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 A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin.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

043000,000002:                                                                                                  ## Copyright:   Public domain.
043001,000003:                                                                                                  ## Filename:    TVCGEN3FILTERS.agc
043002,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
043003,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
043004,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
043005,000007:                                                                                                  ## Assembler:   yaYUL
043006,000008:                                                                                                  ## Reference:   Starts on p. 961
043007,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
043008,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043009,000011:                                                                                                  ## Mod history: 08/24/04 RSB.   Began transcribing.
043010,000012:                                                                                                  ##              05/14/05 RSB    Corrected website references above.
043011,000013:                                                                                                  ##              2010-10-25 JL   Fixed page numbers.
043012,000014:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
043013,000015:                                                                                                  ##                              original harcopy, as opposed to the PDF page
043014,000016:                                                                                                  ##                              numbers in 1701.pdf.
043015,000017:                                                                                                  ##              2017-01-20 RSB  Cross-diff'd comment text (not whitespace)
043016,000018:                                                                                                  ##                              vs the already-proofed corresponding Colossus
043017,000019:                                                                                                  ##                              237 source-code files, and corrected errors found.
043018,000020:                                                                                                  ##
043019,000021:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
043020,000022:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
043021,000023:                                                                                                  ## document read, in part:
043022,000024:                                                                                                  ##
043023,000025:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
043024,000026:                                                                                                  ##      2021111-041.  October 28, 1968.  
043025,000027:                                                                                                  ##
043026,000028:                                                                                                  ##      This AGC program shall also be referred to as
043027,000029:                                                                                                  ##                              Colossus 1A
043028,000030:                                                                                                  ##
043029,000031:                                                                                                  ##      Prepared by
043030,000032:                                                                                                  ##                      Massachusetts Institute of Technology
043031,000033:                                                                                                  ##                      75 Cambridge Parkway
043032,000034:                                                                                                  ##                      Cambridge, Massachusetts
043033,000035:                                                                                                  ##      under NASA contract NAS 9-4065.
043034,000036:                                                                                                  ##
043035,000037:                                                                                                  ## Refer directly to the online document mentioned above for further information.
043036,000038:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
043037,000039:                                                                                                  ##
043038,000040:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
043039,000041:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
043040,000042:                                                                                                  ## source file, and then is proofed to incorporate any changes.
043041,000043: 

Page 961

043043,000045:                                                                                                  #  PROGRAM NAME.... GEN3DAP FILTERS, CONSISTING OF NP0NODE, NP1NODE, NY0NODE, NY1NODE, ETC.
043044,000046:                                                                                                  #  LOG SECTION.... GEN3DAP FILTERS               SUBROUTINE....DAPCSM
043045,000047:                                                                                                  #  MOD BY ENGEL                                  20 OCT, 1967
043046,000048: 
043047,000049: 
043048,000050:                                                                                                  #  FUNCTIONAL DESCRIPTION....
043049,000051: 
043050,000052:                                                                                                  #  THE GEN3DAP FILTER PACKAGE IS DESIGNED TO PROVIDE FLEXIBLE, LAST-MINUTE CHANGEABLE DIGITAL AUTOPILOT
043051,000053:                                                                                                  #  FILTERS FOR LEM-OFF FLIGHT.  GROUNDRULES FOR THE DESIGN AND USE OF THE PACKAGE ARE AS FOLLOWS.....
043052,000054: 
043053,000055:                                                                                                  #        1. FILTER COEFFICIENTS AND GAINS IN ERASABLE MEMORY
043054,000056:                                                                                                  #        2. UP TO THIRD-ORDER NUMERATOR OR DENOMINATOR
043055,000057:                                                                                                  #        3. OPERATIONAL FIT WITHIN THE STRUCTURE OF THE REGULAR LEM-ON DAP CODING
043056,000058:                                                                                                  #        4. DENOMINATOR POLES INSIDE THE Z-PLANE UNIT CIRCLE
043057,000059:                                                                                                  #        5. NUMERATOR ZEROS INSIDE THE Z-PLANE DOUBLE-UNIT CIRCLE
043058,000060:                                                                                                  #        6. HIGH FREQUENCY (BODE) GAIN LESS THAN 8ASCREVS, OR 8.6380088 DEG/DEG
043059,000061: 
043060,000062:                                                                                                  #  THE FILTERS ARE SHOWN IN THE FOLLOWING DIAGRAMS.....
043061,000063:                                                                                                  #  PITCH GEN3DAP FILTER..
043062,000064:                                                                                                  #                                                              KPGEN3
043063,000065:                                                                                                  #                                                             ********
043064,000066:                                                                                                  #                *****************************************           *
043065,000067:                                                                                                  #                *                                       *           *
043066,000068:                                                                                                  #                *               -1        -2        -3  *           *
043067,000069:                                                                                                  #   EP = ERRBTMP *    APO + AP1 Z   + AP2 Z   + AP3 Z    *    NPO          NPD = CMDTMP  **
043068,000070:                                                                                                  #  ***************  -----------------------------------  **********( X )*********************
043069,000071:                                                                                                  #                *               -1        -2        -3  *                               **
043070,000072:                                                                                                  #                *      1 + BP1 Z   + BP2 Z   + BP3 Z    *
043071,000073:                                                                                                  #                *                                       *
043072,000074:                                                                                                  #                *****************************************
043073,000075: 
043074,000076:                                                                                                  #  YAW GEN3DAP FILTER..
043075,000077:                                                                                                  #                                                              KYGEN3
043076,000078:                                                                                                  #                                                             ********
043077,000079:                                                                                                  #                *****************************************           *
043078,000080:                                                                                                  #                *                                       *           *
043079,000081:                                                                                                  #                *               -1        -2        -3  *           *
043080,000082:                                                                                                  #   EY = ERRBTMP *    AYO + AY1 Z   + AY2 Z   + AY3 Z    *    NY0          NYP = CMDTMP  **
043081,000083:                                                                                                  #  ***************  -----------------------------------  **********( X )*********************
043082,000084:                                                                                                  #                *               -1        -2        -3  *                               **
043083,000085:                                                                                                  #                *      1 + BY1 Z   + BY2 Z   + BY3 Z    *
043084,000086:                                                                                                  #                *                                       *
043085,000087:                                                                                                  #                *****************************************
043086,000088: 

Page 962

043088,000090:                                                                                                  #  THE IMPLEMENTING EQUATIONS FOR THESE FILTERS ARE AS FOLLOWS.....
043089,000091: 
043090,000092:                                                                                                  #        PITCH GEN3DAP....                               YAW GEN3DAP....
043091,000093:                                                                                                  #                NPD = (B+4) KPGEN3 NP0                          NYD = (B+4) KYGEN3 NY0
043092,000094:                                                                                                  #                NP0 = AP0 EP           + 4(Z-1) NP1             NY0 = AY0 EY           + 4(Z-1) NY1
043093,000095:                                                                                                  #                NY1 = AP1 EP - BP1 NP0 +  (Z-1) NP2             NY1 = AY1 EY - BY1 NY0 +  (Z-1) NY2
043094,000096:                                                                                                  #                NP2 = AP2 EP - BP2 NP0 +  (Z-1) NP3             NY2 = AY2 EY - BY2 NY0 +  (Z-1) NY3
043095,000097:                                                                                                  #                NP3 = AP3 EP - BP3 NP0                          NY3 = AY3 EY - BY3 NY0
043096,000098: 
043097,000099:                                                                                                  #  FILTER INPUTS EP AND EY ARE PICKED UP FROM REGULAR LEM-ON CODING AT ERRBTMP (UPPER WORD ONLY), THUS ARE
043098,000100:                                                                                                  #  SINGLE PRECISION QUANTITIES SCALED AT B-1 REVS.  FILTER OUTPUTS NPD AND NYD ARE LEFT IN DOUBLE PRECISION AT
043099,000101:                                                                                                  #  CMDTMP, SCALED AT 1 ASCREV, READY FOR OUTPUT PROCESSING VIA REGULAR LEM-ON CODING AT ..P,YOFFSET..
043100,000102:                                                                                                  #  FOLLOWING OUTPUT PROCESSING, RETURN TO THE GEN3DAP FILTERS IS MADE FOR CALCULATION OF THE REMAINING NODES
043101,000103:                                                                                                  #  NP1 TO NP3, OR NY1 TO NY3.  GEN3DAP FILTERS THEN RETURN TOTHE LEM-ON CODING AT ..DELBARP,Y..  FOR RESPECTIVE
043102,000104:                                                                                                  #  OFFSET-TRACKER-FILTER COMPUTATIONS AND COPYCYCLES.  NOTE THE EQUIVALENCES...NP1TMP=J5TMP, NP1=J5,
043103,000105:                                                                                                  #  NP2TMP=NSUMTMP, NP2=PNSUM, NP3TMP=DSUMTMP, NP3=PDSUM, WITH CORRESPONDING RELATIONS FOR YAW.  THUS THE COPY-
043104,000106:                                                                                                  #  CYCLE PCOPY, FROM THE GEN3DAP STANDPOINT, IS EFFECTIVE FROM PMISC-3 TO ITS END AT TC Q.  YCOPY FROM YMISC-3.
043105,000107:                                                                                                  #  SCALING OF THE FILTER NODES, COEFFICIENTS, AND GAINS WITHIN THE AGC IS AS FOLLOWS.....
043106,000108: 
043107,000109:                                                                                                  #        QUANTITY        QUANTITY        PHYS. UNITS     MAX. VALUE      SCALE AT (FOR)
043108,000110: 
043109,000111:                                                                                                  #        EP              EY              REVS            1/8             B-1 REV         (CDU SCALING)
043110,000112:                                                                                                  #        
043111,000113:                                                                                                  #        NP0             NY0             REVS            (B+1)           B+1 REV
043112,000114:                                                                                                  #        NP1             NY1             REVS            (B+3)           B+3 REV
043113,000115:                                                                                                  #        NP2             NY2             REVS            (B+3)           B+3 REV
043114,000116:                                                                                                  #        NP3             NY3             REVS            (B+3)           B+3 REV
043115,000117: 
043116,000118:                                                                                                  #        NPD             NYD             ASC REVS        (1)             1 ASCREV        (ACTUATOR CDU SCALING)
043117,000119:                                                                                                  #        
043118,000120:                                                                                                  #        KPGEN3          KYGEN3          ASCREV/REV      (8)             B+3 ASCREV/REV
043119,000121: 
043120,000122:                                                                                                  #        AP0             AY0             DIMLESS.        1               B+2
043121,000123:                                                                                                  #        AP1             AY1             DIMLESS.        6               B+4
043122,000124:                                                                                                  #        AP2             AY2             DIMLESS.        12              B+4
043123,000125:                                                                                                  #        AP3             AY3             DIMLESS.        8               B+4
043124,000126: 
043125,000127:                                                                                                  #        BP1             BY1             DIMLESS.        3               B+2
043126,000128:                                                                                                  #        BP2             BY2             DIMLESS.        3               B+2
043127,000129:                                                                                                  #        BP3             BY3             DIMLESS.        1               B+2
043128,000130: 
043129,000131:                                                                                                  #  FILTER COEFFICIENTS, GAINS, AND NODES ARE HELD IN DOUBLE PRECISION (ERASABLE) TO PERMIT CONSERVATIVE
043130,000132:                                                                                                  #  SCALING AND YET OFFSET TRUNCATION LOSSES.  THIS APPEARS NECESSARY IF FILTER FLEXIBILITY IS TO BE MAINTAINED.
043131,000133:                                                                                                  #  COMPUTATION TIME IS NOT CRITICAL.
043132,000134: 

Page 963

043134,000136:                                                                                                  #  CALLING SEQUENCE....
043135,000137:                                                                                                  #     
043136,000138:                                                                                                  #       *TC POSTJUMP....
043137,000139:                                                                                                  #        CADR NP0NODE, NP1, NY0, NY1.  SPECIFICALLY, FROM PITCHDAP OR YAWDAP
043138,000140:                                                                                                  #        (TVCDAP), AT P1FILJMP, P2FILJMP, Y1FILJMP, Y2FILJMP
043139,000141: 
043140,000142:                                                                                                  #  NORMAL EXIT MODE....
043141,000143: 
043142,000144:                                                                                                  #       *TC POSTJUMP....
043143,000145:                                                                                                  #        CADR (POFFSET, DELBARP), (YOFFSET, DELBARY).  IE, RETURNS TO
043144,000146:                                                                                                  #        PITCHDAP OR YAWDAP AT APPROPRIATE ENTRY POINT
043145,000147: 
043146,000148:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
043147,000149: 
043148,000150:                                                                                                  #  SUBROUTINES CALLED.... NONE
043149,000151: 
043150,000152:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
043151,000153: 
043152,000154:                                                                                                  #       *AP0(SP),AP1(DP),...AP3(DP), (PITCH AND YAW) NUMERATOR COEFFICIENTS
043153,000155:                                                                                                  #        (PAD LOADS)
043154,000156: 
043155,000157:                                                                                                  #       *BP1(DP),...BP3(DP), (PITCH AND YAW) DENOMINATOR COEFFICIENTS
043156,000158:                                                                                                  #        (PAD LOADS)
043157,000159: 
043158,000160:                                                                                                  #       *KPGEN3 (S40.15 OF R03)
043159,000161: 
043160,000162:                                                                                                  #  OUTPUT....
043161,000163: 
043162,000164:                                                                                                  #       *CMDTMP (NPD, NYD) FOR OUTPUT PROCESSING BY PITCHDAP OR YAWDAP
043163,000165: 
043164,000166:                                                                                                  #       *OTHER FILTER NODES
043165,000167: 
043166,000168:                                                                                                  #  DEBRIS....TVC TEMPORARIES, SHAREABLE WITH RCS/ENTRY IN EBANK6 ONLY
043167,000169: 
043168,000170: 21,2026                                           BANK     21                                    
043169,000171: 17,2000                                           SETLOC   DAPS4                                 
043170,000172: 17,2000                                           BANK                                           
043171,000173: 17,2213  E6,1742                                  EBANK=   EP                                    
043172,000174: 17,2213                                           COUNT*   $$/GEN3                               
043173,000175: 

Page 964

043175,000177:                                                                                                  #  PITCH GEN3DAP FILTER.....
043176,000178: 
043177,000179: 17,2213           00006        NP0NODE            EXTEND                                         #  FORM NODE NP0....COLLECT (PAST NP1)
043178,000180: 17,2214           31564                           DCA      NP1                                   #        (COMES HERE FROM REG. DAP CODING)
043179,000181: 17,2215           20001                           DDOUBL                                         
043180,000182: 17,2216           20001                           DDOUBL                                         
043181,000183: 17,2217           53562                           DXCH     NP0                                   
043182,000184: 
043183,000185: 17,2220           31742        AP0(EP)            CAE      EP                                    #  SPXSP MULTIPLY FOR NUMERATOR COMPONENT
043184,000186: 17,2221           00006                           EXTEND                                         #        EP = ERRBTMP, SP, SC.AT B-1 REVS
043185,000187: 17,2222           71427                           MP       AP0                                   
043186,000188: 17,2223           21562                           DAS      NP0                                   #  COMPLETED NODE NP0, SC.AT B+1 REVS
043187,000189: 17,2224           31561        NPDNODE            CAE      NP0                                   #  FORM NODE NPD....SPXDP MULTIPLY BY GAIN
043188,000190: 17,2225           00006                           EXTEND                                         
043189,000191: 17,2226           71651                           MP       KPGEN3                                
043190,000192: 17,2227           53745                           DXCH     NPD                                   
043191,000193: 17,2230           31562                           CAE      NP0        +1                         
043192,000194: 17,2231           00006                           EXTEND                                         
043193,000195: 17,2232           71651                           MP       KPGEN3                                
043194,000196: 17,2233           22007                           ZL                                             
043195,000197: 17,2234           22000                           LXCH     A                                     
043196,000198: 17,2235           21745                           DAS      NPD                                   #  SC.AT B+4 ASCREV SINCE KPGEN3 AT B+3
043197,000199: 
043198,000200: 17,2236           53745                           DXCH     NPD                                   #  FIX UP SCALING
043199,000201: 17,2237           20001                           DDOUBL                                         
043200,000202: 17,2240           20001                           DDOUBL                                         
043201,000203: 17,2241           20001                           DDOUBL                                         
043202,000204: 17,2242           20001                           DDOUBL                                         
043203,000205: 17,2243           53745                           DXCH     NPD                                   #  COMPLETED NODE NPD, SC.AT 1ASCREV
043204,000206: 17,2244           04574                           TC       POSTJUMP                              #  TRANSFER BACK TO REGULAR DAP CODING FOR
043205,000207: 17,2245           40441                           CADR     POFFSET                               #        OUTPUT (NPD = CMDTMP, DP)
043206,000208: 17,2246           00006        NP1NODE            EXTEND                                         #  FORM NODE NP1....COLLECT (PAST NP2)
043207,000209: 17,2247           31542                           DCA      NP2                                   #        (COMES HERE FROM REG. DAP CODING)
043208,000210: 17,2250           53737                           DXCH     NP1TMP                                
043209,000211: 
043210,000212: 17,2251           41561        BP1(NP0)           CS       NP0                                   #  DPXDP MULTIPLY FOR DENOMINATOR COMPONENT
043211,000213: 17,2252           00006                           EXTEND                                         
043212,000214: 17,2253           71436                           MP       BP1                                   
043213,000215: 17,2254           21737                           DAS      NP1TMP                                
043214,000216: 17,2255           41562                           CS       NP0        +1                         
043215,000217: 17,2256           00006                           EXTEND                                         
043216,000218: 17,2257           71436                           MP       BP1                                   
043217,000219: 17,2260           27737                           ADS      NP1TMP     +1                         
043218,000220: 17,2261           54001                           TS       L                                     
043219,000221: 17,2262           12264                           TCF      +2                                    
043220,000222: 17,2263           27736                           ADS      NP1TMP                                

Page 965

043222,000224: 17,2264           41561                           CS       NP0                                   
043223,000225: 17,2265           00006                           EXTEND                                         
043224,000226: 17,2266           71437                           MP       BP1        +1                         
043225,000227: 17,2267           27737                           ADS      NP1TMP     +1                         
043226,000228: 17,2270           54001                           TS       L                                     
043227,000229: 17,2271           12273                           TCF      +2                                    
043228,000230: 17,2272           27736                           ADS      NP1TMP                                
043229,000231: 
043230,000232: 17,2273           31742        AP1(EP)            CAE      EP                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043231,000233: 17,2274           00006                           EXTEND                                         
043232,000234: 17,2275           71430                           MP       AP1                                   
043233,000235: 17,2276           21737                           DAS      NP1TMP                                
043234,000236: 17,2277           31742                           CAE      EP                                    
043235,000237: 17,2300           00006                           EXTEND                                         
043236,000238: 17,2301           71431                           MP       AP1        +1                         
043237,000239: 17,2302           27737                           ADS      NP1TMP     +1                         
043238,000240: 17,2303           54001                           TS       L                                     
043239,000241: 17,2304           12306                           TCF      +2                                    
043240,000242: 17,2305           27736                           ADS      NP1TMP                                #  COMPLETED NODE NP1
043241,000243: 
043242,000244: 17,2306           00006        NP2NODE            EXTEND                                         #  FORM NODE NP2....COLLECT (PAST NP3)
043243,000245: 17,2307           31544                           DCA      NP3                                   
043244,000246: 17,2310           53712                           DXCH     NP2TMP                                
043245,000247: 17,2311           41561        BP2(NP0)           CS       NP0                                   #  DPXDP MULTIPLY FOR DENOMINATOR COMPONENT
043246,000248: 17,2312           00006                           EXTEND                                         
043247,000249: 17,2313           71440                           MP       BP2                                   
043248,000250: 17,2314           21712                           DAS      NP2TMP                                
043249,000251: 17,2315           41562                           CS       NP0        +1                         
043250,000252: 17,2316           00006                           EXTEND                                         
043251,000253: 17,2317           71440                           MP       BP2                                   
043252,000254: 17,2320           27712                           ADS      NP2TMP     +1                         
043253,000255: 17,2321           54001                           TS       L                                     
043254,000256: 17,2322           12324                           TCF      +2                                    
043255,000257: 17,2323           27711                           ADS      NP2TMP                                
043256,000258: 17,2324           41561                           CS       NP0                                   
043257,000259: 17,2325           00006                           EXTEND                                         
043258,000260: 17,2326           71441                           MP       BP2        +1                         
043259,000261: 17,2327           27712                           ADS      NP2TMP     +1                         
043260,000262: 17,2330           54001                           TS       L                                     
043261,000263: 17,2331           12333                           TCF      +2                                    
043262,000264: 17,2332           27711                           ADS      NP2TMP                                
043263,000265: 
043264,000266: 17,2333           31742        AP2(EP)            CAE      EP                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043265,000267: 17,2334           00006                           EXTEND                                         
043266,000268: 17,2335           71432                           MP       AP2                                   
043267,000269: 17,2336           21712                           DAS      NP2TMP                                
043268,000270: 17,2337           31742                           CAE      EP                                    
043269,000271: 17,2340           00006                           EXTEND                                         
043270,000272: 17,2341           71433                           MP       AP2        +1                         
043271,000273: 17,2342           27712                           ADS      NP2TMP     +1                         

Page 966

043273,000275: 17,2343           54001                           TS       L                                     
043274,000276: 17,2344           12346                           TCF      +2                                    
043275,000277: 17,2345           27711                           ADS      NP2TMP                                #  COMPLETED NODE NP2
043276,000278: 
043277,000279: 17,2346           41561        NP3NODE            CS       NP0                                   #  FORM NODE NP3....NO PAST NODES, DIRECT
043278,000280: 17,2347           00006                           EXTEND                                         #        TO DPXDP MULTIPLY FOR DENOMINATOR
043279,000281: 17,2350           71442                           MP       BP3                                   #        COMPONENT
043280,000282: 17,2351           53714                           DXCH     NP3TMP                                
043281,000283: 17,2352           41562                           CS       NP0        +1                         
043282,000284: 17,2353           00006                           EXTEND                                         
043283,000285: 17,2354           71442                           MP       BP3                                   
043284,000286: 17,2355           27714                           ADS      NP3TMP     +1                         
043285,000287: 17,2356           54001                           TS       L                                     
043286,000288: 17,2357           12361                           TCF      +2                                    
043287,000289: 17,2360           27713                           ADS      NP3TMP                                
043288,000290: 17,2361           41561                           CS       NP0                                   
043289,000291: 17,2362           00006                           EXTEND                                         
043290,000292: 17,2363           71443                           MP       BP3        +1                         
043291,000293: 17,2364           27714                           ADS      NP3TMP     +1                         
043292,000294: 17,2365           54001                           TS       L                                     
043293,000295: 17,2366           12370                           TCF      +2                                    
043294,000296: 17,2367           27713                           ADS      NP3TMP                                
043295,000297: 
043296,000298: 17,2370           31742        AP3(EP)            CAE      EP                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043297,000299: 17,2371           00006                           EXTEND                                         
043298,000300: 17,2372           71434                           MP       AP3                                   
043299,000301: 17,2373           21714                           DAS      NP3TMP                                
043300,000302: 17,2374           31742                           CAE      EP                                    
043301,000303: 17,2375           00006                           EXTEND                                         
043302,000304: 17,2376           71435                           MP       AP3        +1                         
043303,000305: 17,2377           27714                           ADS      NP3TMP     +1                         
043304,000306: 17,2400           54001                           TS       L                                     
043305,000307: 17,2401           12403                           TCF      +2                                    
043306,000308: 17,2402           27713                           ADS      NP3TMP                                #  COMPLETED NODE NP3, AND PITCH GEN3DAP
043307,000309:                                                                                                  #        FILTER COMPUTATIONS
043308,000310: 17,2403           04574                           TC       POSTJUMP                              #  RETURN TO CSMDAP CODING FOR PITCH
043309,000311: 17,2404           40526                           CADR     DELBARP                               #        OFFSET-TRACKER-FILTER COMPUTATIONS,
043310,000312:                                                                                                  #        AND PITCH DAP COPYCYCLE.
043311,000313: 

Page 967

043313,000315:                                                                                                  #  YAW GEN3DAP FILTER....
043314,000316: 
043315,000317: 17,2405           00006        NY0NODE            EXTEND                                         #  FORM NODE NY0....COLLECT (PAST NY1)
043316,000318: 17,2406           31610                           DCA      NY1                                   #        (COMES HERE FROM REG. DAP CODING)
043317,000319: 17,2407           20001                           DDOUBL                                         
043318,000320: 17,2410           20001                           DDOUBL                                         
043319,000321: 17,2411           53606                           DXCH     NY0                                   
043320,000322: 
043321,000323: 17,2412           31742        AY0(EY)            CAE      EY                                    #  SPXSP MULTIPLY FOR NUMERATOR COMPONENT
043322,000324: 17,2413           00006                           EXTEND                                         #        EY = ERRBTMP, SP, SC.AT B-1 REVS
043323,000325: 17,2414           71427                           MP       AY0                                   
043324,000326: 17,2415           21606                           DAS      NY0                                   #  COMPLETED NODE NY0, SC.AT B+1 REVS
043325,000327: 17,2416           31605        NYDNODE            CAE      NY0                                   #  FORM NODE NYD....SPXDP MULTIPLY BY GAIN
043326,000328: 17,2417           00006                           EXTEND                                         
043327,000329: 17,2420           71651                           MP       KYGEN3                                
043328,000330: 17,2421           53745                           DXCH     NYD                                   
043329,000331: 17,2422           31606                           CAE      NY0        +1                         
043330,000332: 17,2423           00006                           EXTEND                                         
043331,000333: 17,2424           71651                           MP       KYGEN3                                
043332,000334: 17,2425           22007                           ZL                                             
043333,000335: 17,2426           22000                           LXCH     A                                     
043334,000336: 17,2427           21745                           DAS      NYD                                   #  SC.AT B+4 ASCREV SINCE KYGEN3 AT B+1
043335,000337: 
043336,000338: 17,2430           53745                           DXCH     NYD                                   #  FIX UP SCALING
043337,000339: 17,2431           20001                           DDOUBL                                         
043338,000340: 17,2432           20001                           DDOUBL                                         
043339,000341: 17,2433           20001                           DDOUBL                                         
043340,000342: 17,2434           20001                           DDOUBL                                         
043341,000343: 17,2435           53745                           DXCH     NYD                                   #  COMPLETED NODE NYD, SC.AT 1ASCREV
043342,000344: 17,2436           04574                           TC       POSTJUMP                              #  TRANSFER BACK TO REGULAR DAP CODING FOR
043343,000345: 17,2437           40730                           CADR     YOFFSET                               #        OUTPUT (NYD = CMDTMP, DP)
043344,000346: 17,2440           00006        NY1NODE            EXTEND                                         #  FORM NODE NY1....COLLECT (PAST NY2)
043345,000347: 17,2441           31566                           DCA      NY2                                   #        (COMES HERE FROM REG. DAP CODING)
043346,000348: 17,2442           53737                           DXCH     NY1TMP                                
043347,000349: 
043348,000350: 17,2443           41605        BY1(NY0)           CS       NY0                                   #  DPXDP MULTIPLY FOR DENOMINATOR COMPONENT
043349,000351: 17,2444           00006                           EXTEND                                         
043350,000352: 17,2445           71436                           MP       BY1                                   
043351,000353: 17,2446           21737                           DAS      NY1TMP                                
043352,000354: 17,2447           41606                           CS       NY0        +1                         
043353,000355: 17,2450           00006                           EXTEND                                         
043354,000356: 17,2451           71436                           MP       BY1                                   
043355,000357: 17,2452           27737                           ADS      NY1TMP     +1                         
043356,000358: 17,2453           54001                           TS       L                                     
043357,000359: 17,2454           12456                           TCF      +2                                    
043358,000360: 17,2455           27736                           ADS      NY1TMP                                

Page 968

043360,000362: 17,2456           41605                           CS       NY0                                   
043361,000363: 17,2457           00006                           EXTEND                                         
043362,000364: 17,2460           71437                           MP       BY1        +1                         
043363,000365: 17,2461           27737                           ADS      NY1TMP     +1                         
043364,000366: 17,2462           54001                           TS       L                                     
043365,000367: 17,2463           12465                           TCF      +2                                    
043366,000368: 17,2464           27736                           ADS      NY1TMP                                
043367,000369: 
043368,000370: 17,2465           31742        AY1(EY)            CAE      EY                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043369,000371: 17,2466           00006                           EXTEND                                         
043370,000372: 17,2467           71430                           MP       AY1                                   
043371,000373: 17,2470           21737                           DAS      NY1TMP                                
043372,000374: 17,2471           31742                           CAE      EY                                    
043373,000375: 17,2472           00006                           EXTEND                                         
043374,000376: 17,2473           71431                           MP       AY1        +1                         
043375,000377: 17,2474           27737                           ADS      NY1TMP     +1                         
043376,000378: 17,2475           54001                           TS       L                                     
043377,000379: 17,2476           12500                           TCF      +2                                    
043378,000380: 17,2477           27736                           ADS      NY1TMP                                #  COMPLETED NODE NY1
043379,000381: 
043380,000382: 17,2500           00006        NY2NODE            EXTEND                                         #  DORM NODE NY2....COLLECT (PAST NY3)
043381,000383: 17,2501           31570                           DCA      NY3                                   
043382,000384: 17,2502           53712                           DXCH     NY2TMP                                
043383,000385: 
043384,000386: 17,2503           41605        BY2(NY0)           CS       NY0                                   #  DPXDP MULTIPLY FOR DENOMINATOR COMPONENT
043385,000387: 17,2504           00006                           EXTEND                                         
043386,000388: 17,2505           71440                           MP       BY2                                   
043387,000389: 17,2506           21712                           DAS      NY2TMP                                
043388,000390: 17,2507           41606                           CS       NY0        +1                         
043389,000391: 17,2510           00006                           EXTEND                                         
043390,000392: 17,2511           71440                           MP       BY2                                   
043391,000393: 17,2512           27712                           ADS      NY2TMP     +1                         
043392,000394: 17,2513           54001                           TS       L                                     
043393,000395: 17,2514           12516                           TCF      +2                                    
043394,000396: 17,2515           27711                           ADS      NY2TMP                                
043395,000397: 17,2516           41605                           CS       NY0                                   
043396,000398: 17,2517           00006                           EXTEND                                         
043397,000399: 17,2520           71441                           MP       BY2        +1                         
043398,000400: 17,2521           27712                           ADS      NY2TMP     +1                         
043399,000401: 17,2522           54001                           TS       L                                     
043400,000402: 17,2523           12525                           TCF      +2                                    
043401,000403: 17,2524           27711                           ADS      NY2TMP                                
043402,000404: 
043403,000405: 17,2525           31742        AY2(EY)            CAE      EY                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043404,000406: 17,2526           00006                           EXTEND                                         
043405,000407: 17,2527           71432                           MP       AY2                                   
043406,000408: 17,2530           21712                           DAS      NY2TMP                                
043407,000409: 17,2531           31742                           CAE      EY                                    
043408,000410: 17,2532           00006                           EXTEND                                         
043409,000411: 17,2533           71433                           MP       AY2        +1                         

Page 969

043411,000413: 17,2534           27712                           ADS      NY2TMP     +1                         
043412,000414: 17,2535           54001                           TS       L                                     
043413,000415: 17,2536           12540                           TCF      +2                                    
043414,000416: 17,2537           27711                           ADS      NY2TMP                                #  COMPLETED NODE NY2
043415,000417: 
043416,000418: 17,2540           41605        NY3NODE            CS       NY0                                   #  FORM NODE NY3....NO PAST NODES, DIRECT
043417,000419: 17,2541           00006                           EXTEND                                         #        TO DPXDP MULTIPLY FOR DENOMINATOR
043418,000420: 17,2542           71442                           MP       BY3                                   #        COMPONENT
043419,000421: 17,2543           53714                           DXCH     NY3TMP                                
043420,000422: 17,2544           41606                           CS       NY0        +1                         
043421,000423: 17,2545           00006                           EXTEND                                         
043422,000424: 17,2546           71442                           MP       BY3                                   
043423,000425: 17,2547           27714                           ADS      NY3TMP     +1                         
043424,000426: 17,2550           54001                           TS       L                                     
043425,000427: 17,2551           12553                           TCF      +2                                    
043426,000428: 17,2552           27713                           ADS      NY3TMP                                
043427,000429: 17,2553           41605                           CS       NY0                                   
043428,000430: 17,2554           00006                           EXTEND                                         
043429,000431: 17,2555           71443                           MP       BY3        +1                         
043430,000432: 17,2556           27714                           ADS      NY3TMP     +1                         
043431,000433: 17,2557           54001                           TS       L                                     
043432,000434: 17,2560           12562                           TCF      +2                                    
043433,000435: 17,2561           27713                           ADS      NY3TMP                                
043434,000436: 
043435,000437: 17,2562           31742        AY3(EY)            CAE      EY                                    #  DPXSP MULTIPLY FOR NUMERATOR COMPONENT
043436,000438: 17,2563           00006                           EXTEND                                         
043437,000439: 17,2564           71434                           MP       AY3                                   
043438,000440: 17,2565           21714                           DAS      NY3TMP                                
043439,000441: 17,2566           31742                           CAE      EY                                    
043440,000442: 17,2567           00006                           EXTEND                                         
043441,000443: 17,2570           71435                           MP       AY3        +1                         
043442,000444: 17,2571           27714                           ADS      NY3TMP     +1                         
043443,000445: 17,2572           54001                           TS       L                                     
043444,000446: 17,2573           12575                           TCF      +2                                    
043445,000447: 17,2574           27713                           ADS      NY3TMP                                #  COMPLETED NODE NY3, AND YAW GEN3DAP
043446,000448:                                                                                                  #        FILTER COMPUTATIONS
043447,000449: 17,2575           04574                           TC       POSTJUMP                              #  RETURN TO CSMDAP CODING FOR YAW
043448,000450: 17,2576           41015                           CADR     DELBARY                               #        OFFSET-TRACKER-FILTER COMPUTATIONS,
043449,000451:                                                                                                  #        AND YAW DAP COPYCYCLE.
043450,000452: 
043451,000453: 

End of include-file TVCGEN3FILTERS.agc.  Parent file is MAIN.agc