3053           00002                           TC       Q                                     
046670,000574: 

Page 1047

046672,000576:                                                                                                  #  EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
046673,000577: 
046674,000578:                                                                                                  #  1.    IF ABS(CALF) -C(45) POS, USE                    IF CALFA POS, CMDAPMOD= +0
046675,000579:                                                                                                  #        BETA:   YAW ERROR = SGN(CALF) (BETACOM -BETA)   IF CALFA NEG, CMDAPMOD= -0
046676,000580:                                                                                                  #                     RATE = BETADOT                     IF CMDAPMOD = -0, RATE = RREL
046677,000581:                                                                                                  #                   R-AXIS = CONTROL
046678,000582: 
046679,000583:                                                                                                  #        ROLL:  ROLL ERROR = SGN(CALF) (ROLLC - ROLL)    IF CMDAPMOD = -0, RATE DAMP ONLY.
046680,000584:                                                                                                  #                     RATE = PREL
046681,000585:                                                                                                  #                   P-AXIS = CONTROL
046682,000586: 
046683,000587:                                                                                                  #  2.    IF C(45) GEQ CALFA GEQ -C(45), USE              CMDAPMOD = +1
046684,000588:                                                                                                  #        BETA:  ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
046685,000589:                                                                                                  #                     RATE = BETADOT
046686,000590:                                                                                                  #                   P-AXIS = CONTROL
046687,000591: 
046688,000592:                                                                                                  #        ROLL:   YAW ERROR = SGN(SALF) (ROLLC - ROLL)    RATE DAMP ONLY.
046689,000593:                                                                                                  #                     RATE = RREL
046690,000594:                                                                                                  #                   R-AXIS = CONTROL
046691,000595: 
046692,000596:                                                                                                  #  3.    FOR ALL CASES, USE
046693,000597:                                                                                                  #        ALFA: PITCH ERROR = (ALFACOM - ALFA)
046694,000598:                                                                                                  #                     RATE = QREL
046695,000599:                                                                                                  #                   Q-AXIS = CONTROL
046696,000600: 
046697,000601: 15,3054           55700        EXDAP              TS       CMDAPMOD                              #  +0 FOR NOW
046698,000602: 15,3055           41666                           CS       BETA/180                              
046699,000603: 15,3056           61604                           AD       BETACOM                               
046700,000604: 15,3057           55721                           TS       JETEM      +1                         #  PRESERVE THIS FOR A WHILE.
046701,000605: 
046702,000606: 15,3060           11506                           CCS      CALFA                                 
046703,000607: 15,3061           63216                           AD       C45LIM                                #  =1.0-COS(45)
046704,000608: 15,3062           13064                           TCF      +2                                    
046705,000609: 15,3063           63216                           AD       C45LIM                                
046706,000610: 15,3064           54000                           TS       A                                     
046707,000611: 15,3065           13146                           TCF      EXDAP2                                #  HERE IF ABS(CALFA) L COS(45)
046708,000612: 
046709,000613: 15,3066           11506                           CCS      CALFA                                 #  |CALFA| > 0.707
046710,000614: 15,3067           13070                           TCF      +1                                    #  CONTINUE IF POS
046711,000615: 
046712,000616: 15,3070           11727                           CCS      P63FLAG                               #  VALID VALUES ARE:  -1, +1, +0.
046713,000617: 15,3071           03104                           TC       EXDAP4                                
046714,000618: 15,3072           03074                           TC       +2                                    
046715,000619: 15,3073           03104                           TC       EXDAP4                                
046716,000620: 15,3074           05301                           TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
046717,000621: 15,3075           40334                           OCT      40334                                 
046718,000622: 15,3076           44712                           CS       ONE                                   
046719,000623: 15,3077           55727                           TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
046720,000624: 

Page 1048

046722,000626: 15,3100           33211                           CA       NSEC                                  
046723,000627: 15,3101           05140                           TC       WAITLIST                              
046724,000628: 15,3102  E6,1661                                  EBANK=   AOG                                   
046725,000629: 15,3102           02374 54066                     2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.
046726,000630: 
046727,000631:                                                                                                  #  65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
046728,000632:                                                                                                  #  TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
046729,000633: 
046730,000634: 15,3104           11711        EXDAP4             CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
046731,000635: 15,3105           13113                           TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
046732,000636: 15,3106           13113                           TCF      EXDAP3                                
046733,000637: 15,3107           34714                           CA       ZERO                                  
046734,000638: 15,3110           00006                           EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
046735,000639: 15,3111           01006                           WRITE    ROLLJETS                              #  UNTIL START OF 2 SEC CM/RCS CYCLE
046736,000640: 15,3112           55711                           TS       JETAG                                 #  RESTORE PROPER VALUE +0
046737,000641: 
046738,000642:                                                                                                  #  ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
046739,000643: 15,3113           11506        EXDAP3             CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
046740,000644: 15,3114           31721                           CA       JETEM      +1                         
046741,000645: 15,3115           13121                           TCF      EXDAP1                                
046742,000646: 15,3116           44714                           CS       ZERO                                  
046743,000647: 15,3117           55700                           TS       CMDAPMOD                              #  FOR CM/RCS
046744,000648: 15,3120           41721                           CS       JETEM      +1                         
046745,000649: 15,3121           55573        EXDAP1             TS       RAXERR                                #  FOR YAW FDAI
046746,000650: 15,3122           55500                           TS       AK2                                   #  WANT RAXERR FOR TM.
046747,000651: 15,3123           54001                           TS       L                                     
046748,000652: 15,3124           11700                           CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
046749,000653: 15,3125           03130                           TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
046750,000654: 15,3126           34712                           CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
046751,000655: 15,3127           50000                           INDEX    A                                     #  OTHERWISE USE RREL.
046752,000656: 15,3130           31703                           CA       RREL                                  
046753,000657: 15,3131           03023                           TC       BIASEDZ                               #  GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
046754,000658:                                                                                                  #  IF GEQ 4D/S, SET ERROR BIT IN L=0)
046755,000659: 15,3132           00006                           EXTEND                                         
046756,000660: 15,3133           04001                           ROR      LCHAN                                 #  L HAS BETA BIT
046757,000661: 15,3134           50000                           INDEX    A                                     
046758,000662: 15,3135           33222                           CAF      YJETCODE                              
046759,000663: 15,3136           55720                           TS       JETEM                                 
046760,000664: 
046761,000665: 15,3137           31572                           CA       QAXERR                                #  ALFA ERROR.
046762,000666: 15,3140           54001                           TS       L                                     
046763,000667: 15,3141           31702                           CA       QREL                                  #  FOR ALFADOT USE QREL
046764,000668: 15,3142           03023                           TC       BIASEDZ                               
046765,000669: 15,3143           00006                           EXTEND                                         
046766,000670: 15,3144           04001                           ROR      LCHAN                                 
046767,000671: 15,3145           13005                           TCF      EXDAPIN                               #  CONTINUE ON IN DAP
046768,000672: 
046769,000673: 15,3146           25700        EXDAP2             INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
046770,000674: 
046771,000675: 15,3147           44712                           CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
046772,000676: 

Page 1049

046774,000678: 15,3150           55711                           TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.  (IF CMDAPMOD
046775,000679:                                                                                                  #  =0 AND JETAG =-1, QUENCHES JETS IF ON)
046776,000680: 
046777,000681: 15,3151           11727                           CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
046778,000682: 15,3152           55727                           TS       P63FLAG                               
046779,000683: 15,3153           13154                           NOOP                                           
046780,000684: 
046781,000685: 15,3154           11507                           CCS      SALFA                                 #  BETA CONTROL WITH P JETS
046782,000686: 15,3155           41721                           CS       JETEM      +1                         
046783,000687: 15,3156           13160                           TCF      +2                                    
046784,000688: 15,3157           31721                           CA       JETEM      +1                         
046785,000689: 15,3160           55713                           TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
046786,000690: 15,3161           00006                           EXTEND                                         
046787,000691: 15,3162           74675                           MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
046788,000692: 15,3163           57713                           XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
046789,000693: 15,3164           54001                           TS       L                                     
046790,000694: 15,3165           11507                           CCS      SALFA                                 
046791,000695: 15,3166           41704                           CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
046792,000696: 15,3167           03171                           TC       +2                                    
046793,000697: 15,3170           31704                           CA       BETADOT                               
046794,000698: 15,3171           03023                           TC       BIASEDZ                               
046795,000699: 15,3172           00006                           EXTEND                                         
046796,000700: 15,3173           04001                           ROR      LCHAN                                 
046797,000701: 15,3174           50000                           INDEX    A                                     
046798,000702: 15,3175           33225                           CAF      P/RJCODE                              #  GET ROLL CODE
046799,000703: 15,3176           00006                           EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
046800,000704: 15,3177           01006                           WRITE    ROLLJETS                              #  WE,LL SKIP REGULAR ROLL SYST
046801,000705: 
046802,000706: 15,3200           31717                           CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
046803,000707: 15,3201           00006                           EXTEND                                         
046804,000708: 15,3202           21664                           MSU      ROLL/180                              #  1,S COMPL, BUT SO WHATS A BIT.?
046805,000709: 15,3203           54001                           TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
046806,000710: 15,3204           11507                           CCS      SALFA                                 
046807,000711: 15,3205           30001                           CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
046808,000712: 15,3206           03121                           TC       EXDAP1                                
046809,000713: 15,3207           40001                           CS       L                                     
046810,000714: 15,3210           03121                           TC       EXDAP1                                
046811,000715: 
046812,000716: 15,3211           04064        NSEC               DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
046813,000717:                                                                                                  #  IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
046814,000718: 15,3212           37734        4D/SLIM            DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
046815,000719: 15,3213           37756        YDOTLIM            DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
046816,000720:                                                                                                  #  YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
046817,000721: 
046818,000722: 15,3214           00067        CM/BIAS            DEC      55         B-14                       #  =.6/180 B14 = 55
046819,000723: 15,3215           37267        YAWLIM             DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
046820,000724: 15,3216           11277        C45LIM             DEC      .29289                                #  =1.0-COS(45)
046821,000725: 
046822,000726: 15,3217           65033        SINTRIM            DEC      -.34202                               #  SIN(-20)      (FOR NOMINAL L/D = .3)
046823,000727: 15,3220           36044        COSTRIM            DEC      .93969                                #  COS(-20)      (FOR NOMINAL L/D = .3)
046824,000728: 

Page 1050

046826,000730:                                                                                                  #  TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
046827,000731:                                                                                                  #  USED DURING ATMOSPHERIC COORDINATION.  OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
046828,000732:                                                                                                  #  FROM TRIM, SO USE ON-BOARD ESTIMATES.
046829,000733: 
046830,000734:                                                                                                  #  JET CODE TABLES FOLLOW_
046831,000735: 
046832,000736: 15,3221           00120                           OCTAL    00120                                 #  POS Y
046833,000737: 15,3222           00000        YJETCODE           OCTAL    00000                                 #  RCS JET BITS
046834,000738: 15,3223           00240                           OCTAL    00240                                 #  NEG Y
046835,000739: 15,3224           00005                           OCTAL    00005                                 #  POS R JET BITS        ALSO POS P JET BITS
046836,000740: 15,3225           00000        P/RJCODE           OCTAL    00000                                 
046837,000741: 15,3226           00012                           OCTAL    00012                                 #  NEG R                 ALSO NEG P
046838,000742: 

Page 1051

046840,000744:                                                                                                  #  RCS           THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
046841,000745:                                                                                                  #  THE TASK  SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE  WILL BE
046842,000746:                                                                                                  #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.  THE
046843,000747:                                                                                                  #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
046844,000748:                                                                                                  #  NEXT UPDATE.
046845,000749: 
046846,000750: 15,3227           40025        SETJTAG            CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
046847,000751: 15,3230           55712                           TS       TUSED                                 
046848,000752:                                                                                                  #  THE 5 CS APPEARS IN TIMETST.
046849,000753: 15,3231           34712                           CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
046850,000754: 15,3232           55711                           TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
046851,000755: 15,3233           05301                           TC       PHASCHNG                              
046852,000756: 15,3234           00001                           OCT      00001                                 
046853,000757: 
046854,000758: 15,3235           05213                           TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
046855,000759: 
046856,000760:                                                                                                  #  PREDICTIVE ROLL SYSTEM        ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC.  THE FOLLOWING CALCULATES THE
046857,000761:                                                                                                  #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V).  PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
046858,000762:                                                                                                  #  THE DESIRED TRAJECTORY.  ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL  T  (2SEC) ARE ENTERED IN
046859,000763:                                                                                                  #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
046860,000764: 
046861,000765: 15,3236     4674               HALFPR             EQUALS   NEG1/2     +1                         
046862,000766: 
046863,000767:                                                                                                  #  CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
046864,000768:                                                                                                  #  ROLL DAP CALLED.  IN EVENT OF RESTART, BODYRATE
046865,000769:                                                                                                  #  MAY MISS A CYCLE.  CM/RCS WILL MISS A CYCLE ONLY
046866,000770:                                                                                                  #  IF A RESTART OCCURS AFTER TIMETST COMMENCES.
046867,000771: 
046868,000772: 15,3236           44712        CM/RCS             CS       ONE                                   
046869,000773: 15,3237           55617                           TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
046870,000774: 
046871,000775: 15,3240           44726                           CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
046872,000776: 15,3241           00006                           EXTEND                                         
046873,000777: 15,3242           71701                           MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
046874,000778: 15,3243           60001                           AD       L                                     #  -2 RDOT T/180 IN L
046875,000779: 15,3244           55613                           TS       -VT/180                               #  SAVE -2VT/180 HERE
046876,000780: 
046877,000781: 15,3245           41664                           CS       ROLL/180                              
046878,000782: 15,3246           54021                           TS       SR                                    #  SAVE (-R/180) /2
046879,000783: 
046880,000784: 15,3247           40102                           CS       CM/FLAGS                              
046881,000785: 15,3250           74707                           MASK     BIT4                                  #  LATSW = 101D BIT4
046882,000786: 15,3251           00006                           EXTEND                                         #  ROLL OVER TOP $
046883,000787: 15,3252           13260                           BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
046884,000788: 15,3253           26102                           ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
046885,000789: 15,3254           31715                           CA       ROLLC                                 #  (ROLLC/180) /2
046886,000790: 15,3255           60021                           AD       SR                                    #  -(R/180) /2
046887,000791: 15,3256           57614                           XCH      LCX/360                               #  DIFFERENT X REQD HERE.  DISCONT AT 180.
046888,000792: 15,3257           13320                           TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
046889,000793: 

Page 1052

046891,000795: 15,3260           34675        GETLCX             CA       POS1/2                                #  FORM RCOM/360
046892,000796: 15,3261           60000                           DOUBLE                                         
046893,000797: 15,3262           61715                           AD       ROLLC                                 
046894,000798: 15,3263           57614                           XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
046895,000799: 
046896,000800: 15,3264           30021                           CA       SR                                    #  FORM -R/360
046897,000801: 15,3265           64673                           AD       NEG1/2                                
046898,000802: 15,3266           64673                           AD       NEG1/2                                #  IGNORE OVFL
046899,000803: 15,3267           57614                           XCH      LCX/360                               #  -R/360
046900,000804: 15,3270           27614                           ADS      LCX/360                               #  LCX/360 = RCOM/360 - R/360  RANGE (-1,1)
046901,000805: 
046902,000806:                                                                                                  #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2          OVFL ?
046903,000807: 
046904,000808: 15,3271           11613                           CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
046905,000809: 15,3272           64712                           AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
046906,000810: 15,3273           13275                           TCF      +2                                    
046907,000811: 15,3274           64712                           AD       ONE                                   
046908,000812: 15,3275           00006                           EXTEND                                         
046909,000813: 15,3276           71613                           MP       -VT/180                               #  C(-VT/180) = -2 VT/180
046910,000814: 15,3277           00006                           EXTEND                                         
046911,000815: 15,3300           73767                           MP       1/16A1                                #  = 180/(16 A1 TT)
046912,000816: 15,3301           00006                           EXTEND                                         
046913,000817: 15,3302           11506                           DV       CALFA                                 
046914,000818: 15,3303           54001                           TS       L                                     
046915,000819: 15,3304           11614                           CCS      LCX/360                               
046916,000820: 15,3305           34675                           CAF      POS1/2                                
046917,000821: 15,3306           13310                           TCF      +2                                    
046918,000822: 15,3307           44675                           CS       POS1/2                                
046919,000823: 15,3310           61614                           AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG $
046920,000824: 15,3311           60001                           AD       L                                     
046921,000825: 15,3312           54001                           TS       L                                     
046922,000826: 15,3313           13320                           TCF      COMPAT                                #  YES, GO ON.
046923,000827: 15,3314           50000        TRTAGXPI           INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
046924,000828: 15,3315           44674                           CS       HALFPR                                #  +A YIELDS -1/2
046925,000829: 15,3316           60000                           DOUBLE                                         
046926,000830: 15,3317           27614                           ADS      LCX/360                               
046927,000831: 
046928,000832: 15,3320           31614        COMPAT             CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
046929,000833: 15,3321           00006                           EXTEND                                         
046930,000834: 15,3322           71506                           MP       CALFA                                 #  COS ALFA
046931,000835: 15,3323           55614                           TS       LCX/360                               #  SCALED LCX OK HERE.
046932,000836: 
046933,000837: 15,3324           11700                           CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
046934,000838: 15,3325           03714                           TC       DZCALL1                               #  EXIT, SETTING JETAG=0. (C(A)=0)
046935,000839:                                                                                                  #  ALL 3 AXES ALREADY DONE.
046936,000840: 15,3326           03327                           TC       +1                                    #  G LESS THAN .05.  CA POS. CONTINUE
046937,000841: 15,3327           31614                           CA       LCX/360                               #  G GEQ .05.  CONTINUE IN CM/RCS
046938,000842: 15,3330           55614                           TS       LCX/360                               #  CMDAPMOD=-0.  DAMPING ONLY. SET LCX=0
046939,000843: 15,3331           55713                           TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.  (/360)

Page 1053

046941,000845: 15,3332           31613                           CA       -VT/180                               #  GET - 2 VT/180
046942,000846: 15,3333           54021                           TS       SR                                    
046943,000847: 15,3334           30021                           CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
046944,000848: 15,3335           55570                           TS       -VT/180E                              #                        DIAGNOSTIC ****
046945,000849: 15,3336           57613                           XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
046946,000850: 15,3337           00006                           EXTEND                                         
046947,000851: 15,3340           71613                           MP       -VT/180                               #  B(A) = -2VT/180
046948,000852: 15,3341           00006                           EXTEND                                         
046949,000853: 15,3342           73767                           MP       180/8ATT                              
046950,000854: 15,3343           55616                           TS       VSQ/4API                              
046951,000855: 
046952,000856:                                                                                                  #  IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360       POS?
046953,000857: 
046954,000858: 15,3344           60000        WHICHALF           DOUBLE                                         #  FOR SECOND BURN, A1
046955,000859: 15,3345           40000                           COM                                            
046956,000860: 15,3346           63773                           AD       BUFLIM                                #  =BUFLIM/(2 360)
046957,000861: 15,3347           54001                           TS       L                                     
046958,000862: 15,3350           11613                           CCS      -VT/180                               
046959,000863: 15,3351           40001                           CS       L                                     
046960,000864: 15,3352           13354                           TCF      +2                                    
046961,000865: 15,3353           30001                           CA       L                                     
046962,000866: 15,3354           61614                           AD       LCX/360                               
046963,000867: 15,3355           63773                           AD       BUFLIM                                
046964,000868: 15,3356           00006                           EXTEND                                         
046965,000869: 15,3357           63374                           BZMF     REFLECT                               #  POINT (X,V) IN LHP.
046966,000870: 
046967,000871:                                                                                                  #  IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360      NEG?
046968,000872: 
046969,000873: 15,3360           40000                           COM                                            
046970,000874: 15,3361           63773                           AD       BUFLIM                                
046971,000875: 15,3362           63773                           AD       BUFLIM                                
046972,000876: 15,3363           00006                           EXTEND                                         
046973,000877: 15,3364           63403                           BZMF     DZ1                                   #  POINT (X,V) IN RHP.
046974,000878: 
046975,000879:                                                                                                  #  IS POINT WITHIN VELOCITY DZ?
046976,000880: 
046977,000881: 15,3365           43766                           CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN NEG?
046978,000882: 15,3366           61616                           AD       VSQ/4API                              
046979,000883: 15,3367           00006                           EXTEND                                         
046980,000884: 15,3370           63676                           BZMF     DZCALL                                #  YES.
046981,000885: 
046982,000886:                                                                                                  #  POINT IS IN BUFFER ZONE.  THRUST TO X AXIS.
046983,000887: 
046984,000888: 15,3371           41617                           CS       JNDX                                  
046985,000889: 15,3372           55620                           TS       JNDX1                                 
046986,000890: 15,3373           03456                           TC       OVRLINE1                              
046987,000891: 
046988,000892: 15,3374           41613        REFLECT            CS       -VT/180                               #  REFLECT LHP INTO RHP REL TO TERM CONTR
046989,000893: 15,3375           55613                           TS       -VT/180                               
046990,000894: 15,3376           54021                           TS       SR                                    #  -VT/360 SAVED FOR DZ.

Page 1054

046992,000896: 15,3377           41614                           CS       LCX/360                               
046993,000897: 15,3400           55614                           TS       LCX/360                               
046994,000898: 15,3401           41617                           CS       JNDX                                  
046995,000899: 15,3402           55617                           TS       JNDX                                  
046996,000900: 
046997,000901:                                                                                                  #  IS VSQ/4API - (VSQ/4API) MIN NEG $
046998,000902: 
046999,000903: 15,3403           43766        DZ1                CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN NEG $
047000,000904: 15,3404           61616                           AD       VSQ/4API                              
047001,000905: 15,3405           00006                           EXTEND                                         
047002,000906: 15,3406           63410                           BZMF     DZ2                                   #  YES, GO TEST FURTHER.
047003,000907: 15,3407           13415                           TCF      MAXVTEST                              #  NO
047004,000908: 
047005,000909:                                                                                                  #  IS X/360 - XMIN/360 -VT/360 NEG $
047006,000910: 
047007,000911: 15,3410           43771        DZ2                CS       XMIN/360                              #  XMIN/360 = 4/360
047008,000912: 15,3411           61614                           AD       LCX/360                               
047009,000913: 15,3412           60021                           AD       SR                                    #  C(SR) = -VT/360
047010,000914: 15,3413           00006                           EXTEND                                         #  IS X/360 - XMIN/360 -VT/360 NEG $
047011,000915: 15,3414           63676                           BZMF     DZCALL                                #  YES, IN DZ.  EXIT SETTING JETAG=0.
047012,000916: 
047013,000917:                                                                                                  #  IS XD/360 - VM/360K - XS/360 POS?
047014,000918: 
047015,000919: 15,3415           41617        MAXVTEST           CS       JNDX                                  
047016,000920: 15,3416           55620                           TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
047017,000921: 15,3417           43773                           CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
047018,000922: 15,3420           61616                           AD       VSQ/4API                              
047019,000923: 15,3421           61614                           AD       LCX/360                               
047020,000924: 15,3422           55615                           TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
047021,000925:                                                                                                  #  BUT C(XD/360) = (XD - XS) /360
047022,000926: 15,3423           63772                           AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
047023,000927: 15,3424           40000                           COM                                            
047024,000928: 15,3425           00006                           EXTEND                                         
047025,000929: 15,3426           63434                           BZMF     MAXVTIM1                              #  YES, THRUST TO VM
047026,000930: 15,3427           31615                           CA       XD/360                                
047027,000931: 15,3430           00006                           EXTEND                                         
047028,000932: 15,3431           74675                           MP       KTRCS                                 
047029,000933: 15,3432           20001                           DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
047030,000934: 
047031,000935: 15,3433           03437                           TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
047032,000936: 15,3434           00006        MAXVTIM1           EXTEND                                         
047033,000937: 15,3435           22007                           ZQ                                             #  SET +0 AS TAG
047034,000938: 15,3436           43772                           CS       -VMT/180                              
047035,000939: 15,3437           55567        GETON1             TS       VDT/180                               #  VDT/180 OR VMT/180.
047036,000940: 15,3440           61613                           AD       -VT/180                               
047037,000941: 15,3441           60000                           DOUBLE                                         
047038,000942: 15,3442           00006                           EXTEND                                         
047039,000943: 15,3443           73767                           MP       180/8ATT                              
047040,000944: 15,3444           55621                           TS       TON1                                  #  TON1 / 4T

Page 1055

047042,000946: 15,3445           00006                           EXTEND                                         
047043,000947: 15,3446           63450                           BZMF     OVRLINE                               
047044,000948: 15,3447           03462                           TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
047045,000949: 
047046,000950: 15,3450           10002        OVRLINE            CCS      Q                                     
047047,000951: 15,3451           13456                           TCF      OVRLINE1                              
047048,000952: 15,3452           31620        MAXVTIM2           CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
047049,000953: 15,3453           55617                           TS       JNDX                                  
047050,000954: 15,3454           41621                           CS       TON1                                  
047051,000955: 15,3455           13461                           TCF      OVRLINE2   +1                         
047052,000956: 
047053,000957: 15,3456           41613        OVRLINE1           CS       -VT/180                               #  DRIFT AT V
047054,000958: 15,3457           55567                           TS       VDT/180                               
047055,000959: 15,3460           34714        OVRLINE2           CA       ZERO                                  
047056,000960: 15,3461           55621                           TS       TON1                                  
047057,000961: 15,3462           31567        GETON2             CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
047058,000962: 15,3463           60000                           DOUBLE                                         
047059,000963: 15,3464           00006                           EXTEND                                         
047060,000964: 15,3465           73767                           MP       180/8ATT                              
047061,000965: 15,3466           60000                           DOUBLE                                         #  FOR SECOND BURN, A1
047062,000966: 15,3467           55607                           TS       TON2                                  #  = TON2 / 4T
047063,000967: 
047064,000968: 15,3470           40000                           COM                                            
047065,000969: 15,3471           00006                           EXTEND                                         
047066,000970: 15,3472           63476                           BZMF     GETOFF                                
047067,000971: 15,3473           55607                           TS       TON2                                  
047068,000972: 15,3474           31617                           CA       JNDX                                  
047069,000973: 15,3475           55620                           TS       JNDX1                                 
047070,000974: 
047071,000975: 15,3476           41607        GETOFF             CS       TON2                                  #  TON2 / 4T
047072,000976: 15,3477           00006                           EXTEND                                         
047073,000977: 15,3500           71567                           MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
047074,000978: 15,3501           55615                           TS       XD/360                                #  USE AS TEMP
047075,000979: 15,3502           41567                           CS       VDT/180                               
047076,000980: 15,3503           00006                           EXTEND                                         
047077,000981: 15,3504           13520                           BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
047078,000982: 15,3505           61613                           AD       -VT/180                               
047079,000983: 15,3506           00006                           EXTEND                                         
047080,000984: 15,3507           71621                           MP       TON1                                  #  TON1 /4T
047081,000985: 15,3510           61615                           AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
047082,000986: 15,3511           61614                           AD       LCX/360                               
047083,000987: 15,3512           22007                           ZL                                             
047084,000988: 15,3513           56001                           XCH      L                                     #  TEST THE DIVIDE
047085,000989: 15,3514           00006                           EXTEND                                         
047086,000990: 15,3515           11567                           DV       VDT/180                               
047087,000991: 15,3516           00006                           EXTEND                                         
047088,000992: 15,3517           13522                           BZF      GETOFF2                               #  DIVIDE OK
047089,000993: 
047090,000994: 15,3520           34740        TOFFOVFL           CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
047091,000995: 15,3521           13527                           TCF      TIMSCAL                               
047092,000996: 

Page 1056

047094,000998: 15,3522           56001        GETOFF2            XCH      L                                     #  GET NUMERATOR.
047095,000999: 15,3523           00006                           EXTEND                                         
047096,001000: 15,3524           11567                           DV       VDT/180                               #  C(A) = TOFF / 2T
047097,001001: 15,3525           00006                           EXTEND                                         
047098,001002: 15,3526           74740                           MP       2JETT                                 
047099,001003: 15,3527           55605        TIMSCAL            TS       TOFF                                  #  IN CS
047100,001004: 
047101,001005: 15,3530           33770                           CAF      4JETT                                 
047102,001006: 15,3531           00006                           EXTEND                                         
047103,001007: 15,3532           71621                           MP       TON1                                  #  C(TON1) = TON1 / 4T
047104,001008: 15,3533           55621                           TS       TON1                                  #  IN CS
047105,001009: 
047106,001010: 15,3534           33770                           CAF      4JETT                                 
047107,001011: 15,3535           00006                           EXTEND                                         
047108,001012: 15,3536           71607                           MP       TON2                                  #  C(TON2) = TON2 / 4T
047109,001013: 15,3537           55607                           TS       TON2                                  #  IN CS
047110,001014: 
047111,001015: 15,3540           34714                           CA       ZERO                                  #  CANNOT REDO AFTER TIMETST.  TUSED GONE
047112,001016: 15,3541           55711                           TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
047113,001017: 
047114,001018:                                                                                                  #  CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047115,001019:                                                                                                  #  INITIALIZED.  ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047116,001020:                                                                                                  #  AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047117,001021: 
047118,001022: 15,3542           34712                           CA       ONE                                   
047119,001023: 15,3543           54305                           TS       SW/NDX                                
047120,001024: 

Page 1057

047122,001026:                                                                                                  #  TIMETEST SECTION FOR RCS
047123,001027: 
047124,001028:                                                                                                  #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047125,001029:                                                                                                  #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047126,001030:                                                                                                  #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
047127,001031:                                                                                                  #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047128,001032:                                                                                                  #  TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS.  THUS:  TON1, T1BITS,
047129,001033:                                                                                                  #  TOFF, TBITS, TON2, T2BITS.  OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047130,001034:                                                                                                  #  SECTION JETCALL BELOW PROCESSES THIS LIST.
047131,001035: 
047132,001036: 15,3544           30025        TIMETST            CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
047133,001037: 15,3545           64675                           AD       POS1/2                                
047134,001038: 15,3546           64675                           AD       POS1/2                                #  OVFL GUARANTEED.
047135,001039: 15,3547           27712                           ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
047136,001040: 
047137,001041: 15,3550           33765                           CA       -T-3                                  #  =-T +2 -5 (SEE SETJTAG)
047138,001042:                                                                                                  #  THE +2 REQUIRED FOR PROPER BRANCH.
047139,001043: 15,3551           27712                           ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
047140,001044: 
047141,001045: 15,3552           44711                           CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
047142,001046: 15,3553           61621                           AD       TON1                                  
047143,001047: 15,3554           00006                           EXTEND                                         
047144,001048: 15,3555           63567                           BZMF     TIMETST1                              
047145,001049: 15,3556           51617                           INDEX    JNDX                                  
047146,001050: 15,3557           33225                           CAF      P/RJCODE                              
047147,001051: 15,3560           55622                           TS       T1BITS                                
047148,001052: 
047149,001053: 15,3561           31621                           CA       TON1                                  
047150,001054: 15,3562           27712                           ADS      TUSED                                 
047151,001055: 15,3563           00006                           EXTEND                                         
047152,001056: 15,3564           63571                           BZMF     TOFFTEST                              
047153,001057: 15,3565           34714                           CA       ZERO                                  
047154,001058: 15,3566           13622                           TCF      TIMETST3                              
047155,001059: 15,3567           44712        TIMETST1           CS       ONE                                   
047156,001060: 15,3570           55621                           TS       TON1                                  
047157,001061: 15,3571           44711        TOFFTEST           CS       TWO                                   
047158,001062: 15,3572           61605                           AD       TOFF                                  
047159,001063: 15,3573           00006                           EXTEND                                         
047160,001064: 15,3574           63603                           BZMF     TIMETST2                              
047161,001065: 15,3575           31605                           CA       TOFF                                  
047162,001066: 15,3576           27712                           ADS      TUSED                                 
047163,001067: 15,3577           00006                           EXTEND                                         
047164,001068: 15,3600           63605                           BZMF     TON2TEST                              
047165,001069: 15,3601           34714                           CA       ZERO                                  
047166,001070: 15,3602           13624                           TCF      TIMETST4                              
047167,001071: 15,3603           44712        TIMETST2           CS       ONE                                   
047168,001072: 15,3604           55605                           TS       TOFF                                  
047169,001073: 15,3605           44711        TON2TEST           CS       TWO                                   
047170,001074: 15,3606           61607                           AD       TON2                                  
047171,001075: 15,3607           00006                           EXTEND                                         
047172,001076: 15,3610           63625                           BZMF     TIMETST5                              

Page 1058

047174,001078: 15,3611           51620                           INDEX    JNDX1                                 
047175,001079: 15,3612           33225                           CAF      P/RJCODE                              
047176,001080: 15,3613           55610                           TS       T2BITS                                
047177,001081: 15,3614           31607                           CA       TON2                                  
047178,001082: 15,3615           27712                           ADS      TUSED                                 
047179,001083: 15,3616           00006                           EXTEND                                         
047180,001084: 15,3617           63627                           BZMF     JETCALL1                              
047181,001085: 15,3620           34714                           CA       ZERO                                  
047182,001086: 15,3621           13626                           TCF      TIMETST5   +1                         
047183,001087: 15,3622           55621        TIMETST3           TS       TON1                                  
047184,001088: 15,3623           44712                           CS       ONE                                   
047185,001089: 15,3624           55605        TIMETST4           TS       TOFF                                  
047186,001090: 15,3625           44712        TIMETST5           CS       ONE                                   
047187,001091: 15,3626           55607                           TS       TON2                                  
047188,001092: 
047189,001093:                                                                                                  #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047190,001094:                                                                                                  #  JET CODES.  A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047191,001095:                                                                                                  #  EXECUTED.  A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047192,001096:                                                                                                  #  EXECUTED.  A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED.  IN EVENT OF +0 OR -1, THE 
047193,001097:                                                                                                  #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION.  THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047194,001098:                                                                                                  #  THAN ONE REGISTER.
047195,001099: 
047196,001100: 15,3627           34714        JETCALL1           CA       ZERO                                  
047197,001101: 15,3630           55611                           TS       OUTTAG                                
047198,001102: 15,3631           55612                           TS       NUJET                                 
047199,001103: 15,3632           55606                           TS       TBITS                                 
047200,001104: 15,3633           53622                           DXCH     TON1                                  
047201,001105: 15,3634           10000                           CCS      A                                     
047202,001106: 15,3635           13652                           TCF      JETCALL2                              #  CALL WTLST
047203,001107: 15,3636           23612        JETCALL3           LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
047204,001108: 15,3637           44712                           CS       ONE                                   
047205,001109: 15,3640           53606                           DXCH     TOFF                                  
047206,001110: 15,3641           10000                           CCS      A                                     
047207,001111: 15,3642           13652                           TCF      JETCALL2                              #  CALL WTLST
047208,001112: 15,3643           23612                           LXCH     NUJET                                 
047209,001113: 15,3644           44712                           CS       ONE                                   
047210,001114: 15,3645           53610                           DXCH     TON2                                  
047211,001115: 15,3646           10000                           CCS      A                                     
047212,001116: 15,3647           13652                           TCF      JETCALL2                              #  CALL WTLST
047213,001117: 15,3650           23612                           LXCH     NUJET                                 
047214,001118: 15,3651           03661                           TC       JETACTN                               #  C(A) = +0
047215,001119: 15,3652           56001        JETCALL2           XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
047216,001120: 15,3653           27612                           ADS      NUJET                                 
047217,001121: 15,3654           56001                           XCH      L                                     
047218,001122: 15,3655           64712                           AD       ONE                                   #  RESTORE FOR CCS
047219,001123: 15,3656           05140                           TC       WAITLIST                              
047220,001124: 15,3657  E6,1661                                  EBANK=   AOG                                   
047221,001125: 15,3657           03667 32066                     2CADR    JETCALL                               
047222,001126: 
047223,001127: 15,3661           31612        JETACTN            CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN

Page 1059

047225,001129: 15,3662           00006                           EXTEND                                         #  NO NEED TO SAVE OLD CODES
047226,001130: 15,3663           01006                           WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.
047227,001131: 
047228,001132: 15,3664           11611                           CCS      OUTTAG                                
047229,001133: 15,3665           05213                           TC       TASKOVER                              
047230,001134: 15,3666           03724        ROLLDUMP           TC       CM/FDAIR                              
047231,001135: 
047232,001136:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
047233,001137: 
047234,001138:                                                                                                  #  WAITLIST ENTRIES COME HERE.
047235,001139: 
047236,001140: 15,3667           34711        JETCALL            CAF      BIT2                                  #  CM/DSTBY =103D BIT2
047237,001141: 15,3670           55611                           TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
047238,001142: 15,3671           70102                           MASK     CM/FLAGS                              #  IS SYSTEM DISABLED $
047239,001143: 15,3672           00006                           EXTEND                                         
047240,001144: 15,3673           13662                           BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS, IF ON AND EXIT.
047241,001145: 15,3674           22007                           ZL                                             #  NO, CONTINUE.
047242,001146: 15,3675           13636                           TCF      JETCALL3                              #  C(A) POS, C(L) = +0
047243,001147: 
047244,001148:                                                                                                  #  DEAD ZONE ENTRIES COME HERE.
047245,001149: 
047246,001150: 15,3676           41700        DZCALL             CS       CMDAPMOD                              #  POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047247,001151: 15,3677           74712                           MASK     BIT1                                  
047248,001152: 15,3700           54001                           TS       L                                     #  C(L)=0 FOR -0
047249,001153: 
047250,001154: 15,3701           50000                           INDEX    A                                     #  ERASBLE ORDER:  ROLLTM,ROLLC,ROLLC +1.
047251,001155: 15,3702           31714                           CA       ROLLTM                                #  GET ROLL/180 OR ROLLC (/360).
047252,001156: 15,3703           50001                           INDEX    L                                     
047253,001157: 15,3704           54000                           TS       A                                     #  IF C(L)=1, STORE 'ROLLC' IN 'L'.
047254,001158: 15,3705           60001                           AD       L                                     #  (BOTH MUST BE SCALED DEG/180)
047255,001159: 15,3706           02542                           TC       ANGOVCOR                              #  C(A)=ROLL/180 OR 2 ROLLC  .
047256,001160: 15,3707           55717                           TS       ROLLHOLD                              #  IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047257,001161:                                                                                                  #        OTHERWISE, SAVE ROLL COMMAND.
047258,001162: 
047259,001163: 15,3710           34714                           CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCEL JETS.
047260,001164: 15,3711           00006                           EXTEND                                         #  INHINT NOT NEEDED HERE.
047261,001165: 15,3712           01006                           WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
047262,001166: 15,3713           55567                           TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
047263,001167: 15,3714           55711        DZCALL1            TS       JETAG                                 #  COME HERE WITH C(A)=0.
047264,001168: 15,3715           03666                           TC       ROLLDUMP                              
047265,001169: 

Page 1060

047267,001171:                                                                                                  #  CM ENTRY FDAI DISPLAY
047268,001172: 
047269,001173:                                                                                                  #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES.  DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047270,001174:                                                                                                  #        ATM DAP:        DISPLAY ONLY ROLL ATTITUDE ERROR.
047271,001175:                                                                                                  #        EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047272,001176:                                                                                                  #                                ROLL    ROLLC-ROLL
047273,001177:                                                                                                  #                                PITCH   ALFAC-ALFA
047274,001178:                                                                                                  #                                YAW     BETAC-BETA
047275,001179: 
047276,001180:                                                                                                  #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047277,001181:                                                                                                  #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047278,001182: 
047279,001183:                                                                                                  #  COME HERE EACH .1 SEC.  (CMDAPMOD=+1 COMES BELOW)
047280,001184: 15,3716           41705        CM/FDAI            CS       PHIDOT                                #  INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047281,001185: 15,3717           00006                           EXTEND                                         
047282,001186: 15,3720           71506                           MP       CALFA                                 #  FOR ASSUMED COORDINATION.
047283,001187: 15,3721           00006                           EXTEND                                         
047284,001188: 15,3722           74675                           MP       HALF                                  
047285,001189: 15,3723           27713                           ADS      PAXERR1                               #  ROLL ERROR/360.  OVFL OK.
047286,001190: 
047287,001191:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
047288,001192: 15,3724           34675        CM/FDAIR           CA       HALF                                  
047289,001193: 15,3725           00006                           EXTEND                                         
047290,001194: 15,3726           71713                           MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047291,001195: 15,3727           55476                           TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047292,001196: 
047293,001197:                                                                                                  #  PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047294,001198:                                                                                                  #  TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047295,001199:                                                                                                  #  SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047296,001200:                                                                                                  #  IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047297,001201:                                                                                                  #  THE SUBSEQUENT PASS.
047298,001202: 
047299,001203: 15,3730           40305        CM/DUMPR           CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
047300,001204: 15,3731           54305                           TS       SW/NDX                                
047301,001205: 15,3732           00006                           EXTEND                                         #  INDEX.
047302,001206: 15,3733           63737                           BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
047303,001207:                                                                                                  #  ENDBUF.
047304,001208: 
047305,001209:                                                                                                  #  INDEX IS POS FOR NEEDLES
047306,001210: 
047307,001211: 15,3734           04633                           TC       IBNKCALL                              
047308,001212: 15,3735           42404                           CADR     NEEDLER                               
047309,001213: 
047310,001214: 15,3736           03755                           TC       CM/END                                
047311,001215: 
047312,001216:                                                                                                  #  INDEX IS NEG FOR TM FILE
047313,001217: 
047314,001218: 15,3737           66214        CMTMFILE           AD       THREE                                 
047315,001219: 15,3740           00006                           EXTEND                                         
047316,001220: 15,3741           63745                           BZMF     SAVENDX                               
047317,001221: 

Page 1061

047319,001223: 15,3742           30025                           CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
047320,001224: 15,3743           54304                           TS       CMTMTIME                              
047321,001225: 15,3744           44720                           CS       THIRTEEN                              #  INITIALIZE COUNTER
047322,001226: 15,3745           54305        SAVENDX            TS       SW/NDX                                #  A NEGATIVE NUMBER.
047323,001227: 15,3746           00006                           EXTEND                                         
047324,001228: 15,3747           31702                           DCA      PREL                                  
047325,001229: 15,3750           50305                           INDEX    SW/NDX                                
047326,001230: 15,3751           52324                           DXCH     ENDBUF     -1                         
047327,001231: 15,3752           31703                           CA       RREL                                  
047328,001232: 15,3753           50305                           INDEX    SW/NDX                                
047329,001233: 15,3754           54325                           TS       ENDBUF     +1                         
047330,001234: 
047331,001235: 15,3755           31623        CM/END             CA       CM/SAVE                               
047332,001236: 15,3756           54021                           TS       SR                                    
047333,001237:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047334,001238: 
047335,001239: 15,3757           00006                           EXTEND                                         
047336,001240: 15,3760           33764                           DCA      T5IDLER2                              
047337,001241: 15,3761           53313                           DXCH     T5LOC                                 
047338,001242: 15,3762           05222                           TC       RESUME                                
047339,001243: 
047340,001244: 15,3763     1312                                  EBANK=   T5LOC                                 
047341,001245: 15,3763           03143 12062  T5IDLER2           2CADR    T5IDLOC                               
047342,001246: 
047343,001247:                                                                                                  #  DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047344,001248:                                                                                                  #  USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047345,001249:                                                                                                  #  THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047346,001250:                                                                                                  #  DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
047347,001251:                                                                                                  #  EACH 2 SECONDS.
047348,001252: 
047349,001253:                                                                                                  #  THE SEQUENCE IS:      SP TIME         INITIAL TIME
047350,001254:                                                                                                  #                        SWITCH          ALSO INDEX.
047351,001255:                                                                                                  #                        P               ROLL RATE
047352,001256:                                                                                                  #                        Q               PITCH RATE
047353,001257:                                                                                                  #                        R               YAW RATE
047354,001258:                                                                                                  #                        ETC.
047355,001259: 
047356,001260:                                                                                                  # CMTMTIME       =       UPBUFF
047357,001261:                                                                                                  # SW/NDX         =       UPBUFF +1
047358,001262:                                                                                                  # ENDBUF         =       UPBUFF +16D
047359,001263: 

Page 1062

047361,001265:                                                                                                  #  SPACER
047362,001266: 
047363,001267:                                                                                                  #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:    
047364,001268:                                                                                                  #  CONSTANTS ARE THE FOLLOWING:  A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047365,001269:                                                                                                  #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047366,001270:                                                                                                  #  XBUF = 4DEG
047367,001271: 
047368,001272: 15,3765           77464        -T-3               DEC      -203       B-14                       #  CS
047369,001273: 15,3766           00012        VSQMIN             DEC      .61050061  E-3                        #  VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047370,001274: 15,3767     4726               2T/TCDU            =        OCT50                                 #  T/TCDU EXP-14    TCDU = .1SEC
047371,001275: 15,3767           23617        180/8ATT           DEC      .61813187                             #  180/(8 (9.1) 4)=(180/ATT)     EXP -3
047372,001276: 15,3770  15,3772               -VMT/180           =        -VM/360K                              #  = 20 (2) / 180
047373,001277: 15,3770     4740               2JETT              =        4SECS                                 #  CS            2 (2) 100       INTEGER
047374,001278: 15,3770           01440        4JETT              DEC      800        B-14                       #  CS            4 (2) 100       INTEGER
047375,001279: 15,3771           00266        XMIN/360           DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
047376,001280: 15,3772           70706        -VM/360K           DEC      -.22222222                            #  =-20/( 360 (.25))
047377,001281: 15,3773  15,3767               1/16A1             =        180/8ATT                              
047378,001282:                                                                                                  #  1/16A1   = 180/(16 A1 TT)
047379,001283:                                                                                                  #           = 180/(16 4.55 4)
047380,001284: 15,3773           00133        XS/360             DEC      91         B-14                       #           = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047381,001285: 15,3774  15,3773               BUFLIM             =        XS/360                                #           4/(2 360)
047382,001286: 
047383,001287: 15,3774     4675               KTRCS              =        HALF                                  #           KT = (.25) 2 = .5

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