ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original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. 28,1968Note 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:
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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....
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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
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Page 923 |
041341,000147: 20,2327 E6,1742 EBANK= BZERO
041342,000148: 20,2327 COUNT* $$/DAPS
041343,000149:
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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
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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:
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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
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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:
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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:
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|
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:
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|
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
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|
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
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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
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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:
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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
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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