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 A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin.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.

041196,000002:                                                                                                  ## Copyright:   Public domain.
041197,000003:                                                                                                  ## Filename:    TVCDAPS.agc
041198,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
041199,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
041200,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
041201,000007:                                                                                                  ## Assembler:   yaYUL
041202,000008:                                                                                                  ## Reference:   Begins at p. 921.
041203,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041204,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
041205,000011:                                                                                                  ## Mod history: 08/23/04 RSB.   Began transcribing.
041206,000012:                                                                                                  ##              2010-10-25 JL   Fixed page number.
041207,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
041208,000014:                                                                                                  ##                              original harcopy, as opposed to the PDF page
041209,000015:                                                                                                  ##                              numbers in 1701.pdf.
041210,000016:                                                                                                  ##              2017-01-20 RSB  Cross-diff'd comment text (not whitespace)
041211,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
041212,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
041213,000019:                                                                                                  ##                              and corrected errors found.
041214,000020:                                                                                                  ##
041215,000021:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
041216,000022:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
041217,000023:                                                                                                  ## document read, in part:
041218,000024:                                                                                                  ##
041219,000025:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
041220,000026:                                                                                                  ##      2021111-041.  October 28, 1968.  
041221,000027:                                                                                                  ##
041222,000028:                                                                                                  ##      This AGC program shall also be referred to as
041223,000029:                                                                                                  ##                              Colossus 1A
041224,000030:                                                                                                  ##
041225,000031:                                                                                                  ##      Prepared by
041226,000032:                                                                                                  ##                      Massachusetts Institute of Technology
041227,000033:                                                                                                  ##                      75 Cambridge Parkway
041228,000034:                                                                                                  ##                      Cambridge, Massachusetts
041229,000035:                                                                                                  ##      under NASA contract NAS 9-4065.
041230,000036:                                                                                                  ##
041231,000037:                                                                                                  ## Refer directly to the online document mentioned above for further information.
041232,000038:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
041233,000039:                                                                                                  ##
041234,000040:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
041235,000041:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
041236,000042:                                                                                                  ## source file, and then is proofed to incorporate any changes.
041237,000043: 

Page 921

041239,000045:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
041240,000046:                                                                                                  #  LOG SECTION....TVCDAP                         SUBROUTINE....DAPCSM
041241,000047:                                                                                                  #  MOD BY ENGEL                                  DATE....27 OCT, 1967
041242,000048: 
041243,000049:                                                                                                  #  FUNCTIONAL DESCRIPTION....
041244,000050: 
041245,000051:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
041246,000052:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
041247,000053:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
041248,000054:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
041249,000055:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
041250,000056: 
041251,000057:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
041252,000058:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
041253,000059:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
041254,000060:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
041255,000061:                                                                                                  #        POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
041256,000062:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
041257,000063: 
041258,000064:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
041259,000065:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
041260,000066:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
041261,000067:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
041262,000068:                                                                                                  #        MODING.
041263,000069: 
041264,000070:                                                                                                  #        REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
041265,000071:                                                                                                  #        (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
041266,000072:                                                                                                  #        REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
041267,000073:                                                                                                  #        LU (MIT IL JUNE 1966).
041268,000074: 
041269,000075:                                                                                                  #        OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
041270,000076:                                                                                                  #        NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
041271,000077:                                                                                                  #        (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
041272,000078: 
041273,000079:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
041274,000080: 
041275,000081:                                                                                                  #        T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
041276,000082:                                                                                                  #        T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
041277,000083:                                                                                                  #        T5 CALL OF DAPINIT BY DAPINIT
041278,000084:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
041279,000085:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
041280,000086:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
041281,000087:                                                                                                  #                ETC.
041282,000088:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
041283,000089: 
041284,000090:                                                                                                  #  NORMAL EXIT MODE....RESUME
041285,000091: 
041286,000092:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
041287,000093: 
041288,000094:                                                                                                  #  SUBROUTINES CALLED....

Page 922

041290,000096: 
041291,000097:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
041292,000098:                                                                                                  #        NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
041293,000099:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
041294,000100:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
041295,000101:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
041296,000102:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
041297,000103:                                                                                                  #                YAW DAPS
041298,000104:                                                                                                  #        OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
041299,000105:                                                                                                  #                PITCH AND YAW DAPS
041300,000106:                                                                                                  #        RESUME
041301,000107: 
041302,000108:                                                                                                  #  OTHER INTERFACES....
041303,000109: 
041304,000110:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
041305,000111:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
041306,000112:                                                                                                  #        TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
041307,000113:                                                                                                  #                GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
041308,000114:                                                                                                  #                AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
041309,000115:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
041310,000116: 
041311,000117:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
041312,000118: 
041313,000119:                                                                                                  #        29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
041314,000120:                                                                                                  #        KP/KPDN (KPGEN3) AS IN S40.15 (R03)
041315,000121:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
041316,000122:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
041317,000123:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
041318,000124:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
041319,000125:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
041320,000126:                                                                                                  #                INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
041321,000127:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
041322,000128:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
041323,000129:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
041324,000130:                                                                                                  #                UNLESS BENCH-TESTING.
041325,000131: 
041326,000132:                                                                                                  #  OUTPUT....
041327,000133: 
041328,000134:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
041329,000135:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
041330,000136:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
041331,000137:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
041332,000138: 
041333,000139:                                                                                                  #  DEBRIS....
041334,000140: 
041335,000141:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041336,000142: 
041337,000143: 17,2213                                           BANK     17                                    
041338,000144: 20,2000                                           SETLOC   DAPS2                                 
041339,000145: 20,2000                                           BANK                                           

Page 923

041341,000147: 20,2327  E6,1742                                  EBANK=   BZERO                                 
041342,000148: 20,2327                                           COUNT*   $$/DAPS                               
041343,000149: 

Page 924

041345,000151:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041346,000152: 
041347,000153: 20,2327           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
041348,000154: 20,2330           00006                           EXTEND                                         
041349,000155: 20,2331           22012                           QXCH     QRUPT                                 
041350,000156: 
041351,000157: 20,2332           33420                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
041352,000158: 20,2333           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041353,000159: 20,2334           31635                           CAE      T5TVCDT                               
041354,000160: 20,2335           54030                           TS       TIME5                                 
041355,000161: 
041356,000162: 20,2336           11614        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041357,000163: 20,2337           03506                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041358,000164: 20,2340           12342                           TCF      +2                                    #  NO-TEST
041359,000165: 20,2341           03506                           TC       HACK                                  #  TEST-IN-PROGRESS
041360,000166: 
041361,000167: 20,2342           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
041362,000168: 20,2343           57655                           XCH      PCDUYPST                              #        FOR PITCH AUTOPILOT
041363,000169: 20,2344           00006                           EXTEND                                         
041364,000170: 20,2345           21655                           MSU      PCDUYPST                              
041365,000171: 20,2346           02547                           TCR      RLIMTEST                              #        RATE TEST
041366,000172: 20,2347           55657                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041367,000173: 
041368,000174: 20,2350           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
041369,000175: 20,2351           57656                           XCH      PCDUZPST                              #        FOR PITCH AUTOPILOT
041370,000176: 20,2352           00006                           EXTEND                                         
041371,000177: 20,2353           21656                           MSU      PCDUZPST                              
041372,000178: 20,2354           02547                           TCR      RLIMTEST                              #        RATE TEST
041373,000179: 20,2355           55660                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041374,000180: 
041375,000181: 20,2356           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
041376,000182: 20,2357           31616                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
041377,000183: 20,2360           53743                           DXCH     ERRBTMP                               
041378,000184: 
041379,000185: 20,2361           00006                           EXTEND                                         
041380,000186: 20,2362           31530                           DCA      OMEGAYC                               
041381,000187: 20,2363           21743                           DAS      ERRBTMP                               
041382,000188: 
041383,000189: 20,2364           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
041384,000190: 20,2365           00006                           EXTEND                                         
041385,000191: 20,2366           70750                           MP       COSCDUX                               
041386,000192: 20,2367           20001                           DDOUBL                                         
041387,000193: 20,2370           00006                           EXTEND                                         
041388,000194: 20,2371           71657                           MP       MCDUYDOT                              
041389,000195: 20,2372           20001                           DDOUBL                                         
041390,000196: 20,2373           53536                           DXCH     OMEGAYB                               
041391,000197: 
041392,000198: 20,2374           41660                           CS       MCDUZDOT                              
041393,000199: 20,2375           00006                           EXTEND                                         

Page 925

041395,000201: 20,2376           70742                           MP       SINCDUX                               
041396,000202: 20,2377           20001                           DDOUBL                                         
041397,000203: 20,2400           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
041398,000204: 
041399,000205: 20,2401           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
041400,000206: 20,2402           41536                           DCS      OMEGAYB                               
041401,000207: 20,2403           21743                           DAS      ERRBTMP                               
041402,000208: 
041403,000209: 20,2404           03126        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
041404,000210: 
041405,000211: 20,2405           31466        P1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041406,000212: 20,2406           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041407,000213: 20,2407           10000                           CCS      A                                     
041408,000214: 20,2410           12413                           TCF      +3                                    #  USE LEM-ON FILTER
041409,000215: 20,2411           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041410,000216: 20,2412           36213                           CADR     NP0NODE                               
041411,000217: 
041412,000218: 20,2413           00006        PFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS.
041413,000219: 20,2414           41544                           DCS      PDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041414,000220: 20,2415           53745                           DXCH     JZERO                                 
041415,000221: 
041416,000222: 20,2416           31742                           CAE      ERRBTMP                               #  INPUT ERROR, SC.AT B-1 REVS
041417,000223: 20,2417           61541                           AD       PNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
041418,000224: 20,2420           00006                           EXTEND                                         
041419,000225: 20,2421           74727                           MP       KPDN                                  #  KPDN, SC.AT B+1 SPASCREV
041420,000226: 20,2422           21745                           DAS      JZERO                                 
041421,000227: 20,2423           31542                           CAE      PNSUM      +1                         
041422,000228: 20,2424           00006                           EXTEND                                         
041423,000229: 20,2425           74727                           MP       KPDN                                  
041424,000230: 20,2426           27745                           ADS      JZERO      +1                         
041425,000231: 20,2427           54001                           TS       L                                     
041426,000232: 20,2430           12432                           TCF      +2                                    
041427,000233: 20,2431           27744                           ADS      JZERO                                 #  (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
041428,000234: 
041429,000235: 20,2432           00006        JZSTORE            EXTEND                                         #  PREPARE JZERO FOR DENOMINATOR LADDER
041430,000236: 20,2433           31745                           DCA      JZERO                                 #        SC.AT B+0 SPASCREV
041431,000237: 20,2434           20001                           DDOUBL                                         
041432,000238: 20,2435           20001                           DDOUBL                                         
041433,000239: 20,2436           20001                           DDOUBL                                         
041434,000240: 20,2437           53727                           DXCH     J1TMP                                 #        SC.AT B-3 SPASCREV
041435,000241: 
041436,000242: 20,2440           03141        OPTVARKP           TCR      OPTVARK                               #  PITCH VARIABLE-GAIN PACKAGE
041437,000243: 
041438,000244: 20,2441           00006        POFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
041439,000245: 20,2442           41745                           DCS      CMDTMP                                #        (GEN3DAP RETURNS AT POFFSET)
041440,000246: 20,2443           53745                           DXCH     CMDTMP                                
041441,000247: 20,2444           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
041442,000248: 20,2445           31626                           DCA      PDELOFF                               
041443,000249: 20,2446           21745                           DAS      CMDTMP                                
041444,000250: 

Page 926

041446,000252: 20,2447           31745        PROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041447,000253: 20,2450           60000                           DOUBLE                                         
041448,000254: 20,2451           54001                           TS       L                                     
041449,000255: 20,2452           34714                           CAF      ZERO                                  
041450,000256: 20,2453           61744                           AD       CMDTMP                                
041451,000257: 
041452,000258: 20,2454           03161        PACLIM             TCR      ACTLIM                                #  PITCH ACTUATOR-COMMAND-LIMITER
041453,000259: 
041454,000260: 20,2455           41631        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
041455,000261: 20,2456           61744                           AD       CMDTMP                                
041456,000262: 20,2457           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
041457,000263:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041458,000264: 
041459,000265: 20,2460           34700                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
041460,000266: 20,2461           00006                           EXTEND                                         
041461,000267: 20,2462           05014                           WOR      CHAN14                                
041462,000268: 20,2463           31466        P2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041463,000269: 20,2464           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041464,000270: 20,2465           10000                           CCS      A                                     
041465,000271: 20,2466           12471                           TCF      +3                                    #  USE LEM-ON FILTER
041466,000272: 20,2467           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041467,000273: 20,2470           36246                           CADR     NP1NODE                               
041468,000274: 20,2471           31742        BZSTORE            CAE      ERRBTMP                               #  PREPARE BZERO (UPPER WORD OF ERRBTMP)
041469,000275: 20,2472           60000                           DOUBLE                                         #        FOR NUMERATOR LADDER....SC.AT B-1
041470,000276: 20,2473           55717                           TS       B1TMP                                 #        SC.AT B-2 REVS FOR LADDER
041471,000277: 20,2474           00006        PNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
041472,000278: 20,2475           31546                           DCA      B1                                    #        NUMERATOR LADDER
041473,000279: 20,2476           53721                           DXCH     B2TMP                                 
041474,000280: 20,2477           00006                           EXTEND                                         
041475,000281: 20,2500           31550                           DCA      B3                                    
041476,000282: 20,2501           53723                           DXCH     B4TMP                                 
041477,000283: 20,2502           00006                           EXTEND                                         
041478,000284: 20,2503           31552                           DCA      B5                                    
041479,000285: 20,2504           53725                           DXCH     B6TMP                                 
041480,000286: 
041481,000287: 20,2505           03173        PNSUMC             TCR      NSUM                                  #  PITCH NUMERATOR SUM
041482,000288: 20,2506           00006        PDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
041483,000289: 20,2507           31554                           DCA      J1                                    #        DENOMINATOR LADDER
041484,000290: 20,2510           53731                           DXCH     J2TMP                                 
041485,000291: 20,2511           00006                           EXTEND                                         
041486,000292: 20,2512           31556                           DCA      J2                                    
041487,000293: 20,2513           53733                           DXCH     J3TMP                                 
041488,000294: 20,2514           00006                           EXTEND                                         
041489,000295: 20,2515           31560                           DCA      J3                                    

Page 927

041491,000297: 20,2516           53735                           DXCH     J4TMP                                 
041492,000298: 20,2517           00006                           EXTEND                                         
041493,000299: 20,2520           31562                           DCA      J4                                    
041494,000300: 20,2521           53737                           DXCH     J5TMP                                 
041495,000301: 20,2522           00006                           EXTEND                                         
041496,000302: 20,2523           31564                           DCA      J5                                    
041497,000303: 20,2524           53741                           DXCH     J6TMP                                 
041498,000304: 
041499,000305: 20,2525           03233        PDSUMC             TCR      DSUM                                  #  PITCH DENOMINATOR SUM
041500,000306: 
041501,000307: 20,2526           31744        DELBARP            CAE      CMDTMP                                #  UPDATE PITCH OFFSET-TRACKER-FILTER
041502,000308: 20,2527           00006                           EXTEND                                         #        (GEN3DAP RETURNS AT ..DELBARP..)
041503,000309: 20,2530           73421                           MP       1-E(-AT)                              
041504,000310: 20,2531           53716                           DXCH     DELBRTMP                              
041505,000311: 20,2532           31621                           CAE      DELPBAR                               
041506,000312: 20,2533           00006                           EXTEND                                         
041507,000313: 20,2534           73422                           MP       E(-AT)                                
041508,000314: 20,2535           21716                           DAS      DELBRTMP                              
041509,000315: 20,2536           31622                           CAE      DELPBAR    +1                         
041510,000316: 20,2537           00006                           EXTEND                                         
041511,000317: 20,2540           73422                           MP       E(-AT)                                
041512,000318: 20,2541           27716                           ADS      DELBRTMP   +1                         
041513,000319: 20,2542           54001                           TS       L                                     
041514,000320: 20,2543           12545                           TCF      +2                                    
041515,000321: 20,2544           27715                           ADS      DELBRTMP                              
041516,000322: 
041517,000323: 20,2545           02560        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
041518,000324: 
041519,000325: 20,2546           15222        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
041520,000326: 20,2547           55744        RLIMTEST           TS       CMDTMP                                #  TEST FOR EXCESSIVE CDU RATES
041521,000327: 20,2550           00006                           EXTEND                                         #        IF CDU DIFFERENCE EXCEEDS 2.33 DEG
041522,000328: 20,2551           73415                           MP       1/RTLIM                               #        IF ONE SAMPLE PERIOD, SET CDURATE=0
041523,000329: 20,2552           00006                           EXTEND                                         
041524,000330: 20,2553           12556                           BZF      +3                                    
041525,000331: 20,2554           34714                           CAF      ZERO                                  
041526,000332: 20,2555           55744                           TS       CMDTMP                                
041527,000333: 20,2556           31744                           CAE      CMDTMP                                
041528,000334: 20,2557           00002                           TC       Q                                     
041529,000335: 

Page 928

041531,000337:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041532,000338: 
041533,000339: 20,2560           25654        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
041534,000340:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041535,000341:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041536,000342:                                                                                                  #        DURING PITCH COPYCYCLE.
041537,000343: 
041538,000344: 20,2561           00006        NEWB(S)            EXTEND                                         #  UPDATE PITCH NUMERATOR LADDER FROM
041539,000345: 20,2562           31720                           DCA      B1TMP                                 #        TEMPORARIES
041540,000346: 20,2563           53546                           DXCH     B1                                    
041541,000347: 20,2564           00006                           EXTEND                                         
041542,000348: 20,2565           31722                           DCA      B3TMP                                 
041543,000349: 20,2566           53550                           DXCH     B3                                    
041544,000350: 20,2567           00006                           EXTEND                                         
041545,000351: 20,2570           31724                           DCA      B5TMP                                 
041546,000352: 20,2571           53552                           DXCH     B5                                    
041547,000353: 
041548,000354: 20,2572           00006        NEWJ(S)            EXTEND                                         #  UPDATE PITCH DENOMINATOR LADDER FROM
041549,000355: 20,2573           31727                           DCA      J1TMP                                 #        TEMPORARIES
041550,000356: 20,2574           53554                           DXCH     J1                                    
041551,000357: 20,2575           00006                           EXTEND                                         
041552,000358: 20,2576           31731                           DCA      J2TMP                                 
041553,000359: 20,2577           53556                           DXCH     J2                                    
041554,000360: 20,2600           00006                           EXTEND                                         
041555,000361: 20,2601           31733                           DCA      J3TMP                                 
041556,000362: 20,2602           53560                           DXCH     J3                                    
041557,000363: 20,2603           00006                           EXTEND                                         
041558,000364: 20,2604           31735                           DCA      J4TMP                                 
041559,000365: 20,2605           53562                           DXCH     J4                                    
041560,000366: 20,2606           00006                           EXTEND                                         #        (ALSO NP1TMP,+1 TO NP1,+1)
041561,000367: 20,2607           31737                           DCA      J5TMP                                 
041562,000368: 20,2610           53564                           DXCH     J5                                    
041563,000369: 
041564,000370: 20,2611           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
041565,000371: 20,2612           31743                           DCA      ERRBTMP                               
041566,000372: 20,2613           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
041567,000373: 20,2614           53616                           DXCH     PERRB                                 
041568,000374: 
041569,000375: 20,2615           00006                           EXTEND                                         #        PITCH NUMERATOR SUM
041570,000376: 20,2616           31712                           DCA      NSUMTMP                               #                (ALSO NP2TMP,+1 TO NP2,+1)
041571,000377: 20,2617           53542                           DXCH     PNSUM                                 
041572,000378: 
041573,000379: 20,2620           00006                           EXTEND                                         #        PITCH DENOMINATOR SUM
041574,000380: 20,2621           31714                           DCA      DSUMTMP                               #                (ALSO NP3TMP,+1 TO NP3,+1)
041575,000381: 20,2622           53544                           DXCH     PDSUM                                 
041576,000382: 
041577,000383: 20,2623           31744                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
041578,000384: 20,2624           55631                           TS       PCMD                                  
041579,000385: 
041580,000386: 20,2625           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER

Page 929

041582,000388: 20,2626           31716                           DCA      DELBRTMP                              
041583,000389: 20,2627           53622                           DXCH     DELPBAR                               
041584,000390: 
041585,000391: 20,2630           25654                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED
041586,000392: 
041587,000393: 20,2631           00002                           TC       Q                                     
041588,000394: 

Page 930

041590,000396:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041591,000397: 
041592,000398: 20,2632           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
041593,000399: 20,2633           00006                           EXTEND                                         
041594,000400: 20,2634           22012                           QXCH     QRUPT                                 
041595,000401: 
041596,000402: 20,2635           33416                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041597,000403: 20,2636           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041598,000404: 20,2637           31635                           CAE      T5TVCDT                               
041599,000405: 20,2640           54030                           TS       TIME5                                 
041600,000406: 
041601,000407: 20,2641           11614        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041602,000408: 20,2642           03506                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041603,000409: 20,2643           12645                           TCF      +2                                    #  NO-TEST
041604,000410: 20,2644           03506                           TC       HACK                                  #  TEST-IN-PROGRESS
041605,000411: 
041606,000412:                                                                                                  #  USE BODY RATES FROM PITCHDAP (PCDUDOTS)
041607,000413: 
041608,000414: 20,2645           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041609,000415: 20,2646           31620                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
041610,000416: 20,2647           53743                           DXCH     ERRBTMP                               
041611,000417: 
041612,000418: 20,2650           00006                           EXTEND                                         
041613,000419: 20,2651           31532                           DCA      OMEGAZC                               
041614,000420: 20,2652           21743                           DAS      ERRBTMP                               
041615,000421: 
041616,000422: 20,2653           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041617,000423: 20,2654           00006                           EXTEND                                         
041618,000424: 20,2655           70742                           MP       SINCDUX                               
041619,000425: 20,2656           20001                           DDOUBL                                         
041620,000426: 20,2657           00006                           EXTEND                                         
041621,000427: 20,2660           71657                           MP       MCDUYDOT                              
041622,000428: 20,2661           20001                           DDOUBL                                         
041623,000429: 20,2662           53540                           DXCH     OMEGAZB                               
041624,000430: 
041625,000431: 20,2663           41660                           CS       MCDUZDOT                              
041626,000432: 20,2664           00006                           EXTEND                                         
041627,000433: 20,2665           70750                           MP       COSCDUX                               
041628,000434: 20,2666           20001                           DDOUBL                                         
041629,000435: 20,2667           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041630,000436: 
041631,000437: 20,2670           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041632,000438: 20,2671           41540                           DCS      OMEGAZB                               
041633,000439: 20,2672           21743                           DAS      ERRBTMP                               
041634,000440: 
041635,000441: 20,2673           03126        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
041636,000442: 
041637,000443: 20,2674           31466        Y1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041638,000444: 20,2675           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041639,000445: 

Page 931

041641,000447: 20,2676           10000                           CCS      A                                     
041642,000448: 20,2677           12702                           TCF      +3                                    #  USE LEM-ON FILTER
041643,000449: 20,2700           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041644,000450: 20,2701           36405                           CADR     NY0NODE                               
041645,000451: 
041646,000452: 20,2702           00006        YFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS
041647,000453: 20,2703           41570                           DCS      YDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041648,000454: 20,2704           53745                           DXCH     YZERO                                 
041649,000455: 
041650,000456: 20,2705           31742                           CAE      ERRBTMP                               #  INPUT ERROR, SC.AT B-1 REVS
041651,000457: 20,2706           61565                           AD       YNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
041652,000458: 20,2707           00006                           EXTEND                                         
041653,000459: 20,2710           74727                           MP       KYDN                                  #  KYDN, SC.AT B+1 SPASCREV
041654,000460: 20,2711           21745                           DAS      YZERO                                 
041655,000461: 20,2712           31566                           CAE      YNSUM      +1                         
041656,000462: 20,2713           00006                           EXTEND                                         
041657,000463: 20,2714           74727                           MP       KYDN                                  
041658,000464: 20,2715           27745                           ADS      YZERO      +1                         
041659,000465: 20,2716           54001                           TS       L                                     
041660,000466: 20,2717           12721                           TCF      +2                                    
041661,000467: 20,2720           27744                           ADS      YZERO                                 #  (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
041662,000468: 
041663,000469: 20,2721           00006        YZSTORE            EXTEND                                         #  PREPARE YZERO FOR DENOMINATOR LADDER
041664,000470: 20,2722           31745                           DCA      YZERO                                 #        SC.AT B+0 SPASCREV
041665,000471: 20,2723           20001                           DDOUBL                                         
041666,000472: 20,2724           20001                           DDOUBL                                         
041667,000473: 20,2725           20001                           DDOUBL                                         
041668,000474: 20,2726           53727                           DXCH     Y1TMP                                 #        SC.AT B-3 SPASCREV
041669,000475: 
041670,000476: 20,2727           03141        OPTVARKY           TCR      OPTVARK                               #  YAW VARIABLE-GAIN PACKAGE
041671,000477: 
041672,000478: 20,2730           00006        YOFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
041673,000479: 20,2731           41745                           DCS      CMDTMP                                #        (GEN3DAP RETURNS AT YOFFSET)
041674,000480: 20,2732           53745                           DXCH     CMDTMP                                
041675,000481: 20,2733           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
041676,000482: 20,2734           31630                           DCA      YDELOFF                               
041677,000483: 20,2735           21745                           DAS      CMDTMP                                
041678,000484: 
041679,000485: 20,2736           31745        YROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041680,000486: 20,2737           60000                           DOUBLE                                         
041681,000487: 20,2740           54001                           TS       L                                     
041682,000488: 20,2741           34714                           CAF      ZERO                                  
041683,000489: 20,2742           61744                           AD       CMDTMP                                
041684,000490: 
041685,000491: 20,2743           03161        YACLIM             TCR      ACTLIM                                #  YAW ACTUATOR-COMMAND-LIMITER
041686,000492: 
041687,000493: 20,2744           41632        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
041688,000494: 20,2745           61744                           AD       CMDTMP                                
041689,000495: 20,2746           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
041690,000496:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)

Page 932

041692,000498: 20,2747           34677                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
041693,000499: 20,2750           00006                           EXTEND                                         
041694,000500: 20,2751           05014                           WOR      CHAN14                                
041695,000501: 20,2752           31466        Y2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041696,000502: 20,2753           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041697,000503: 20,2754           10000                           CCS      A                                     
041698,000504: 20,2755           12760                           TCF      +3                                    #  USE LEM-ON FILTER
041699,000505: 20,2756           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041700,000506: 20,2757           36440                           CADR     NY1NODE                               
041701,000507: 20,2760           31742        CZSTORE            CAE      ERRBTMP                               #  PREPARE CZERO (UPPER WORD OF ERRBTMP)
041702,000508: 20,2761           60000                           DOUBLE                                         #        FOR NUMERATOR LADDER....SC.AT B-1
041703,000509: 20,2762           55717                           TS       C1TMP                                 #        SC.AT B-2 REVS FOR LADDER
041704,000510: 20,2763           00006        YNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
041705,000511: 20,2764           31572                           DCA      C1                                    #        NUMERATOR LADDER
041706,000512: 20,2765           53721                           DXCH     C2TMP                                 
041707,000513: 20,2766           00006                           EXTEND                                         
041708,000514: 20,2767           31574                           DCA      C3                                    
041709,000515: 20,2770           53723                           DXCH     C4TMP                                 
041710,000516: 20,2771           00006                           EXTEND                                         
041711,000517: 20,2772           31576                           DCA      C5                                    
041712,000518: 20,2773           53725                           DXCH     C6TMP                                 
041713,000519: 
041714,000520: 20,2774           03173        YNSUMC             TCR      NSUM                                  #  YAW NUMERATOR SUM
041715,000521: 20,2775           00006        YDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
041716,000522: 20,2776           31600                           DCA      Y1                                    #        DENOMINATOR LADDER
041717,000523: 20,2777           53731                           DXCH     Y2TMP                                 
041718,000524: 20,3000           00006                           EXTEND                                         
041719,000525: 20,3001           31602                           DCA      Y2                                    
041720,000526: 20,3002           53733                           DXCH     Y3TMP                                 
041721,000527: 20,3003           00006                           EXTEND                                         
041722,000528: 20,3004           31604                           DCA      Y3                                    
041723,000529: 20,3005           53735                           DXCH     Y4TMP                                 
041724,000530: 20,3006           00006                           EXTEND                                         
041725,000531: 20,3007           31606                           DCA      Y4                                    
041726,000532: 20,3010           53737                           DXCH     Y5TMP                                 
041727,000533: 20,3011           00006                           EXTEND                                         
041728,000534: 20,3012           31610                           DCA      Y5                                    
041729,000535: 20,3013           53741                           DXCH     Y6TMP                                 
041730,000536: 
041731,000537: 20,3014           03233        YDSUMC             TCR      DSUM                                  #  YAW DENOMINATOR SUM
041732,000538: 
041733,000539: 20,3015           31744        DELBARY            CAE      CMDTMP                                #  UPDATE YAW OFFSET-TRACKER-FILTER
041734,000540: 20,3016           00006                           EXTEND                                         #        (GEN3DAP RETURNS AT ..DELBARY..)
041735,000541: 20,3017           73421                           MP       1-E(-AT)                              

Page 933

041737,000543: 20,3020           53716                           DXCH     DELBRTMP                              
041738,000544: 20,3021           31623                           CAE      DELYBAR                               
041739,000545: 20,3022           00006                           EXTEND                                         
041740,000546: 20,3023           73422                           MP       E(-AT)                                
041741,000547: 20,3024           21716                           DAS      DELBRTMP                              
041742,000548: 20,3025           31624                           CAE      DELYBAR    +1                         
041743,000549: 20,3026           00006                           EXTEND                                         
041744,000550: 20,3027           73422                           MP       E(-AT)                                
041745,000551: 20,3030           27716                           ADS      DELBRTMP   +1                         
041746,000552: 20,3031           54001                           TS       L                                     
041747,000553: 20,3032           13034                           TCF      +2                                    
041748,000554: 20,3033           27715                           ADS      DELBRTMP                              
041749,000555: 
041750,000556: 20,3034           03036        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
041751,000557: 
041752,000558: 20,3035           15222        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
041753,000559: 

Page 934

041755,000561:                                                                                                  #  YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
041756,000562: 
041757,000563: 20,3036           25654        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
041758,000564:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041759,000565:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041760,000566:                                                                                                  #        DURING YAW   COPYCYCLE.
041761,000567: 
041762,000568: 20,3037           00006        NEWC(S)            EXTEND                                         #  UPDATE YAW   NUMERATOR LADDER FROM
041763,000569: 20,3040           31720                           DCA      C1TMP                                 #        TEMPORARIES
041764,000570: 20,3041           53572                           DXCH     C1                                    
041765,000571: 20,3042           00006                           EXTEND                                         
041766,000572: 20,3043           31722                           DCA      C3TMP                                 
041767,000573: 20,3044           53574                           DXCH     C3                                    
041768,000574: 20,3045           00006                           EXTEND                                         
041769,000575: 20,3046           31724                           DCA      C5TMP                                 
041770,000576: 20,3047           53576                           DXCH     C5                                    
041771,000577: 
041772,000578: 20,3050           00006        NEWY(S)            EXTEND                                         #  UPDATE YAW   DENOMINATOR LADDER FROM
041773,000579: 20,3051           31727                           DCA      Y1TMP                                 #        TEMPORARIES
041774,000580: 20,3052           53600                           DXCH     Y1                                    
041775,000581: 20,3053           00006                           EXTEND                                         
041776,000582: 20,3054           31731                           DCA      Y2TMP                                 
041777,000583: 20,3055           53602                           DXCH     Y2                                    
041778,000584: 20,3056           00006                           EXTEND                                         
041779,000585: 20,3057           31733                           DCA      Y3TMP                                 
041780,000586: 20,3060           53604                           DXCH     Y3                                    
041781,000587: 20,3061           00006                           EXTEND                                         
041782,000588: 20,3062           31735                           DCA      Y4TMP                                 
041783,000589: 20,3063           53606                           DXCH     Y4                                    
041784,000590: 20,3064           00006                           EXTEND                                         #        (ALSO NY1TMP,+1 TO NY1,+1)
041785,000591: 20,3065           31737                           DCA      Y5TMP                                 
041786,000592: 20,3066           53610                           DXCH     Y5                                    
041787,000593: 
041788,000594: 20,3067           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
041789,000595: 20,3070           31743                           DCA      ERRBTMP                               
041790,000596: 20,3071           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
041791,000597: 20,3072           53620                           DXCH     YERRB                                 
041792,000598: 
041793,000599: 20,3073           00006                           EXTEND                                         #        YAW     NUMERATOR SUM
041794,000600: 20,3074           31712                           DCA      NSUMTMP                               #                (ALSO NY2TMP,+1 TO NY2,+1)
041795,000601: 20,3075           53566                           DXCH     YNSUM                                 
041796,000602: 
041797,000603: 20,3076           00006                           EXTEND                                         #        YAW     DENOMINATOR SUM
041798,000604: 20,3077           31714                           DCA      DSUMTMP                               #                (ALSO NY3TMP,+1 TO NY3,+1)
041799,000605: 20,3100           53570                           DXCH     YDSUM                                 
041800,000606: 
041801,000607: 20,3101           31744                           CAE      CMDTMP                                #        YAW     ACTUATOR COMMAND
041802,000608: 20,3102           55632                           TS       YCMD                                  
041803,000609: 
041804,000610: 20,3103           00006                           EXTEND                                         #        YAW     OFFSET-TRACKER-FILTER

Page 935

041806,000612: 20,3104           31716                           DCA      DELBRTMP                              
041807,000613: 20,3105           53624                           DXCH     DELYBAR                               
041808,000614: 20,3106           34714                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
041809,000615: 20,3107           55654                           TS       TVCPHASE                              #        RESET TVCPHASE
041810,000616: 
041811,000617: 20,3110           00002                           TC       Q                                     
041812,000618: 

Page 936

041814,000620:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041815,000621:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
041816,000622: 
041817,000623: 20,3111           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
041818,000624: 
041819,000625: 20,3112           37716                           CAF      NEGONE                                #        SET UP
041820,000626: 20,3113           61635                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
041821,000627: 20,3114           64674                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
041822,000628: 20,3115           61635                           AD       T5TVCDT                               
041823,000629: 20,3116           54030                           TS       TIME5                                 
041824,000630: 20,3117           33416                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
041825,000631: 20,3120           55312                           TS       T5LOC                                 
041826,000632: 
041827,000633: 20,3121           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
041828,000634: 20,3122           55655                           TS       PCDUYPST                              #        PAST-VALUES
041829,000635: 20,3123           30034                           CAE      CDUZ                                  
041830,000636: 20,3124           55656                           TS       PCDUZPST                              
041831,000637: 
041832,000638: 20,3125           15224                           TCF      NOQRSM                                
041833,000639: 
041834,000640:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
041835,000641: 
041836,000642: 20,3126           31742        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
041837,000643: 20,3127           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
041838,000644: 20,3130           74710                           MP       1/ERRLIM                              
041839,000645: 20,3131           00006                           EXTEND                                         
041840,000646: 20,3132           13140                           BZF      +6                                    
041841,000647: 20,3133           11742                           CCS      ERRBTMP                               
041842,000648: 20,3134           34676                           CAF      ERRLIM                                
041843,000649: 20,3135           13137                           TCF      +2                                    
041844,000650: 20,3136           44676                           CS       ERRLIM                                
041845,000651: 20,3137           55742                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
041846,000652: 
041847,000653: 20,3140           00002                           TC       Q                                     
041848,000654: 
041849,000655:                                                                                                  #  VARIABLE-GAIN PACKAGE....
041850,000656: 
041851,000657: 20,3141           31744        OPTVARK            CAE      CMDTMP                                #  VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
041852,000658: 20,3142           00006                           EXTEND                                         #        JZERO OR YZERO
041853,000659: 20,3143           71651                           MP       VARK                                  #  VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
041854,000660: 20,3144           53745                           DXCH     CMDTMP                                
041855,000661: 20,3145           22000                           LXCH     A                                     #  LO-ORDER WORD OF INPUT CMDTMP
041856,000662: 20,3146           00006                           EXTEND                                         
041857,000663: 20,3147           71651                           MP       VARK                                  
041858,000664: 20,3150           27745                           ADS      CMDTMP     +1                         
041859,000665: 20,3151           54001                           TS       L                                     

Page 937

041861,000667: 20,3152           13154                           TCF      +2                                    
041862,000668: 20,3153           27744                           ADS      CMDTMP                                
041863,000669: 
041864,000670: 20,3154           53745                           DXCH     CMDTMP                                #  FIX UP SCALING
041865,000671: 20,3155           20001                           DDOUBL                                         
041866,000672: 20,3156           20001                           DDOUBL                                         
041867,000673: 20,3157           53745                           DXCH     CMDTMP                                
041868,000674: 
041869,000675: 20,3160           00002                           TC       Q                                     
041870,000676: 
041871,000677:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
041872,000678: 
041873,000679: 20,3161           00006        ACTLIM             EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
041874,000680: 20,3162           73414                           MP       1/ACTSAT                              
041875,000681: 20,3163           00006                           EXTEND                                         
041876,000682: 20,3164           13172                           BZF      +6                                    
041877,000683: 20,3165           11744                           CCS      CMDTMP                                #  APPLY LIMITS
041878,000684: 20,3166           33413                           CAF      ACTSAT                                
041879,000685: 20,3167           13171                           TCF      +2                                    
041880,000686: 20,3170           43413                           CS       ACTSAT                                
041881,000687: 20,3171           55744                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
041882,000688: 
041883,000689: 20,3172           00002                           TC       Q                                     
041884,000690: 
041885,000691:                                                                                                  #  NUMERATOR-SUM COMPUTATION....
041886,000692: 
041887,000693: 20,3173           31717        NSUM               CAE      B1TMP                                 #  PREPARE NUMERATOR SUM, SCALING IS AT
041888,000694: 20,3174           00006                           EXTEND                                         #        B+0 REVS ( = B+2 X B-2 )
041889,000695: 20,3175           73423                           MP       N1                                    
041890,000696: 20,3176           53712                           DXCH     NSUMTMP                               
041891,000697: 
041892,000698: 20,3177           31720                           CAE      B2TMP                                 
041893,000699: 20,3200           00006                           EXTEND                                         
041894,000700: 20,3201           73424                           MP       N2                                    
041895,000701: 20,3202           21712                           DAS      NSUMTMP                               
041896,000702: 
041897,000703: 20,3203           31721                           CAE      B3TMP                                 
041898,000704: 20,3204           00006                           EXTEND                                         
041899,000705: 20,3205           73425                           MP       N3                                    
041900,000706: 20,3206           21712                           DAS      NSUMTMP                               
041901,000707: 
041902,000708: 20,3207           31722                           CAE      B4TMP                                 
041903,000709: 20,3210           00006                           EXTEND                                         
041904,000710: 20,3211           73426                           MP       N4                                    
041905,000711: 20,3212           21712                           DAS      NSUMTMP                               
041906,000712: 
041907,000713: 20,3213           31723                           CAE      B5TMP                                 
041908,000714: 20,3214           00006                           EXTEND                                         

Page 938

041910,000716: 20,3215           73427                           MP       N5                                    
041911,000717: 20,3216           21712                           DAS      NSUMTMP                               
041912,000718: 
041913,000719: 20,3217           31724                           CAE      B6TMP                                 
041914,000720: 20,3220           00006                           EXTEND                                         
041915,000721: 20,3221           73430                           MP       N6                                    
041916,000722: 20,3222           21712                           DAS      NSUMTMP                               
041917,000723: 
041918,000724: 20,3223           31725                           CAE      B7TMP                                 
041919,000725: 20,3224           00006                           EXTEND                                         
041920,000726: 20,3225           73431                           MP       N7                                    
041921,000727: 20,3226           21712                           DAS      NSUMTMP                               
041922,000728: 
041923,000729: 20,3227           53712        NSUMSC             DXCH     NSUMTMP                               #  FIX UP SCALING (NOW AT B+0 REVS)
041924,000730: 20,3230           20001                           DDOUBL                                         
041925,000731: 20,3231           53712                           DXCH     NSUMTMP                               #  SC.AT B-1 REV
041926,000732: 
041927,000733: 20,3232           00002                           TC       Q                                     
041928,000734: 
041929,000735:                                                                                                  #  DENOMINATOR-SUM COMPUTATION....
041930,000736: 
041931,000737: 20,3233           31726        DSUM               CAE      J1TMP                                 #  PREPARE DENOMINATOR SUM, SCALED
041932,000738: 20,3234           00006                           EXTEND                                         #        AT B+1 SPASCREVS ( = B+4 X B-3)
041933,000739: 20,3235           73432                           MP       D1                                    #        (J1TMP = J,YZERO, SC.AT B-3 REVS)
041934,000740: 20,3236           53714                           DXCH     DSUMTMP                               
041935,000741: 20,3237           31726                           CAE      J1TMP                                 
041936,000742: 20,3240           00006                           EXTEND                                         
041937,000743: 20,3241           73433                           MP       D1         +1                         
041938,000744: 20,3242           27714                           ADS      DSUMTMP    +1                         
041939,000745: 20,3243           54001                           TS       L                                     
041940,000746: 20,3244           13246                           TCF      +2                                    
041941,000747: 20,3245           27713                           ADS      DSUMTMP                               
041942,000748: 20,3246           31727                           CAE      J1TMP      +1                         
041943,000749: 20,3247           00006                           EXTEND                                         
041944,000750: 20,3250           73432                           MP       D1                                    
041945,000751: 20,3251           27714                           ADS      DSUMTMP    +1                         
041946,000752: 20,3252           54001                           TS       L                                     
041947,000753: 20,3253           13255                           TCF      +2                                    
041948,000754: 20,3254           27713                           ADS      DSUMTMP                               
041949,000755: 
041950,000756: 20,3255           31730        D2J2               CAE      J2TMP                                 
041951,000757: 20,3256           00006                           EXTEND                                         
041952,000758: 20,3257           73434                           MP       D2                                    
041953,000759: 20,3260           21714                           DAS      DSUMTMP                               
041954,000760: 20,3261           31730                           CAE      J2TMP                                 
041955,000761: 20,3262           00006                           EXTEND                                         
041956,000762: 20,3263           73435                           MP       D2         +1                         
041957,000763: 20,3264           27714                           ADS      DSUMTMP    +1                         
041958,000764: 20,3265           54001                           TS       L                                     

Page 939

041960,000766: 20,3266           13270                           TCF      +2                                    
041961,000767: 20,3267           27713                           ADS      DSUMTMP                               
041962,000768: 20,3270           31731                           CAE      J2TMP      +1                         
041963,000769: 20,3271           00006                           EXTEND                                         
041964,000770: 20,3272           73434                           MP       D2                                    
041965,000771: 20,3273           27714                           ADS      DSUMTMP    +1                         
041966,000772: 20,3274           54001                           TS       L                                     
041967,000773: 20,3275           13277                           TCF      +2                                    
041968,000774: 20,3276           27713                           ADS      DSUMTMP                               
041969,000775: 
041970,000776: 20,3277           31732        D3J3               CAE      J3TMP                                 
041971,000777: 20,3300           00006                           EXTEND                                         
041972,000778: 20,3301           73436                           MP       D3                                    
041973,000779: 20,3302           21714                           DAS      DSUMTMP                               
041974,000780: 20,3303           31732                           CAE      J3TMP                                 
041975,000781: 20,3304           00006                           EXTEND                                         
041976,000782: 20,3305           73437                           MP       D3         +1                         
041977,000783: 20,3306           27714                           ADS      DSUMTMP    +1                         
041978,000784: 20,3307           54001                           TS       L                                     
041979,000785: 20,3310           13312                           TCF      +2                                    
041980,000786: 20,3311           27713                           ADS      DSUMTMP                               
041981,000787: 20,3312           31733                           CAE      J3TMP      +1                         
041982,000788: 20,3313           00006                           EXTEND                                         
041983,000789: 20,3314           73436                           MP       D3                                    
041984,000790: 20,3315           27714                           ADS      DSUMTMP    +1                         
041985,000791: 20,3316           54001                           TS       L                                     
041986,000792: 20,3317           13321                           TCF      +2                                    
041987,000793: 20,3320           27713                           ADS      DSUMTMP                               
041988,000794: 
041989,000795: 20,3321           31734        D4J4               CAE      J4TMP                                 
041990,000796: 20,3322           00006                           EXTEND                                         
041991,000797: 20,3323           73440                           MP       D4                                    
041992,000798: 20,3324           21714                           DAS      DSUMTMP                               
041993,000799: 20,3325           31734                           CAE      J4TMP                                 
041994,000800: 20,3326           00006                           EXTEND                                         
041995,000801: 20,3327           73441                           MP       D4         +1                         
041996,000802: 20,3330           27714                           ADS      DSUMTMP    +1                         
041997,000803: 20,3331           54001                           TS       L                                     
041998,000804: 20,3332           13334                           TCF      +2                                    
041999,000805: 20,3333           27713                           ADS      DSUMTMP                               
042000,000806: 20,3334           31735                           CAE      J4TMP      +1                         
042001,000807: 20,3335           00006                           EXTEND                                         
042002,000808: 20,3336           73440                           MP       D4                                    
042003,000809: 20,3337           27714                           ADS      DSUMTMP    +1                         
042004,000810: 20,3340           54001                           TS       L                                     
042005,000811: 20,3341           13343                           TCF      +2                                    
042006,000812: 20,3342           27713                           ADS      DSUMTMP                               
042007,000813: 
042008,000814: 20,3343           31736        D5J5               CAE      J5TMP                                 
042009,000815: 20,3344           00006                           EXTEND                                         

Page 940

042011,000817: 20,3345           73442                           MP       D5                                    
042012,000818: 20,3346           21714                           DAS      DSUMTMP                               
042013,000819: 20,3347           31736                           CAE      J5TMP                                 
042014,000820: 20,3350           00006                           EXTEND                                         
042015,000821: 20,3351           73443                           MP       D5         +1                         
042016,000822: 20,3352           27714                           ADS      DSUMTMP    +1                         
042017,000823: 20,3353           54001                           TS       L                                     
042018,000824: 20,3354           13356                           TCF      +2                                    
042019,000825: 20,3355           27713                           ADS      DSUMTMP                               
042020,000826: 20,3356           31737                           CAE      J5TMP      +1                         
042021,000827: 20,3357           00006                           EXTEND                                         
042022,000828: 20,3360           73442                           MP       D5                                    
042023,000829: 20,3361           27714                           ADS      DSUMTMP    +1                         
042024,000830: 20,3362           54001                           TS       L                                     
042025,000831: 20,3363           13365                           TCF      +2                                    
042026,000832: 20,3364           27713                           ADS      DSUMTMP                               
042027,000833: 
042028,000834: 20,3365           31740        D6J6               CAE      J6TMP                                 
042029,000835: 20,3366           00006                           EXTEND                                         
042030,000836: 20,3367           73444                           MP       D6                                    
042031,000837: 20,3370           21714                           DAS      DSUMTMP                               
042032,000838: 20,3371           31740                           CAE      J6TMP                                 
042033,000839: 20,3372           00006                           EXTEND                                         
042034,000840: 20,3373           73445                           MP       D6         +1                         
042035,000841: 20,3374           27714                           ADS      DSUMTMP    +1                         
042036,000842: 20,3375           54001                           TS       L                                     
042037,000843: 20,3376           13400                           TCF      +2                                    
042038,000844: 20,3377           27713                           ADS      DSUMTMP                               
042039,000845: 20,3400           31741                           CAE      J6TMP      +1                         
042040,000846: 20,3401           00006                           EXTEND                                         
042041,000847: 20,3402           73444                           MP       D6                                    
042042,000848: 20,3403           27714                           ADS      DSUMTMP    +1                         
042043,000849: 20,3404           54001                           TS       L                                     
042044,000850: 20,3405           13407                           TCF      +2                                    
042045,000851: 20,3406           27713                           ADS      DSUMTMP                               
042046,000852: 
042047,000853: 20,3407           53714        DSUMSC             DXCH     DSUMTMP                               #  FIX UP SCALING (NOW AT B+1 SPASCREV)
042048,000854: 20,3410           20001                           DDOUBL                                         
042049,000855: 20,3411           53714                           DXCH     DSUMTMP                               #  SC.AT B+0 SPASCREV
042050,000856: 
042051,000857: 20,3412           00002                           TC       Q                                     
042052,000858: 

Page 941

042054,000860:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
042055,000861:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
042056,000862:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
042057,000863: 
042058,000864: 20,3413           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
042059,000865: 20,3414           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
042060,000866: 
042061,000867: 20,3415     4676               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
042062,000868: 20,3415     4710               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
042063,000869: 
042064,000870: 20,3415           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) =0 IF CDUDIF < 2.33 DEG
042065,000871: 
042066,000872: 20,3416     4727               KPDN               =        DEC45                                 #  DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
042067,000873: 20,3416     4727               KYDN               =        KPDN                                  #        SPASCREV (FOR DEC45 BITS EXACTLY)
042068,000874:                                                                                                  #                KPDN = .005747 DEG/DEG
042069,000875:                                                                                                  #                SCALED KPDN = DEC45
042070,000876:                                                                                                  #                1SPASCREV = KPDN(B+14)/(2X45)
042071,000877:                                                                                                  #                          = 1.04620942 REVS
042072,000878: 
042073,000879: 20,3416           02327        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
042074,000880: 20,3417           03111        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
042075,000881: 20,3420           02632        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
042076,000882: 20,3421           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
042077,000883: 20,3422           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
042078,000884: 
042079,000885: 20,3423           50166        N1                 DEC      -2.9708385 B-2                        #  NUMERATOR COEFS (CSM/LEM), SC.AT B+2
042080,000886: 20,3424           31436        N2                 DEC      3.1947342  B-2                        
042081,000887: 20,3425           74561        N3                 DEC      -0.40962906 B-2                        
042082,000888: 20,3426           53277        N4                 DEC      -2.5780275 B-2                        
042083,000889: 20,3427           27550        N5                 DEC      2.9629319  B-2                        
042084,000890: 20,3430           63725        N6                 DEC      -1.5101470 B-2                        
042085,000891: 20,3431           02400        N7                 DEC      0.31243224 B-2                        
042086,000892: 
042087,000893: 20,3432           66341 54237  D1                 2DEC     -4.7798977 B-4                        #  DENOMINATOR COEFS (CSM/LEM), SC.AT B+4

Page 942

042089,000895: 20,3434           22707 36641  D2                 2DEC     9.4452763  B-4                        
042090,000896: 20,3436           54220 40714  D3                 2DEC     -9.8593475 B-4                        
042091,000897: 20,3440           13344 21146  D4                 2DEC     5.7231811  B-4                        
042092,000898: 20,3442           74401 61760  D5                 2DEC     -1.7484750 B-4                        
042093,000899: 20,3444           00340 23073  D6                 2DEC     0.21933335 B-4                        
042094,000900: 

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