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 A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin.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

041183,000002:                                                                                                  ## Copyright:   Public domain.
041184,000003:                                                                                                  ## Filename:    TVCDAPS.agc
041185,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
041186,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
041187,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
041188,000007:                                                                                                  ## Assembler:   yaYUL
041189,000008:                                                                                                  ## Reference:   Begins at p. 921.
041190,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041191,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
041192,000011:                                                                                                  ## Mod history: 08/23/04 RSB.   Began transcribing.
041193,000012:                                                                                                  ##              2010-10-25 JL   Fixed page number.
041194,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
041195,000014:                                                                                                  ##                              original harcopy, as opposed to the PDF page
041196,000015:                                                                                                  ##                              numbers in 1701.pdf.
041197,000016:                                                                                                  ##              2017-01-20 RSB  Cross-diff'd comment text (not whitespace)
041198,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
041199,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
041200,000019:                                                                                                  ##                              and corrected errors found.
041201,000020:                                                                                                  ##
041202,000021:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
041203,000022:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
041204,000023:                                                                                                  ## document read, in part:
041205,000024:                                                                                                  ##
041206,000025:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
041207,000026:                                                                                                  ##      2021111-041.  October 28, 1968.  
041208,000027:                                                                                                  ##
041209,000028:                                                                                                  ##      This AGC program shall also be referred to as
041210,000029:                                                                                                  ##                              Colossus 1A
041211,000030:                                                                                                  ##
041212,000031:                                                                                                  ##      Prepared by
041213,000032:                                                                                                  ##                      Massachusetts Institute of Technology
041214,000033:                                                                                                  ##                      75 Cambridge Parkway
041215,000034:                                                                                                  ##                      Cambridge, Massachusetts
041216,000035:                                                                                                  ##      under NASA contract NAS 9-4065.
041217,000036:                                                                                                  ##
041218,000037:                                                                                                  ## Refer directly to the online document mentioned above for further information.
041219,000038:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
041220,000039:                                                                                                  ##
041221,000040:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
041222,000041:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
041223,000042:                                                                                                  ## source file, and then is proofed to incorporate any changes.
041224,000043: 

Page 921

041226,000045:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
041227,000046:                                                                                                  #  LOG SECTION....TVCDAP                         SUBROUTINE....DAPCSM
041228,000047:                                                                                                  #  MOD BY ENGEL                                  DATE....27 OCT, 1967
041229,000048: 
041230,000049:                                                                                                  #  FUNCTIONAL DESCRIPTION....
041231,000050: 
041232,000051:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
041233,000052:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
041234,000053:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
041235,000054:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
041236,000055:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
041237,000056: 
041238,000057:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
041239,000058:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
041240,000059:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
041241,000060:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
041242,000061:                                                                                                  #        POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
041243,000062:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
041244,000063: 
041245,000064:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
041246,000065:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
041247,000066:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
041248,000067:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
041249,000068:                                                                                                  #        MODING.
041250,000069: 
041251,000070:                                                                                                  #        REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
041252,000071:                                                                                                  #        (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
041253,000072:                                                                                                  #        REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
041254,000073:                                                                                                  #        LU (MIT IL JUNE 1966).
041255,000074: 
041256,000075:                                                                                                  #        OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
041257,000076:                                                                                                  #        NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
041258,000077:                                                                                                  #        (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
041259,000078: 
041260,000079:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
041261,000080: 
041262,000081:                                                                                                  #        T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
041263,000082:                                                                                                  #        T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
041264,000083:                                                                                                  #        T5 CALL OF DAPINIT BY DAPINIT
041265,000084:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
041266,000085:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
041267,000086:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
041268,000087:                                                                                                  #                ETC.
041269,000088:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
041270,000089: 
041271,000090:                                                                                                  #  NORMAL EXIT MODE....RESUME
041272,000091: 
041273,000092:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
041274,000093: 
041275,000094:                                                                                                  #  SUBROUTINES CALLED....

Page 922

041277,000096: 
041278,000097:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
041279,000098:                                                                                                  #        NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
041280,000099:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
041281,000100:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
041282,000101:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
041283,000102:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
041284,000103:                                                                                                  #                YAW DAPS
041285,000104:                                                                                                  #        OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
041286,000105:                                                                                                  #                PITCH AND YAW DAPS
041287,000106:                                                                                                  #        RESUME
041288,000107: 
041289,000108:                                                                                                  #  OTHER INTERFACES....
041290,000109: 
041291,000110:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
041292,000111:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
041293,000112:                                                                                                  #        TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
041294,000113:                                                                                                  #                GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
041295,000114:                                                                                                  #                AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
041296,000115:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
041297,000116: 
041298,000117:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
041299,000118: 
041300,000119:                                                                                                  #        29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
041301,000120:                                                                                                  #        KP/KPDN (KPGEN3) AS IN S40.15 (R03)
041302,000121:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
041303,000122:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
041304,000123:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
041305,000124:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
041306,000125:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
041307,000126:                                                                                                  #                INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
041308,000127:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
041309,000128:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
041310,000129:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
041311,000130:                                                                                                  #                UNLESS BENCH-TESTING.
041312,000131: 
041313,000132:                                                                                                  #  OUTPUT....
041314,000133: 
041315,000134:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
041316,000135:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
041317,000136:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
041318,000137:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
041319,000138: 
041320,000139:                                                                                                  #  DEBRIS....
041321,000140: 
041322,000141:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041323,000142: 
041324,000143: 17,2213                                           BANK     17                                    
041325,000144: 20,2000                                           SETLOC   DAPS2                                 
041326,000145: 20,2000                                           BANK                                           

Page 923

041328,000147: 20,2327  E6,1742                                  EBANK=   BZERO                                 
041329,000148: 20,2327                                           COUNT*   $$/DAPS                               
041330,000149: 

Page 924

041332,000151:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041333,000152: 
041334,000153: 20,2327           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
041335,000154: 20,2330           00006                           EXTEND                                         
041336,000155: 20,2331           22012                           QXCH     QRUPT                                 
041337,000156: 
041338,000157: 20,2332           33420                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
041339,000158: 20,2333           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041340,000159: 20,2334           31635                           CAE      T5TVCDT                               
041341,000160: 20,2335           54030                           TS       TIME5                                 
041342,000161: 
041343,000162: 20,2336           11614        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041344,000163: 20,2337           03506                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041345,000164: 20,2340           12342                           TCF      +2                                    #  NO-TEST
041346,000165: 20,2341           03506                           TC       HACK                                  #  TEST-IN-PROGRESS
041347,000166: 
041348,000167: 20,2342           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT
041349,000168: 20,2343           57655                           XCH      PCDUYPST                              #        FOR PITCH AUTOPILOT
041350,000169: 20,2344           00006                           EXTEND                                         
041351,000170: 20,2345           21655                           MSU      PCDUYPST                              
041352,000171: 20,2346           02547                           TCR      RLIMTEST                              #        RATE TEST
041353,000172: 20,2347           55657                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041354,000173: 
041355,000174: 20,2350           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT
041356,000175: 20,2351           57656                           XCH      PCDUZPST                              #        FOR PITCH AUTOPILOT
041357,000176: 20,2352           00006                           EXTEND                                         
041358,000177: 20,2353           21656                           MSU      PCDUZPST                              
041359,000178: 20,2354           02547                           TCR      RLIMTEST                              #        RATE TEST
041360,000179: 20,2355           55660                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
041361,000180: 
041362,000181: 20,2356           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
041363,000182: 20,2357           31616                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
041364,000183: 20,2360           53743                           DXCH     ERRBTMP                               
041365,000184: 
041366,000185: 20,2361           00006                           EXTEND                                         
041367,000186: 20,2362           31530                           DCA      OMEGAYC                               
041368,000187: 20,2363           21743                           DAS      ERRBTMP                               
041369,000188: 
041370,000189: 20,2364           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
041371,000190: 20,2365           00006                           EXTEND                                         
041372,000191: 20,2366           70750                           MP       COSCDUX                               
041373,000192: 20,2367           20001                           DDOUBL                                         
041374,000193: 20,2370           00006                           EXTEND                                         
041375,000194: 20,2371           71657                           MP       MCDUYDOT                              
041376,000195: 20,2372           20001                           DDOUBL                                         
041377,000196: 20,2373           53536                           DXCH     OMEGAYB                               
041378,000197: 
041379,000198: 20,2374           41660                           CS       MCDUZDOT                              
041380,000199: 20,2375           00006                           EXTEND                                         

Page 925

041382,000201: 20,2376           70742                           MP       SINCDUX                               
041383,000202: 20,2377           20001                           DDOUBL                                         
041384,000203: 20,2400           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
041385,000204: 
041386,000205: 20,2401           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
041387,000206: 20,2402           41536                           DCS      OMEGAYB                               
041388,000207: 20,2403           21743                           DAS      ERRBTMP                               
041389,000208: 
041390,000209: 20,2404           03126        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
041391,000210: 
041392,000211: 20,2405           31466        P1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041393,000212: 20,2406           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041394,000213: 20,2407           10000                           CCS      A                                     
041395,000214: 20,2410           12413                           TCF      +3                                    #  USE LEM-ON FILTER
041396,000215: 20,2411           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041397,000216: 20,2412           36213                           CADR     NP0NODE                               
041398,000217: 
041399,000218: 20,2413           00006        PFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS.
041400,000219: 20,2414           41544                           DCS      PDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041401,000220: 20,2415           53745                           DXCH     JZERO                                 
041402,000221: 
041403,000222: 20,2416           31742                           CAE      ERRBTMP                               #  INPUT ERROR, SC.AT B-1 REVS
041404,000223: 20,2417           61541                           AD       PNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
041405,000224: 20,2420           00006                           EXTEND                                         
041406,000225: 20,2421           74727                           MP       KPDN                                  #  KPDN, SC.AT B+1 SPASCREV
041407,000226: 20,2422           21745                           DAS      JZERO                                 
041408,000227: 20,2423           31542                           CAE      PNSUM      +1                         
041409,000228: 20,2424           00006                           EXTEND                                         
041410,000229: 20,2425           74727                           MP       KPDN                                  
041411,000230: 20,2426           27745                           ADS      JZERO      +1                         
041412,000231: 20,2427           54001                           TS       L                                     
041413,000232: 20,2430           12432                           TCF      +2                                    
041414,000233: 20,2431           27744                           ADS      JZERO                                 #  (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
041415,000234: 
041416,000235: 20,2432           00006        JZSTORE            EXTEND                                         #  PREPARE JZERO FOR DENOMINATOR LADDER
041417,000236: 20,2433           31745                           DCA      JZERO                                 #        SC.AT B+0 SPASCREV
041418,000237: 20,2434           20001                           DDOUBL                                         
041419,000238: 20,2435           20001                           DDOUBL                                         
041420,000239: 20,2436           20001                           DDOUBL                                         
041421,000240: 20,2437           53727                           DXCH     J1TMP                                 #        SC.AT B-3 SPASCREV
041422,000241: 
041423,000242: 20,2440           03141        OPTVARKP           TCR      OPTVARK                               #  PITCH VARIABLE-GAIN PACKAGE
041424,000243: 
041425,000244: 20,2441           00006        POFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
041426,000245: 20,2442           41745                           DCS      CMDTMP                                #        (GEN3DAP RETURNS AT POFFSET)
041427,000246: 20,2443           53745                           DXCH     CMDTMP                                
041428,000247: 20,2444           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
041429,000248: 20,2445           31626                           DCA      PDELOFF                               
041430,000249: 20,2446           21745                           DAS      CMDTMP                                
041431,000250: 

Page 926

041433,000252: 20,2447           31745        PROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041434,000253: 20,2450           60000                           DOUBLE                                         
041435,000254: 20,2451           54001                           TS       L                                     
041436,000255: 20,2452           34714                           CAF      ZERO                                  
041437,000256: 20,2453           61744                           AD       CMDTMP                                
041438,000257: 
041439,000258: 20,2454           03161        PACLIM             TCR      ACTLIM                                #  PITCH ACTUATOR-COMMAND-LIMITER
041440,000259: 
041441,000260: 20,2455           41631        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
041442,000261: 20,2456           61744                           AD       CMDTMP                                
041443,000262: 20,2457           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
041444,000263:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
041445,000264: 
041446,000265: 20,2460           34700                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
041447,000266: 20,2461           00006                           EXTEND                                         
041448,000267: 20,2462           05014                           WOR      CHAN14                                
041449,000268: 20,2463           31466        P2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041450,000269: 20,2464           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041451,000270: 20,2465           10000                           CCS      A                                     
041452,000271: 20,2466           12471                           TCF      +3                                    #  USE LEM-ON FILTER
041453,000272: 20,2467           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041454,000273: 20,2470           36246                           CADR     NP1NODE                               
041455,000274: 20,2471           31742        BZSTORE            CAE      ERRBTMP                               #  PREPARE BZERO (UPPER WORD OF ERRBTMP)
041456,000275: 20,2472           60000                           DOUBLE                                         #        FOR NUMERATOR LADDER....SC.AT B-1
041457,000276: 20,2473           55717                           TS       B1TMP                                 #        SC.AT B-2 REVS FOR LADDER
041458,000277: 20,2474           00006        PNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
041459,000278: 20,2475           31546                           DCA      B1                                    #        NUMERATOR LADDER
041460,000279: 20,2476           53721                           DXCH     B2TMP                                 
041461,000280: 20,2477           00006                           EXTEND                                         
041462,000281: 20,2500           31550                           DCA      B3                                    
041463,000282: 20,2501           53723                           DXCH     B4TMP                                 
041464,000283: 20,2502           00006                           EXTEND                                         
041465,000284: 20,2503           31552                           DCA      B5                                    
041466,000285: 20,2504           53725                           DXCH     B6TMP                                 
041467,000286: 
041468,000287: 20,2505           03173        PNSUMC             TCR      NSUM                                  #  PITCH NUMERATOR SUM
041469,000288: 20,2506           00006        PDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING PITCH
041470,000289: 20,2507           31554                           DCA      J1                                    #        DENOMINATOR LADDER
041471,000290: 20,2510           53731                           DXCH     J2TMP                                 
041472,000291: 20,2511           00006                           EXTEND                                         
041473,000292: 20,2512           31556                           DCA      J2                                    
041474,000293: 20,2513           53733                           DXCH     J3TMP                                 
041475,000294: 20,2514           00006                           EXTEND                                         
041476,000295: 20,2515           31560                           DCA      J3                                    

Page 927

041478,000297: 20,2516           53735                           DXCH     J4TMP                                 
041479,000298: 20,2517           00006                           EXTEND                                         
041480,000299: 20,2520           31562                           DCA      J4                                    
041481,000300: 20,2521           53737                           DXCH     J5TMP                                 
041482,000301: 20,2522           00006                           EXTEND                                         
041483,000302: 20,2523           31564                           DCA      J5                                    
041484,000303: 20,2524           53741                           DXCH     J6TMP                                 
041485,000304: 
041486,000305: 20,2525           03233        PDSUMC             TCR      DSUM                                  #  PITCH DENOMINATOR SUM
041487,000306: 
041488,000307: 20,2526           31744        DELBARP            CAE      CMDTMP                                #  UPDATE PITCH OFFSET-TRACKER-FILTER
041489,000308: 20,2527           00006                           EXTEND                                         #        (GEN3DAP RETURNS AT ..DELBARP..)
041490,000309: 20,2530           73421                           MP       1-E(-AT)                              
041491,000310: 20,2531           53716                           DXCH     DELBRTMP                              
041492,000311: 20,2532           31621                           CAE      DELPBAR                               
041493,000312: 20,2533           00006                           EXTEND                                         
041494,000313: 20,2534           73422                           MP       E(-AT)                                
041495,000314: 20,2535           21716                           DAS      DELBRTMP                              
041496,000315: 20,2536           31622                           CAE      DELPBAR    +1                         
041497,000316: 20,2537           00006                           EXTEND                                         
041498,000317: 20,2540           73422                           MP       E(-AT)                                
041499,000318: 20,2541           27716                           ADS      DELBRTMP   +1                         
041500,000319: 20,2542           54001                           TS       L                                     
041501,000320: 20,2543           12545                           TCF      +2                                    
041502,000321: 20,2544           27715                           ADS      DELBRTMP                              
041503,000322: 
041504,000323: 20,2545           02560        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
041505,000324: 
041506,000325: 20,2546           15222        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED
041507,000326: 20,2547           55744        RLIMTEST           TS       CMDTMP                                #  TEST FOR EXCESSIVE CDU RATES
041508,000327: 20,2550           00006                           EXTEND                                         #        IF CDU DIFFERENCE EXCEEDS 2.33 DEG
041509,000328: 20,2551           73415                           MP       1/RTLIM                               #        IF ONE SAMPLE PERIOD, SET CDURATE=0
041510,000329: 20,2552           00006                           EXTEND                                         
041511,000330: 20,2553           12556                           BZF      +3                                    
041512,000331: 20,2554           34714                           CAF      ZERO                                  
041513,000332: 20,2555           55744                           TS       CMDTMP                                
041514,000333: 20,2556           31744                           CAE      CMDTMP                                
041515,000334: 20,2557           00002                           TC       Q                                     
041516,000335: 

Page 928

041518,000337:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041519,000338: 
041520,000339: 20,2560           25654        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
041521,000340:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041522,000341:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041523,000342:                                                                                                  #        DURING PITCH COPYCYCLE.
041524,000343: 
041525,000344: 20,2561           00006        NEWB(S)            EXTEND                                         #  UPDATE PITCH NUMERATOR LADDER FROM
041526,000345: 20,2562           31720                           DCA      B1TMP                                 #        TEMPORARIES
041527,000346: 20,2563           53546                           DXCH     B1                                    
041528,000347: 20,2564           00006                           EXTEND                                         
041529,000348: 20,2565           31722                           DCA      B3TMP                                 
041530,000349: 20,2566           53550                           DXCH     B3                                    
041531,000350: 20,2567           00006                           EXTEND                                         
041532,000351: 20,2570           31724                           DCA      B5TMP                                 
041533,000352: 20,2571           53552                           DXCH     B5                                    
041534,000353: 
041535,000354: 20,2572           00006        NEWJ(S)            EXTEND                                         #  UPDATE PITCH DENOMINATOR LADDER FROM
041536,000355: 20,2573           31727                           DCA      J1TMP                                 #        TEMPORARIES
041537,000356: 20,2574           53554                           DXCH     J1                                    
041538,000357: 20,2575           00006                           EXTEND                                         
041539,000358: 20,2576           31731                           DCA      J2TMP                                 
041540,000359: 20,2577           53556                           DXCH     J2                                    
041541,000360: 20,2600           00006                           EXTEND                                         
041542,000361: 20,2601           31733                           DCA      J3TMP                                 
041543,000362: 20,2602           53560                           DXCH     J3                                    
041544,000363: 20,2603           00006                           EXTEND                                         
041545,000364: 20,2604           31735                           DCA      J4TMP                                 
041546,000365: 20,2605           53562                           DXCH     J4                                    
041547,000366: 20,2606           00006                           EXTEND                                         #        (ALSO NP1TMP,+1 TO NP1,+1)
041548,000367: 20,2607           31737                           DCA      J5TMP                                 
041549,000368: 20,2610           53564                           DXCH     J5                                    
041550,000369: 
041551,000370: 20,2611           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
041552,000371: 20,2612           31743                           DCA      ERRBTMP                               
041553,000372: 20,2613           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
041554,000373: 20,2614           53616                           DXCH     PERRB                                 
041555,000374: 
041556,000375: 20,2615           00006                           EXTEND                                         #        PITCH NUMERATOR SUM
041557,000376: 20,2616           31712                           DCA      NSUMTMP                               #                (ALSO NP2TMP,+1 TO NP2,+1)
041558,000377: 20,2617           53542                           DXCH     PNSUM                                 
041559,000378: 
041560,000379: 20,2620           00006                           EXTEND                                         #        PITCH DENOMINATOR SUM
041561,000380: 20,2621           31714                           DCA      DSUMTMP                               #                (ALSO NP3TMP,+1 TO NP3,+1)
041562,000381: 20,2622           53544                           DXCH     PDSUM                                 
041563,000382: 
041564,000383: 20,2623           31744                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
041565,000384: 20,2624           55631                           TS       PCMD                                  
041566,000385: 
041567,000386: 20,2625           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER

Page 929

041569,000388: 20,2626           31716                           DCA      DELBRTMP                              
041570,000389: 20,2627           53622                           DXCH     DELPBAR                               
041571,000390: 
041572,000391: 20,2630           25654                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED
041573,000392: 
041574,000393: 20,2631           00002                           TC       Q                                     
041575,000394: 

Page 930

041577,000396:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041578,000397: 
041579,000398: 20,2632           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
041580,000399: 20,2633           00006                           EXTEND                                         
041581,000400: 20,2634           22012                           QXCH     QRUPT                                 
041582,000401: 
041583,000402: 20,2635           33416                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041584,000403: 20,2636           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
041585,000404: 20,2637           31635                           CAE      T5TVCDT                               
041586,000405: 20,2640           54030                           TS       TIME5                                 
041587,000406: 
041588,000407: 20,2641           11614        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
041589,000408: 20,2642           03506                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
041590,000409: 20,2643           12645                           TCF      +2                                    #  NO-TEST
041591,000410: 20,2644           03506                           TC       HACK                                  #  TEST-IN-PROGRESS
041592,000411: 
041593,000412:                                                                                                  #  USE BODY RATES FROM PITCHDAP (PCDUDOTS)
041594,000413: 
041595,000414: 20,2645           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041596,000415: 20,2646           31620                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
041597,000416: 20,2647           53743                           DXCH     ERRBTMP                               
041598,000417: 
041599,000418: 20,2650           00006                           EXTEND                                         
041600,000419: 20,2651           31532                           DCA      OMEGAZC                               
041601,000420: 20,2652           21743                           DAS      ERRBTMP                               
041602,000421: 
041603,000422: 20,2653           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041604,000423: 20,2654           00006                           EXTEND                                         
041605,000424: 20,2655           70742                           MP       SINCDUX                               
041606,000425: 20,2656           20001                           DDOUBL                                         
041607,000426: 20,2657           00006                           EXTEND                                         
041608,000427: 20,2660           71657                           MP       MCDUYDOT                              
041609,000428: 20,2661           20001                           DDOUBL                                         
041610,000429: 20,2662           53540                           DXCH     OMEGAZB                               
041611,000430: 
041612,000431: 20,2663           41660                           CS       MCDUZDOT                              
041613,000432: 20,2664           00006                           EXTEND                                         
041614,000433: 20,2665           70750                           MP       COSCDUX                               
041615,000434: 20,2666           20001                           DDOUBL                                         
041616,000435: 20,2667           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041617,000436: 
041618,000437: 20,2670           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041619,000438: 20,2671           41540                           DCS      OMEGAZB                               
041620,000439: 20,2672           21743                           DAS      ERRBTMP                               
041621,000440: 
041622,000441: 20,2673           03126        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
041623,000442: 
041624,000443: 20,2674           31466        Y1FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041625,000444: 20,2675           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041626,000445: 

Page 931

041628,000447: 20,2676           10000                           CCS      A                                     
041629,000448: 20,2677           12702                           TCF      +3                                    #  USE LEM-ON FILTER
041630,000449: 20,2700           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041631,000450: 20,2701           36405                           CADR     NY0NODE                               
041632,000451: 
041633,000452: 20,2702           00006        YFORWARD           EXTEND                                         #  LEM-ON FILTER COMPUTATIONS
041634,000453: 20,2703           41570                           DCS      YDSUM                                 #  DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041635,000454: 20,2704           53745                           DXCH     YZERO                                 
041636,000455: 
041637,000456: 20,2705           31742                           CAE      ERRBTMP                               #  INPUT ERROR, SC.AT B-1 REVS
041638,000457: 20,2706           61565                           AD       YNSUM                                 #  NUMERATOR TERMS, SC.AT B-1 REVS
041639,000458: 20,2707           00006                           EXTEND                                         
041640,000459: 20,2710           74727                           MP       KYDN                                  #  KYDN, SC.AT B+1 SPASCREV
041641,000460: 20,2711           21745                           DAS      YZERO                                 
041642,000461: 20,2712           31566                           CAE      YNSUM      +1                         
041643,000462: 20,2713           00006                           EXTEND                                         
041644,000463: 20,2714           74727                           MP       KYDN                                  
041645,000464: 20,2715           27745                           ADS      YZERO      +1                         
041646,000465: 20,2716           54001                           TS       L                                     
041647,000466: 20,2717           12721                           TCF      +2                                    
041648,000467: 20,2720           27744                           ADS      YZERO                                 #  (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
041649,000468: 
041650,000469: 20,2721           00006        YZSTORE            EXTEND                                         #  PREPARE YZERO FOR DENOMINATOR LADDER
041651,000470: 20,2722           31745                           DCA      YZERO                                 #        SC.AT B+0 SPASCREV
041652,000471: 20,2723           20001                           DDOUBL                                         
041653,000472: 20,2724           20001                           DDOUBL                                         
041654,000473: 20,2725           20001                           DDOUBL                                         
041655,000474: 20,2726           53727                           DXCH     Y1TMP                                 #        SC.AT B-3 SPASCREV
041656,000475: 
041657,000476: 20,2727           03141        OPTVARKY           TCR      OPTVARK                               #  YAW VARIABLE-GAIN PACKAGE
041658,000477: 
041659,000478: 20,2730           00006        YOFFSET            EXTEND                                         #  SIGN CHANGE IN FORWARD LOOP
041660,000479: 20,2731           41745                           DCS      CMDTMP                                #        (GEN3DAP RETURNS AT YOFFSET)
041661,000480: 20,2732           53745                           DXCH     CMDTMP                                
041662,000481: 20,2733           00006                           EXTEND                                         #  ADD IN DOUBLE-PRECISION CG OFFSETS
041663,000482: 20,2734           31630                           DCA      YDELOFF                               
041664,000483: 20,2735           21745                           DAS      CMDTMP                                
041665,000484: 
041666,000485: 20,2736           31745        YROUND             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
041667,000486: 20,2737           60000                           DOUBLE                                         
041668,000487: 20,2740           54001                           TS       L                                     
041669,000488: 20,2741           34714                           CAF      ZERO                                  
041670,000489: 20,2742           61744                           AD       CMDTMP                                
041671,000490: 
041672,000491: 20,2743           03161        YACLIM             TCR      ACTLIM                                #  YAW ACTUATOR-COMMAND-LIMITER
041673,000492: 
041674,000493: 20,2744           41632        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
041675,000494: 20,2745           61744                           AD       CMDTMP                                
041676,000495: 20,2746           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
041677,000496:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)

Page 932

041679,000498: 20,2747           34677                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
041680,000499: 20,2750           00006                           EXTEND                                         
041681,000500: 20,2751           05014                           WOR      CHAN14                                
041682,000501: 20,2752           31466        Y2FILJMP           CAE      DAPDATR1                              #  CHECK FOR LEM-ON/-OFF
041683,000502: 20,2753           74675                           MASK     BIT14                                 #  (BIT 14 INDICATES LEM IS ON)
041684,000503: 20,2754           10000                           CCS      A                                     
041685,000504: 20,2755           12760                           TCF      +3                                    #  USE LEM-ON FILTER
041686,000505: 20,2756           04574                           TC       POSTJUMP                              #  USE LEM-OFF (GEN3DAP) FILTER
041687,000506: 20,2757           36440                           CADR     NY1NODE                               
041688,000507: 20,2760           31742        CZSTORE            CAE      ERRBTMP                               #  PREPARE CZERO (UPPER WORD OF ERRBTMP)
041689,000508: 20,2761           60000                           DOUBLE                                         #        FOR NUMERATOR LADDER....SC.AT B-1
041690,000509: 20,2762           55717                           TS       C1TMP                                 #        SC.AT B-2 REVS FOR LADDER
041691,000510: 20,2763           00006        YNLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
041692,000511: 20,2764           31572                           DCA      C1                                    #        NUMERATOR LADDER
041693,000512: 20,2765           53721                           DXCH     C2TMP                                 
041694,000513: 20,2766           00006                           EXTEND                                         
041695,000514: 20,2767           31574                           DCA      C3                                    
041696,000515: 20,2770           53723                           DXCH     C4TMP                                 
041697,000516: 20,2771           00006                           EXTEND                                         
041698,000517: 20,2772           31576                           DCA      C5                                    
041699,000518: 20,2773           53725                           DXCH     C6TMP                                 
041700,000519: 
041701,000520: 20,2774           03173        YNSUMC             TCR      NSUM                                  #  YAW NUMERATOR SUM
041702,000521: 20,2775           00006        YDLADDER           EXTEND                                         #  PREPARE TEMPORARIES, FOR UPDATING YAW
041703,000522: 20,2776           31600                           DCA      Y1                                    #        DENOMINATOR LADDER
041704,000523: 20,2777           53731                           DXCH     Y2TMP                                 
041705,000524: 20,3000           00006                           EXTEND                                         
041706,000525: 20,3001           31602                           DCA      Y2                                    
041707,000526: 20,3002           53733                           DXCH     Y3TMP                                 
041708,000527: 20,3003           00006                           EXTEND                                         
041709,000528: 20,3004           31604                           DCA      Y3                                    
041710,000529: 20,3005           53735                           DXCH     Y4TMP                                 
041711,000530: 20,3006           00006                           EXTEND                                         
041712,000531: 20,3007           31606                           DCA      Y4                                    
041713,000532: 20,3010           53737                           DXCH     Y5TMP                                 
041714,000533: 20,3011           00006                           EXTEND                                         
041715,000534: 20,3012           31610                           DCA      Y5                                    
041716,000535: 20,3013           53741                           DXCH     Y6TMP                                 
041717,000536: 
041718,000537: 20,3014           03233        YDSUMC             TCR      DSUM                                  #  YAW DENOMINATOR SUM
041719,000538: 
041720,000539: 20,3015           31744        DELBARY            CAE      CMDTMP                                #  UPDATE YAW OFFSET-TRACKER-FILTER
041721,000540: 20,3016           00006                           EXTEND                                         #        (GEN3DAP RETURNS AT ..DELBARY..)
041722,000541: 20,3017           73421                           MP       1-E(-AT)                              

Page 933

041724,000543: 20,3020           53716                           DXCH     DELBRTMP                              
041725,000544: 20,3021           31623                           CAE      DELYBAR                               
041726,000545: 20,3022           00006                           EXTEND                                         
041727,000546: 20,3023           73422                           MP       E(-AT)                                
041728,000547: 20,3024           21716                           DAS      DELBRTMP                              
041729,000548: 20,3025           31624                           CAE      DELYBAR    +1                         
041730,000549: 20,3026           00006                           EXTEND                                         
041731,000550: 20,3027           73422                           MP       E(-AT)                                
041732,000551: 20,3030           27716                           ADS      DELBRTMP   +1                         
041733,000552: 20,3031           54001                           TS       L                                     
041734,000553: 20,3032           13034                           TCF      +2                                    
041735,000554: 20,3033           27715                           ADS      DELBRTMP                              
041736,000555: 
041737,000556: 20,3034           03036        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
041738,000557: 
041739,000558: 20,3035           15222        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
041740,000559: 

Page 934

041742,000561:                                                                                                  #  YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
041743,000562: 
041744,000563: 20,3036           25654        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.
041745,000564:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
041746,000565:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
041747,000566:                                                                                                  #        DURING YAW   COPYCYCLE.
041748,000567: 
041749,000568: 20,3037           00006        NEWC(S)            EXTEND                                         #  UPDATE YAW   NUMERATOR LADDER FROM
041750,000569: 20,3040           31720                           DCA      C1TMP                                 #        TEMPORARIES
041751,000570: 20,3041           53572                           DXCH     C1                                    
041752,000571: 20,3042           00006                           EXTEND                                         
041753,000572: 20,3043           31722                           DCA      C3TMP                                 
041754,000573: 20,3044           53574                           DXCH     C3                                    
041755,000574: 20,3045           00006                           EXTEND                                         
041756,000575: 20,3046           31724                           DCA      C5TMP                                 
041757,000576: 20,3047           53576                           DXCH     C5                                    
041758,000577: 
041759,000578: 20,3050           00006        NEWY(S)            EXTEND                                         #  UPDATE YAW   DENOMINATOR LADDER FROM
041760,000579: 20,3051           31727                           DCA      Y1TMP                                 #        TEMPORARIES
041761,000580: 20,3052           53600                           DXCH     Y1                                    
041762,000581: 20,3053           00006                           EXTEND                                         
041763,000582: 20,3054           31731                           DCA      Y2TMP                                 
041764,000583: 20,3055           53602                           DXCH     Y2                                    
041765,000584: 20,3056           00006                           EXTEND                                         
041766,000585: 20,3057           31733                           DCA      Y3TMP                                 
041767,000586: 20,3060           53604                           DXCH     Y3                                    
041768,000587: 20,3061           00006                           EXTEND                                         
041769,000588: 20,3062           31735                           DCA      Y4TMP                                 
041770,000589: 20,3063           53606                           DXCH     Y4                                    
041771,000590: 20,3064           00006                           EXTEND                                         #        (ALSO NY1TMP,+1 TO NY1,+1)
041772,000591: 20,3065           31737                           DCA      Y5TMP                                 
041773,000592: 20,3066           53610                           DXCH     Y5                                    
041774,000593: 
041775,000594: 20,3067           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
041776,000595: 20,3070           31743                           DCA      ERRBTMP                               
041777,000596: 20,3071           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
041778,000597: 20,3072           53620                           DXCH     YERRB                                 
041779,000598: 
041780,000599: 20,3073           00006                           EXTEND                                         #        YAW     NUMERATOR SUM
041781,000600: 20,3074           31712                           DCA      NSUMTMP                               #                (ALSO NY2TMP,+1 TO NY2,+1)
041782,000601: 20,3075           53566                           DXCH     YNSUM                                 
041783,000602: 
041784,000603: 20,3076           00006                           EXTEND                                         #        YAW     DENOMINATOR SUM
041785,000604: 20,3077           31714                           DCA      DSUMTMP                               #                (ALSO NY3TMP,+1 TO NY3,+1)
041786,000605: 20,3100           53570                           DXCH     YDSUM                                 
041787,000606: 
041788,000607: 20,3101           31744                           CAE      CMDTMP                                #        YAW     ACTUATOR COMMAND
041789,000608: 20,3102           55632                           TS       YCMD                                  
041790,000609: 
041791,000610: 20,3103           00006                           EXTEND                                         #        YAW     OFFSET-TRACKER-FILTER

Page 935

041793,000612: 20,3104           31716                           DCA      DELBRTMP                              
041794,000613: 20,3105           53624                           DXCH     DELYBAR                               
041795,000614: 20,3106           34714                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
041796,000615: 20,3107           55654                           TS       TVCPHASE                              #        RESET TVCPHASE
041797,000616: 
041798,000617: 20,3110           00002                           TC       Q                                     
041799,000618: 

Page 936

041801,000620:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041802,000621:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
041803,000622: 
041804,000623: 20,3111           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
041805,000624: 
041806,000625: 20,3112           37716                           CAF      NEGONE                                #        SET UP
041807,000626: 20,3113           61635                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
041808,000627: 20,3114           64674                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
041809,000628: 20,3115           61635                           AD       T5TVCDT                               
041810,000629: 20,3116           54030                           TS       TIME5                                 
041811,000630: 20,3117           33416                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
041812,000631: 20,3120           55312                           TS       T5LOC                                 
041813,000632: 
041814,000633: 20,3121           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
041815,000634: 20,3122           55655                           TS       PCDUYPST                              #        PAST-VALUES
041816,000635: 20,3123           30034                           CAE      CDUZ                                  
041817,000636: 20,3124           55656                           TS       PCDUZPST                              
041818,000637: 
041819,000638: 20,3125           15224                           TCF      NOQRSM                                
041820,000639: 
041821,000640:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
041822,000641: 
041823,000642: 20,3126           31742        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
041824,000643: 20,3127           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
041825,000644: 20,3130           74710                           MP       1/ERRLIM                              
041826,000645: 20,3131           00006                           EXTEND                                         
041827,000646: 20,3132           13140                           BZF      +6                                    
041828,000647: 20,3133           11742                           CCS      ERRBTMP                               
041829,000648: 20,3134           34676                           CAF      ERRLIM                                
041830,000649: 20,3135           13137                           TCF      +2                                    
041831,000650: 20,3136           44676                           CS       ERRLIM                                
041832,000651: 20,3137           55742                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
041833,000652: 
041834,000653: 20,3140           00002                           TC       Q                                     
041835,000654: 
041836,000655:                                                                                                  #  VARIABLE-GAIN PACKAGE....
041837,000656: 
041838,000657: 20,3141           31744        OPTVARK            CAE      CMDTMP                                #  VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
041839,000658: 20,3142           00006                           EXTEND                                         #        JZERO OR YZERO
041840,000659: 20,3143           71651                           MP       VARK                                  #  VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
041841,000660: 20,3144           53745                           DXCH     CMDTMP                                
041842,000661: 20,3145           22000                           LXCH     A                                     #  LO-ORDER WORD OF INPUT CMDTMP
041843,000662: 20,3146           00006                           EXTEND                                         
041844,000663: 20,3147           71651                           MP       VARK                                  
041845,000664: 20,3150           27745                           ADS      CMDTMP     +1                         
041846,000665: 20,3151           54001                           TS       L                                     

Page 937

041848,000667: 20,3152           13154                           TCF      +2                                    
041849,000668: 20,3153           27744                           ADS      CMDTMP                                
041850,000669: 
041851,000670: 20,3154           53745                           DXCH     CMDTMP                                #  FIX UP SCALING
041852,000671: 20,3155           20001                           DDOUBL                                         
041853,000672: 20,3156           20001                           DDOUBL                                         
041854,000673: 20,3157           53745                           DXCH     CMDTMP                                
041855,000674: 
041856,000675: 20,3160           00002                           TC       Q                                     
041857,000676: 
041858,000677:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
041859,000678: 
041860,000679: 20,3161           00006        ACTLIM             EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
041861,000680: 20,3162           73414                           MP       1/ACTSAT                              
041862,000681: 20,3163           00006                           EXTEND                                         
041863,000682: 20,3164           13172                           BZF      +6                                    
041864,000683: 20,3165           11744                           CCS      CMDTMP                                #  APPLY LIMITS
041865,000684: 20,3166           33413                           CAF      ACTSAT                                
041866,000685: 20,3167           13171                           TCF      +2                                    
041867,000686: 20,3170           43413                           CS       ACTSAT                                
041868,000687: 20,3171           55744                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
041869,000688: 
041870,000689: 20,3172           00002                           TC       Q                                     
041871,000690: 
041872,000691:                                                                                                  #  NUMERATOR-SUM COMPUTATION....
041873,000692: 
041874,000693: 20,3173           31717        NSUM               CAE      B1TMP                                 #  PREPARE NUMERATOR SUM, SCALING IS AT
041875,000694: 20,3174           00006                           EXTEND                                         #        B+0 REVS ( = B+2 X B-2 )
041876,000695: 20,3175           73423                           MP       N1                                    
041877,000696: 20,3176           53712                           DXCH     NSUMTMP                               
041878,000697: 
041879,000698: 20,3177           31720                           CAE      B2TMP                                 
041880,000699: 20,3200           00006                           EXTEND                                         
041881,000700: 20,3201           73424                           MP       N2                                    
041882,000701: 20,3202           21712                           DAS      NSUMTMP                               
041883,000702: 
041884,000703: 20,3203           31721                           CAE      B3TMP                                 
041885,000704: 20,3204           00006                           EXTEND                                         
041886,000705: 20,3205           73425                           MP       N3                                    
041887,000706: 20,3206           21712                           DAS      NSUMTMP                               
041888,000707: 
041889,000708: 20,3207           31722                           CAE      B4TMP                                 
041890,000709: 20,3210           00006                           EXTEND                                         
041891,000710: 20,3211           73426                           MP       N4                                    
041892,000711: 20,3212           21712                           DAS      NSUMTMP                               
041893,000712: 
041894,000713: 20,3213           31723                           CAE      B5TMP                                 
041895,000714: 20,3214           00006                           EXTEND                                         

Page 938

041897,000716: 20,3215           73427                           MP       N5                                    
041898,000717: 20,3216           21712                           DAS      NSUMTMP                               
041899,000718: 
041900,000719: 20,3217           31724                           CAE      B6TMP                                 
041901,000720: 20,3220           00006                           EXTEND                                         
041902,000721: 20,3221           73430                           MP       N6                                    
041903,000722: 20,3222           21712                           DAS      NSUMTMP                               
041904,000723: 
041905,000724: 20,3223           31725                           CAE      B7TMP                                 
041906,000725: 20,3224           00006                           EXTEND                                         
041907,000726: 20,3225           73431                           MP       N7                                    
041908,000727: 20,3226           21712                           DAS      NSUMTMP                               
041909,000728: 
041910,000729: 20,3227           53712        NSUMSC             DXCH     NSUMTMP                               #  FIX UP SCALING (NOW AT B+0 REVS)
041911,000730: 20,3230           20001                           DDOUBL                                         
041912,000731: 20,3231           53712                           DXCH     NSUMTMP                               #  SC.AT B-1 REV
041913,000732: 
041914,000733: 20,3232           00002                           TC       Q                                     
041915,000734: 
041916,000735:                                                                                                  #  DENOMINATOR-SUM COMPUTATION....
041917,000736: 
041918,000737: 20,3233           31726        DSUM               CAE      J1TMP                                 #  PREPARE DENOMINATOR SUM, SCALED
041919,000738: 20,3234           00006                           EXTEND                                         #        AT B+1 SPASCREVS ( = B+4 X B-3)
041920,000739: 20,3235           73432                           MP       D1                                    #        (J1TMP = J,YZERO, SC.AT B-3 REVS)
041921,000740: 20,3236           53714                           DXCH     DSUMTMP                               
041922,000741: 20,3237           31726                           CAE      J1TMP                                 
041923,000742: 20,3240           00006                           EXTEND                                         
041924,000743: 20,3241           73433                           MP       D1         +1                         
041925,000744: 20,3242           27714                           ADS      DSUMTMP    +1                         
041926,000745: 20,3243           54001                           TS       L                                     
041927,000746: 20,3244           13246                           TCF      +2                                    
041928,000747: 20,3245           27713                           ADS      DSUMTMP                               
041929,000748: 20,3246           31727                           CAE      J1TMP      +1                         
041930,000749: 20,3247           00006                           EXTEND                                         
041931,000750: 20,3250           73432                           MP       D1                                    
041932,000751: 20,3251           27714                           ADS      DSUMTMP    +1                         
041933,000752: 20,3252           54001                           TS       L                                     
041934,000753: 20,3253           13255                           TCF      +2                                    
041935,000754: 20,3254           27713                           ADS      DSUMTMP                               
041936,000755: 
041937,000756: 20,3255           31730        D2J2               CAE      J2TMP                                 
041938,000757: 20,3256           00006                           EXTEND                                         
041939,000758: 20,3257           73434                           MP       D2                                    
041940,000759: 20,3260           21714                           DAS      DSUMTMP                               
041941,000760: 20,3261           31730                           CAE      J2TMP                                 
041942,000761: 20,3262           00006                           EXTEND                                         
041943,000762: 20,3263           73435                           MP       D2         +1                         
041944,000763: 20,3264           27714                           ADS      DSUMTMP    +1                         
041945,000764: 20,3265           54001                           TS       L                                     

Page 939

041947,000766: 20,3266           13270                           TCF      +2                                    
041948,000767: 20,3267           27713                           ADS      DSUMTMP                               
041949,000768: 20,3270           31731                           CAE      J2TMP      +1                         
041950,000769: 20,3271           00006                           EXTEND                                         
041951,000770: 20,3272           73434                           MP       D2                                    
041952,000771: 20,3273           27714                           ADS      DSUMTMP    +1                         
041953,000772: 20,3274           54001                           TS       L                                     
041954,000773: 20,3275           13277                           TCF      +2                                    
041955,000774: 20,3276           27713                           ADS      DSUMTMP                               
041956,000775: 
041957,000776: 20,3277           31732        D3J3               CAE      J3TMP                                 
041958,000777: 20,3300           00006                           EXTEND                                         
041959,000778: 20,3301           73436                           MP       D3                                    
041960,000779: 20,3302           21714                           DAS      DSUMTMP                               
041961,000780: 20,3303           31732                           CAE      J3TMP                                 
041962,000781: 20,3304           00006                           EXTEND                                         
041963,000782: 20,3305           73437                           MP       D3         +1                         
041964,000783: 20,3306           27714                           ADS      DSUMTMP    +1                         
041965,000784: 20,3307           54001                           TS       L                                     
041966,000785: 20,3310           13312                           TCF      +2                                    
041967,000786: 20,3311           27713                           ADS      DSUMTMP                               
041968,000787: 20,3312           31733                           CAE      J3TMP      +1                         
041969,000788: 20,3313           00006                           EXTEND                                         
041970,000789: 20,3314           73436                           MP       D3                                    
041971,000790: 20,3315           27714                           ADS      DSUMTMP    +1                         
041972,000791: 20,3316           54001                           TS       L                                     
041973,000792: 20,3317           13321                           TCF      +2                                    
041974,000793: 20,3320           27713                           ADS      DSUMTMP                               
041975,000794: 
041976,000795: 20,3321           31734        D4J4               CAE      J4TMP                                 
041977,000796: 20,3322           00006                           EXTEND                                         
041978,000797: 20,3323           73440                           MP       D4                                    
041979,000798: 20,3324           21714                           DAS      DSUMTMP                               
041980,000799: 20,3325           31734                           CAE      J4TMP                                 
041981,000800: 20,3326           00006                           EXTEND                                         
041982,000801: 20,3327           73441                           MP       D4         +1                         
041983,000802: 20,3330           27714                           ADS      DSUMTMP    +1                         
041984,000803: 20,3331           54001                           TS       L                                     
041985,000804: 20,3332           13334                           TCF      +2                                    
041986,000805: 20,3333           27713                           ADS      DSUMTMP                               
041987,000806: 20,3334           31735                           CAE      J4TMP      +1                         
041988,000807: 20,3335           00006                           EXTEND                                         
041989,000808: 20,3336           73440                           MP       D4                                    
041990,000809: 20,3337           27714                           ADS      DSUMTMP    +1                         
041991,000810: 20,3340           54001                           TS       L                                     
041992,000811: 20,3341           13343                           TCF      +2                                    
041993,000812: 20,3342           27713                           ADS      DSUMTMP                               
041994,000813: 
041995,000814: 20,3343           31736        D5J5               CAE      J5TMP                                 
041996,000815: 20,3344           00006                           EXTEND                                         

Page 940

041998,000817: 20,3345           73442                           MP       D5                                    
041999,000818: 20,3346           21714                           DAS      DSUMTMP                               
042000,000819: 20,3347           31736                           CAE      J5TMP                                 
042001,000820: 20,3350           00006                           EXTEND                                         
042002,000821: 20,3351           73443                           MP       D5         +1                         
042003,000822: 20,3352           27714                           ADS      DSUMTMP    +1                         
042004,000823: 20,3353           54001                           TS       L                                     
042005,000824: 20,3354           13356                           TCF      +2                                    
042006,000825: 20,3355           27713                           ADS      DSUMTMP                               
042007,000826: 20,3356           31737                           CAE      J5TMP      +1                         
042008,000827: 20,3357           00006                           EXTEND                                         
042009,000828: 20,3360           73442                           MP       D5                                    
042010,000829: 20,3361           27714                           ADS      DSUMTMP    +1                         
042011,000830: 20,3362           54001                           TS       L                                     
042012,000831: 20,3363           13365                           TCF      +2                                    
042013,000832: 20,3364           27713                           ADS      DSUMTMP                               
042014,000833: 
042015,000834: 20,3365           31740        D6J6               CAE      J6TMP                                 
042016,000835: 20,3366           00006                           EXTEND                                         
042017,000836: 20,3367           73444                           MP       D6                                    
042018,000837: 20,3370           21714                           DAS      DSUMTMP                               
042019,000838: 20,3371           31740                           CAE      J6TMP                                 
042020,000839: 20,3372           00006                           EXTEND                                         
042021,000840: 20,3373           73445                           MP       D6         +1                         
042022,000841: 20,3374           27714                           ADS      DSUMTMP    +1                         
042023,000842: 20,3375           54001                           TS       L                                     
042024,000843: 20,3376           13400                           TCF      +2                                    
042025,000844: 20,3377           27713                           ADS      DSUMTMP                               
042026,000845: 20,3400           31741                           CAE      J6TMP      +1                         
042027,000846: 20,3401           00006                           EXTEND                                         
042028,000847: 20,3402           73444                           MP       D6                                    
042029,000848: 20,3403           27714                           ADS      DSUMTMP    +1                         
042030,000849: 20,3404           54001                           TS       L                                     
042031,000850: 20,3405           13407                           TCF      +2                                    
042032,000851: 20,3406           27713                           ADS      DSUMTMP                               
042033,000852: 
042034,000853: 20,3407           53714        DSUMSC             DXCH     DSUMTMP                               #  FIX UP SCALING (NOW AT B+1 SPASCREV)
042035,000854: 20,3410           20001                           DDOUBL                                         
042036,000855: 20,3411           53714                           DXCH     DSUMTMP                               #  SC.AT B+0 SPASCREV
042037,000856: 
042038,000857: 20,3412           00002                           TC       Q                                     
042039,000858: 

Page 941

042041,000860:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
042042,000861:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
042043,000862:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
042044,000863: 
042045,000864: 20,3413           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
042046,000865: 20,3414           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
042047,000866: 
042048,000867: 20,3415     4676               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
042049,000868: 20,3415     4710               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
042050,000869: 
042051,000870: 20,3415           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) =0 IF CDUDIF < 2.33 DEG
042052,000871: 
042053,000872: 20,3416     4727               KPDN               =        DEC45                                 #  DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
042054,000873: 20,3416     4727               KYDN               =        KPDN                                  #        SPASCREV (FOR DEC45 BITS EXACTLY)
042055,000874:                                                                                                  #                KPDN = .005747 DEG/DEG
042056,000875:                                                                                                  #                SCALED KPDN = DEC45
042057,000876:                                                                                                  #                1SPASCREV = KPDN(B+14)/(2X45)
042058,000877:                                                                                                  #                          = 1.04620942 REVS
042059,000878: 
042060,000879: 20,3416           02327        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
042061,000880: 20,3417           03111        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
042062,000881: 20,3420           02632        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
042063,000882: 20,3421           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
042064,000883: 20,3422           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
042065,000884: 
042066,000885: 20,3423           50166        N1                 DEC      -2.9708385 B-2                        #  NUMERATOR COEFS (CSM/LEM), SC.AT B+2
042067,000886: 20,3424           31436        N2                 DEC      3.1947342  B-2                        
042068,000887: 20,3425           74561        N3                 DEC      -0.40962906 B-2                        
042069,000888: 20,3426           53277        N4                 DEC      -2.5780275 B-2                        
042070,000889: 20,3427           27550        N5                 DEC      2.9629319  B-2                        
042071,000890: 20,3430           63725        N6                 DEC      -1.5101470 B-2                        
042072,000891: 20,3431           02400        N7                 DEC      0.31243224 B-2                        
042073,000892: 
042074,000893: 20,3432           66341 54237  D1                 2DEC     -4.7798977 B-4                        #  DENOMINATOR COEFS (CSM/LEM), SC.AT B+4

Page 942

042076,000895: 20,3434           22707 36641  D2                 2DEC     9.4452763  B-4                        
042077,000896: 20,3436           54220 40714  D3                 2DEC     -9.8593475 B-4                        
042078,000897: 20,3440           13344 21146  D4                 2DEC     5.7231811  B-4                        
042079,000898: 20,3442           74401 61760  D5                 2DEC     -1.7484750 B-4                        
042080,000899: 20,3444           00340 23073  D6                 2DEC     0.21933335 B-4                        
042081,000900: 

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