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 A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin.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

042361,000002:                                                                                                  ## Copyright:   Public domain.
042362,000003:                                                                                                  ## Filename:    TVCROLLDAP.agc
042363,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
042364,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
042365,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
042366,000007:                                                                                                  ## Assembler:   yaYUL
042367,000008:                                                                                                  ## Reference:   Starts at p. 948.
042368,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
042369,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042370,000011:                                                                                                  ## Mod history: 08/24/04   RSB  Began transcribing.
042371,000012:                                                                                                  ##              05/14/05   RSB  Corrected website reference above.
042372,000013:                                                                                                  ##              2010-10-25 JL   Fixed page numbers.
042373,000014:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
042374,000015:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
042375,000016:                                                                                                  ##                              original harcopy, as opposed to the PDF page
042376,000017:                                                                                                  ##                              numbers in 1701.pdf.
042377,000018:                                                                                                  ##              2017-01-20 RSB  Cross-diff'd comment text (not whitespace)
042378,000019:                                                                                                  ##                              vs the already-proofed corresponding Colossus
042379,000020:                                                                                                  ##                              237 and Comanche 55 source-code files
042380,000021:                                                                                                  ##                              and corrected errors found.
042381,000022:                                                                                                  ##              2017-01-20 RSB  Fixed comment-text errors noted while diff'ing
042382,000023:                                                                                                  ##                              vs Colossus 249.
042383,000024:                                                                                                  ##
042384,000025:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
042385,000026:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
042386,000027:                                                                                                  ## document read, in part:
042387,000028:                                                                                                  ##
042388,000029:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
042389,000030:                                                                                                  ##      2021111-041.  October 28, 1968.  
042390,000031:                                                                                                  ##
042391,000032:                                                                                                  ##      This AGC program shall also be referred to as
042392,000033:                                                                                                  ##                              Colossus 1A
042393,000034:                                                                                                  ##
042394,000035:                                                                                                  ##      Prepared by
042395,000036:                                                                                                  ##                      Massachusetts Institute of Technology
042396,000037:                                                                                                  ##                      75 Cambridge Parkway
042397,000038:                                                                                                  ##                      Cambridge, Massachusetts
042398,000039:                                                                                                  ##      under NASA contract NAS 9-4065.
042399,000040:                                                                                                  ##
042400,000041:                                                                                                  ## Refer directly to the online document mentioned above for further information.
042401,000042:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
042402,000043:                                                                                                  ##
042403,000044:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
042404,000045:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
042405,000046:                                                                                                  ## source file, and then is proofed to incorporate any changes.
042406,000047: 

Page 948

042408,000049:                                                                                                  #  PROGRAM NAME....ROLL AUTOPILOT, CONSISTING OF ROLLDAP, DURATION, NOROLL1, E
042409,000050:                                                                                                  #  ORIGINAL CODING BY F.W.MARTIN, 1965 (SUNDIAL)                              TC.
042410,000051:                                                                                                  #  LOG SECTION....ROLL AUTOPILOT                 SUBROUTINE....DAPCSM
042411,000052:                                                                                                  #  MOD BY ENGEL                                  DATE 28 DEC, 1967 (SUNDISK TO COLOSSUS)
042412,000053: 
042413,000054:                                                                                                  #  FUNCTIONAL DESCRIPTION....
042414,000055: 
042415,000056:                                                                                                  #       *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
042416,000057: 
042417,000058:                                                                                                  #       *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
042418,000059:                                                                                                  #        BY IGNOVER (IGNITION)
042419,000060: 
042420,000061:                                                                                                  #       *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
042421,000062: 
042422,000063:                                                                                                  #       *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
042423,000064: 
042424,000065:                                                                                                  #       *USES T6 CLOCK TO TIME JET FIRINGS
042425,000066: 
042426,000067:                                                                                                  #       *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
042427,000068: 
042428,000069:                                                                                                  #       *MINIMUM JET FIRING TIME = 15 MS
042429,000070: 
042430,000071:                                                                                                  #       *JET PAIRS FIRE ALTERNATELY
042431,000072: 
042432,000073:                                                                                                  #       *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
042433,000074: 
042434,000075:                                                                                                  #       *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
042435,000076:                                                                                                  #        OF A JET FIRING TIME IS MADE ON A LATER PASS
042436,000077: 
042437,000078:                                                                                                  #  CALLING SEQUENCE....
042438,000079: 
042439,000080:                                                                                                  #       *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
042440,000081:                                                                                                  #        WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
042441,000082: 
042442,000083:                                                                                                  #  NORMAL EXIT MODES.... ENDOFJOB
042443,000084: 
042444,000085:                                                                                                  #  ALARM OR ABORT EXIT MODES.... NONE
042445,000086: 
042446,000087:                                                                                                  #  SUBROUTINES CALLED.....NONE
042447,000088: 
042448,000089:                                                                                                  #  OTHER INTERFACES....
042449,000090: 
042450,000091:                                                                                                  #       *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
042451,000092:                                                                                                  #        EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
042452,000093: 
042453,000094:                                                                                                  #       *TVCRESTART PACKAGE WILL RE-START ROLL DAP AFTER A RESTART (PICKING 
042454,000095:                                                                                                  #        UP THE ORIGINAL OGAD)
042455,000096: 
042456,000097:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
042457,000098: 
042458,000099:                                                                                                  #       *1/CONACC                                (S40.15)
042459,000100: 
042460,000101:                                                                                                  #       *OGAD                                    (CDUX, AT IGNOVER)
042461,000102: 
042462,000103:                                                                                                  #       *OGANOW                                  (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
042463,000104: 
042464,000105:                                                                                                  #       *OGAPAST                                 (OGANOW AT TVCEXECUTIVE)
042465,000106: 
042466,000107:                                                                                                  #       *ROLLFIRE = TEMREG = ROLLWORD = 0        (MRCLEAN LOOP IN TVCDAPON)
042467,000108: 
042468,000109:                                                                                                  #  OUTPUT....
042469,000110: 
042470,000111:                                                                                                  #       *ROLL JET PAIR FIRINGS
042471,000112: 
042472,000113:                                                                                                  #  DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY

Page 949

042474,000115: 
042475,000116:                                                                                                  #  SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
042476,000117:                                                                                                  #  LOGIC.  SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
042477,000118:                                                                                                  #  SWITCHING LOGIC IN THE PHASE PLANE....
042478,000119: 
042479,000120:                                                                                                  #                               OGARATE
042480,000121:                                                                                                  #                                  *
042481,000122:                                                                                                  #                                  *
042482,000123:                                                                                                  #   * * * * * * * * * * *          *
042483,000124:                                                                                                  #                                  *     (REGION 1, SEE TEXT BELOW)
042484,000125:                                                                                                  #                             *    *
042485,000126:                                                                                                  #                                  *
042486,000127:                                                                                                  #  * * * * * * *     (COAST)       *     ...PARABOLA (SWITCHING = CONTROL)
042487,000128:                                                                                                  #                *                 *    .
042488,000129:                                                                                                  #                  *               *   *
042489,000130:                                                                                                  #                    *             *                (FIRE NEG ROLL JETS)
042490,000131:                                                                                                  #                      *           *      *
042491,000132:                                                                                                  #      (-DB,+LMCRATE)....*         *
042492,000133:                                                                                                  #                        *         *        *
042493,000134:                                                                                                  #                        *         *                              OGAERROR
042494,000135:                                                                                                  #  ************************************************************************
042495,000136:                                                                                                  #                                  *         *                (-AK, OGAERR)
042496,000137:                                                                                                  #                         *                  *      (REGION 6-PRIME)
042497,000138:                                                                                                  #                                            *      (SEE TEXT BELOW)
042498,000139:                                                                                                  #                           *      *           *
042499,000140:                                                                                                  #                                  *             *     ...STRAIGHT LINE
042500,000141:                                                                                                  #     (FIRE POS ROLL JETS)     *   *               *  .
042501,000142:                                                                                                  #                                  *   (COAST)       *
042502,000143:                                                                                                  #                                  *                   * * * * * * * * * *
042503,000144:                                                                                                  #                                  *                         -MINLIM
042504,000145:                                                                                                  #                                  *    *
042505,000146:                                                                                                  #                                  *
042506,000147:                                                                                                  #                                  *          * * * * * * * * * * * * * * *
042507,000148:                                                                                                  #                                  *                        -MAXLIM
042508,000149:                                                                                                  #                                  *
042509,000150:                                                                                                  #                                  *
042510,000151: 
042511,000152:                                                                                                  #  SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
042512,000153:                                                                                                  #        CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
042513,000154:                                                                                                  #        ROLL DAP GAIN  (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE).  JET
042514,000155:                                                                                                  #        FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
042515,000156:                                                                                                  #        SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
042516,000157:                                                                                                  #        ABOVE.
042517,000158: 
042518,000159:                                                                                                  #  THE THREE CONTROL REGIONS  (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
042519,000160:                                                                                                  #        TWELVE SUBSET REGIONS  ( 1...6, AND THE CORRESPONDING 1-PRIME...
042520,000161:                                                                                                  #        6-PRIME )  SEE SECTION 3 OF THE GSOP  (SUNDISK OR COLOSSUS)

Page 950

042522,000163: 
042523,000164:                                                                                                  #  GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
042524,000165:                                                                                                  #        IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
042525,000166:                                                                                                  #        PARABOLA WHICH PASSES THROUGH THE OPERATING POINT.  FOR REGION 3
042526,000167:                                                                                                  #        DESIRED OGARATE IS SIMPLY +-MAXLIM.  FOR REGIONS 1 OR 6 THE SOLUTION
042527,000168:                                                                                                  #        TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
042528,000169:                                                                                                  #        LINE OR MINLIM BOUNDRY SWITCH LINES).  AN APPROXIMATION IS MADE
042529,000170:                                                                                                  #        INSTEAD.  CONSIDER AN OPERATING POINT IN REGION 6.  PASS A TANGENT TO
042530,000171:                                                                                                  #        THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
042531,000172:                                                                                                  #        INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
042532,000173:                                                                                                  #        THE INTERSECTION DEFINES DESIRED OGARATE.  IF THE OPERATING POINT IS
042533,000174:                                                                                                  #        CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
042534,000175:                                                                                                  #        THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
042535,000176:                                                                                                  #        THE SWITCH LINE IS APPROACHED).  IF THE OPERATING POINT IS NOT CLOSE
042536,000177:                                                                                                  #        TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
042537,000178:                                                                                                  #        INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST.  THE 
042538,000179:                                                                                                  #        RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
042539,000180:                                                                                                  #        SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
042540,000181:                                                                                                  #        APPROXIMATION.
042541,000182: 
042542,000183:                                                                                                  #  FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
042543,000184:                                                                                                  #        INTERSECTING THE STRAIGHT LINE SWITCH.  HOWEVER THE MINLIM IS
042544,000185:                                                                                                  #        IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
042545,000186:                                                                                                  #        THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
042546,000187:                                                                                                  #        IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
042547,000188:                                                                                                  #        THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
042548,000189:                                                                                                  #        AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
042549,000190:                                                                                                  #        BEHAVIOR AND TURN OFF THE JETS.  THE PURPOSE OF THIS FIRING POLICY
042550,000191:                                                                                                  #        IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
042551,000192:                                                                                                  #        FAILED-ON.
042552,000193: 
042553,000194:                                                                                                  #  WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
042554,000195:                                                                                                  #        MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
042555,000196:                                                                                                  #        DEFINED BY..  OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
042556,000197:                                                                                                  #        OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
042557,000198:                                                                                                  #        REAL OPERATING POINT RATE.  WHEN THE OPERATING POINT HAS PASSED
042558,000199:                                                                                                  #        FROM REGION 1 TO REGION 6, THE DUMMY POINT IS NO LONGER REQUIRED,
042559,000200:                                                                                                  #        AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6 POINT.
042560,000201: 
042561,000202:                                                                                                  #  EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
042562,000203:                                                                                                  #                                    2
042563,000204:                                                                                                  #        SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
042564,000205: 
042565,000206:                                                                                                  #  EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
042566,000207: 
042567,000208:                                                                                                  #        SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
042568,000209: 
042569,000210:                                                                                                  #                WHERE  INTERCEP = DB(-SLOPE) - LMCRATE

Page 951

042571,000212: 
042572,000213:                                                                                                  #  EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
042573,000214: 
042574,000215:                                                                                                  #        DOGADOT = NUM/DEN, WHERE
042575,000216:                                                                                                  #                                       2
042576,000217:                                                                                                  #                NUM = (-SLOPE)(OGARATE) (1/CONACC)
042577,000218:                                                                                                  #                      +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
042578,000219:                                                                                                  #                      +LMCRATE
042579,000220: 
042580,000221:                                                                                                  #                DEN = (-SLOPE)(OGARATE)(1/CONACC) - SGN(DELOGA)
042581,000222:                                                                                                  #                                                  2
042582,000223:                                                                                                  #                DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGADOT)
042583,000224: 
042584,000225:                                                                                                  #  FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT  (OGA, OGARATE)
042585,000226:                                                                                                  #        FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
042586,000227:                                                                                                  #        FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
042587,000228:                                                                                                  #        AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
042588,000229: 
042589,000230:                                                                                                  #        OGAERROR = DELOGA + DB SGN(OGARATE)
042590,000231: 
042591,000232:                                                                                                  #        OGARATE = -LMCRATE SGN(OGARATE)
042592,000233: 
042593,000234:                                                                                                  #  NOTE, OGAERROR = OGA - OGAD  USES DUMMY REGISTER  OGA  IN ROLL DAP CODING
042594,000235:                                                                                                  #        ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
042595,000236:                                                                                                  #        AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE

Page 952

042597,000238: 
042598,000239:                                                                                                  #  ROLLDAP CODING....
042599,000240: 
042600,000241: 16,2000                                           SETLOC   DAPROLL                               
042601,000242: 16,2000                                           BANK                                           
042602,000243: 16,3313  E6,1672                                  EBANK=   OGANOW                                
042603,000244: 16,3313                                           COUNT*   $$/ROLL                               
042604,000245: 
042605,000246: 16,3313           31672        ROLLDAP            CAE      OGANOW                                #  OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
042606,000247: 16,3314           00006                           EXTEND                                         #        DIFFERENCE (SAMPLE TIME = 1/2 SEC)
042607,000248: 16,3315           21673                           MSU      OGAPAST                               
042608,000249: 16,3316           00006                           EXTEND                                         
042609,000250: 16,3317           74706                           MP       BIT5                                  
042610,000251: 16,3320           22000                           LXCH     A                                     
042611,000252: 16,3321           55533                           TS       OGARATE                               #  SC.AT B-4 REV/SEC
042612,000253: 
042613,000254:                                                                                                  #  COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
042614,000255:                                                                                                  #  EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
042615,000256: 
042616,000257: 16,3322           31611        DURATION           CA       ROLLFIRE                              #  SAME SGN AS PRESENT TORQ,MAGN=POSMAX
042617,000258: 16,3323           00006                           EXTEND                                         
042618,000259: 16,3324           13326                           BZF      +2                                    #  ROLL JETS ARE NOW OFF.
042619,000260: 16,3325           13334                           TCF      ROLLOGIC                              #  ENTER LOGIC, JETS NOW ON.
042620,000261: 
042621,000262: 16,3326           31613                           CAE      TEMREG                                #  EXAMINE LAST FIRING INTERVAL
042622,000263: 16,3327           00006                           EXTEND                                         #  IF POSITIVE, DONT FIRE
042623,000264: 16,3330           13334                           BZF      ROLLOGIC                              #  ENTER LOGIC, JETS NOW OFF.
042624,000265: 
042625,000266: 16,3331           34714                           CAF      ZERO                                  #  JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
042626,000267: 16,3332           55613                           TS       TEMREG                                #  RESET TEMREG
042627,000268: 16,3333           15213        WAIT1/2            TCF      TASKOVER                              #  EXIT ROLL DAP
042628,000269: 
042629,000270:                                                                                                  #  COMPUTE DB-(1/2 CONACC) (OGARATE)SQ  (1/2 IN THE SCALING)
042630,000271: 
042631,000272: 16,3334           41533        ROLLOGIC           CS       OGARATE                               #  SCALED AT 2(-4) REV/SEC
042632,000273: 16,3335           00006                           EXTEND                                         
042633,000274: 16,3336           71650                           MP       1/CONACC                              #  SCALED AT 2(+9) SEC SQ /REV
042634,000275: 16,3337           00006                           EXTEND                                         
042635,000276: 16,3340           71533                           MP       OGARATE                               
042636,000277: 16,3341           63727                           AD       DB                                    #  SCALED AT 2(+0) REV
042637,000278: 16,3342           55613                           TS       TEMREG                                #  QUANTITY SCALED AT 2(+0) REV.
042638,000279: 
042639,000280:                                                                                                  #  GET SIGN OF OGARATE
042640,000281: 
042641,000282: 16,3343           31533                           CA       OGARATE                               
042642,000283: 16,3344           00006                           EXTEND                                         
042643,000284: 16,3345           63350                           BZMF     +3                                    #  LET SGN(0) BE NEGATIVE
042644,000285: 16,3346           34712                           CA       BIT1                                  
042645,000286: 16,3347           13351                           TCF      +2                                    
042646,000287: 16,3350           44712                           CS       BIT1                                  
042647,000288: 16,3351           55676                           TS       SGNRT                                 #  + OR -  2(-14)
042648,000289: 
042649,000290:                                                                                                  #  CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
042650,000291: 16,3352           00006                           EXTEND                                         
042651,000292: 16,3353           71613                           MP       TEMREG                                #  SGN(OGARATE) TEMREG NOW IN L  

Page 953

042653,000294: 16,3354           40001                           CS       L                                     
042654,000295: 16,3355           61674                           AD       OGA                                   #  SCALED AT 2(+0) REV
042655,000296: 16,3356           55677        DELOGAC            TS       DELOGA                                #  SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB       
042656,000297: 
042657,000298:                                                                                                  #  EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
042658,000299: 
042659,000300: 16,3357           00006                           EXTEND                                         
042660,000301: 16,3360           63363                           BZMF     +3                                    
042661,000302: 16,3361           34371                           CAF      PRIO30                                #  = CA (30000)
042662,000303: 16,3362           13364                           TCF      +2                                    
042663,000304: 16,3363           34674                           CAF      BIT15                                 #  = CS (40000)
042664,000305: 16,3364           55700                           TS       I                                     
042665,000306: 
042666,000307: 16,3365           51700                           INDEX    I                                     #  TSET ON  I SGN(OGARATE)
042667,000308: 16,3366           01676                           0        SGNRT                                 #  CA OR CS
042668,000309: 16,3367           40000                           COM                                            
042669,000310: 16,3370           00006                           EXTEND                                         
042670,000311: 16,3371           63442        REG1TST            BZMF     ROLLON                                #  IF REGION 1 (DELOGA OGARATE SAME SIGN)
042671,000312: 
042672,000313:                                                                                                  #  NO JET FIRE YET.  TEST FOR MAX OGARATE
042673,000314: 
042674,000315: 16,3372           51700                           INDEX    I                                     
042675,000316: 16,3373           01533                           0        OGARATE                               #  CA OR CS...BOTH MUST BE NEG. HERE
042676,000317: 16,3374           55701                           TS       IOGARATE                              #  I.E. I OGARATE
042677,000318: 16,3375           63735                           AD       MAXLIM                                #  SCALED AT 2(-4) REV/SEC
042678,000319: 16,3376           00006                           EXTEND                                         
042679,000320: 16,3377           63521        REG3TST            BZMF     RATELIM                               #  IF REGION 3 (RATES TOO HIGH, FIRE JETS)
042680,000321: 
042681,000322:                                                                                                  #  COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
042682,000323:                                                                                                  #  SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
042683,000324: 
042684,000325: 16,3400           31533                           CA       OGARATE                               
042685,000326: 16,3401           00006                           EXTEND                                         
042686,000327: 16,3402           74675                           MP       BIT14                                 
042687,000328: 16,3403           55613                           TS       TEMREG                                
042688,000329: 16,3404           31674                           CA       OGA                                   
042689,000330: 16,3405           00006                           EXTEND                                         
042690,000331: 16,3406           73730                           MP       -SLOPE                                
042691,000332: 16,3407           20001                           DDOUBL                                         
042692,000333: 16,3410           20001                           DDOUBL                                         
042693,000334: 16,3411           20001                           DDOUBL                                         #  (OGA ERROR MUST BE LESS THAN +-225 DEG)
042694,000335: 16,3412           61613                           AD       TEMREG                                
042695,000336: 
042696,000337: 16,3413           51700                           INDEX    I                                     
042697,000338: 16,3414           00000                           0        A                                     #  I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
042698,000339: 16,3415           40000                           COM                                            
042699,000340: 16,3416           63732                           AD       INTERCEP                              #  SCALED AT 2(-3) REV.
042700,000341: 16,3417           40000                           COM                                            
042701,000342: 16,3420           00006                           EXTEND                                         
042702,000343: 16,3421           63632        REG2TST            BZMF     NOROLL                                #  IF REGION 2 (COAST SIDE OF STRT LINE)
042703,000344: 
042704,000345:                                                                                                  #  CHECK TO SEE IF OGARATE IS ABOVE MINLIM
042705,000346: 
042706,000347: 16,3422           31701                           CA       IOGARATE                              #  ALWAYS NEGATIVE
042707,000348: 16,3423           63733                           AD       MINLIM                                #  SCALED AT 2(-4) REV/SEC

Page 954

042709,000350: 16,3424           00006                           EXTEND                                         
042710,000351: 16,3425           63632        REG4TST            BZMF     NOROLL                                #  IF REGION 4 (COAST SIDE OF MINLIM)
042711,000352: 
042712,000353:                                                                                                  #  ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
042713,000354: 
042714,000355: 16,3426           51700                           INDEX    I                                     
042715,000356: 16,3427           01674                           0        OGA                                   
042716,000357: 16,3430           40000                           COM                                            
042717,000358: 16,3431           63727                           AD       DB                                    
042718,000359: 16,3432           40000                           COM                                            
042719,000360: 16,3433           00006                           EXTEND                                         
042720,000361: 16,3434           63632        REG5TST            BZMF     NOROLL                                #  IF REGION 5 (COAST SIDE OF DB)
042721,000362: 
042722,000363:                                                                                                  #  JETS MUST FIRE NOW.  OGARATE IS NEG. (OR VISA VERSA).  USE DIRECT STR. LINE.
042723,000364:                                                                                                  #  DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
042724,000365:                                                                                                  #  STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
042725,000366:                                                                                                  #  OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE.  THE STRAIGHT
042726,000367:                                                                                                  #  LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT.  (FOR
042727,000368:                                                                                                  #  OPERATING POINTS IN REGIONS 6 AND 6-PRIME)
042728,000369: 
042729,000370: 16,3435           31674        REGION6            CAE      OGA                                   #  USE ACTUAL OPERATING POINT FOR TANGENT
042730,000371: 16,3436           55677                           TS       DELOGA                                #  ACTUAL STATE
042731,000372: 16,3437           31533                           CA       OGARATE                               
042732,000373: 16,3440           55675                           TS       DELOGART                              #  ACTUAL STATE, I.E. DEL OGARATE
042733,000374: 16,3441           13451                           TCF      ONROLL                                
042734,000375: 
042735,000376:                                                                                                  #  JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
042736,000377:                                                                                                  #  STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT  ((DELOGA
042737,000378:                                                                                                  #  + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) )    (THIS IS THE DUMMY
042738,000379:                                                                                                  #  OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1-PRIME )
042739,000380: 
042740,000381: 16,3442           51700        ROLLON             INDEX    I                                     
042741,000382: 16,3443           03727                           0        DB                                    
042742,000383: 16,3444           27677                           ADS      DELOGA                                #  DELOGA WAS DIST. FROM SWITCH PARABOLA
042743,000384: 
042744,000385: 16,3445           43731                           CS       LMCRATE                               #  LIMIT CYCLE RATE AT 2(-4) REV/SEC
042745,000386: 16,3446           51700                           INDEX    I                                     
042746,000387: 16,3447           00000                           0        A                                     
042747,000388: 16,3450           55675                           TS       DELOGART                              #  EVALUATE STATE FOR INDIRECT LINE.
042748,000389: 
042749,000390:                                                                                                  #  SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
042750,000391: 
042751,000392: 16,3451           00006        ONROLL             EXTEND                                         #  DELOGART IN ACC. ON ARRIVAL
042752,000393: 16,3452           71650                           MP       1/CONACC                              
042753,000394: 16,3453           60000                           DOUBLE                                         
042754,000395: 16,3454           00006                           EXTEND                                         
042755,000396: 16,3455           73730                           MP       -SLOPE                                
042756,000397: 16,3456           55613                           TS       TEMREG                                #  2(-SLOPE)RATE /CONACC
042757,000398: 16,3457           00006                           EXTEND                                         
042758,000399: 16,3460           71675                           MP       DELOGART                              
042759,000400: 16,3461           55675                           TS       DELOGART                              #  2(-SLOPE)(RATESQ)/CONACC
042760,000401: 16,3462           44700                           CS       BIT11                                 
042761,000402: 16,3463           51700                           INDEX    I                                     

Page 955

042763,000404: 16,3464           00000                           0        A                                     
042764,000405: 16,3465           27613        RATEDEN            ADS      TEMREG                                #  DENOMINATOR COMPLETED
042765,000406: 
042766,000407: 16,3466           51700                           INDEX    I                                     
042767,000408: 16,3467           01677                           0        DELOGA                                
042768,000409: 16,3470           40000                           COM                                            
042769,000410: 16,3471           63727                           AD       DB                                    
042770,000411: 16,3472           40000                           COM                                            
042771,000412: 16,3473           00006                           EXTEND                                         
042772,000413: 16,3474           73730                           MP       -SLOPE                                
042773,000414: 16,3475           27675                           ADS      DELOGART                              
042774,000415: 16,3476           33731                           CA       LMCRATE                               
042775,000416: 16,3477           00006                           EXTEND                                         
042776,000417: 16,3500           74700                           MP       BIT11                                 
042777,000418: 16,3501           61675        RATENUM            AD       DELOGART                              #  NUMERATOR COMPLETED
042778,000419: 
042779,000420: 16,3502           56001                           XCH      L                                     #  PLACE NUMERATOR IN L FOR OVERFL.  CHECK
042780,000421: 16,3503           34714                           CA       ZERO                                  
042781,000422: 16,3504           00006                           EXTEND                                         
042782,000423: 16,3505           11613                           DV       TEMREG                                #  OVERFLOW, IF ANYTHING, NOW APPEARS IN A
042783,000424: 16,3506           00006                           EXTEND                                         
042784,000425: 16,3507           13515                           BZF      DVOK                                  #  NO OVERFLOW....(0,L)/TEMREG = 0,L
042785,000426: 
042786,000427: 16,3510           10000        MINLIMAP           CCS      A                                     
042787,000428: 16,3511           34672                           CAF      POSMAX                                #        POSITIVE OVERFLOW
042788,000429: 16,3512           13524                           TCF      ROLLSET                               
042789,000430: 16,3513           44672                           CS       POSMAX                                #        NEGATIVE OVERFLOW
042790,000431: 16,3514           13524                           TCF      ROLLSET                               
042791,000432: 
042792,000433: 16,3515           22000        DVOK               LXCH     A                                     #  PUT NUMERATOR BACK INTO A, 0 IN L
042793,000434: 16,3516           00006                           EXTEND                                         
042794,000435: 16,3517           11613                           DV       TEMREG                                #  RESULT OF DIVISIONIS DESIRED OGARATE
042795,000436: 16,3520           13524                           TCF      ROLLSET                               #        (SCALED AT B-4 REV/SEC)
042796,000437: 16,3521           43735        RATELIM            CS       MAXLIM                                
042797,000438: 16,3522           51700                           INDEX    I                                     
042798,000439: 16,3523           00000                           0        A                                     #  IF I = CA, DESIRED RATE IS  -MAXLIM
042799,000440: 
042800,000441:                                                                                                  #  BASED ON DESIRED RATE - PRESENT RATE, COMPUTE JET FIRE TIME
042801,000442: 
042802,000443: 16,3524           55613        ROLLSET            TS       TEMREG                                #  STORE DESIRED OGARATE (SCALED B-4)
042803,000444: 16,3525           00006                           EXTEND                                         
042804,000445: 16,3526           61533                           SU       OGARATE                               #  RATE DIFF. SCALED AT 2(-4) REV/SEC
042805,000446: 16,3527           55613                           TS       TEMREG                                #        OVERFLOW PROTECT
042806,000447: 16,3530           13533                           TCF      +3                                    #            "       "
042807,000448: 16,3531           50000                           INDEX    A                                     #            "       "
042808,000449: 16,3532           44673                           CS       LIMITS                                #            "       "
042809,000450: 16,3533           00006                           EXTEND                                         
042810,000451: 16,3534           77665                           MP       T6SCALE                               #  T6SCALE = 8/10.24
042811,000452: 16,3535           00006                           EXTEND                                         

Page 956

042813,000454: 16,3536           71650                           MP       1/CONACC                              #  SCALED AT 2(+9) SECSQ/REV
042814,000455: 16,3537           20001                           DDOUBL                                         
042815,000456: 16,3540           20001                           DDOUBL                                         
042816,000457: 16,3541           55613                           TS       TEMREG                                #        OVERFLOW PROTECT
042817,000458: 16,3542           13545                           TCF      +3                                    #            "       "
042818,000459: 16,3543           50000                           INDEX    A                                     #            "       "
042819,000460: 16,3544           44673                           CS       LIMITS                                #            "       "
042820,000461: 16,3545           55613                           TS       TEMREG                                #  JET FIRE TIME AT 625 MICROSEC/BIT
042821,000462: 16,3546           00006                           EXTEND                                         #  POS MEANS POSITIVE ROLL TORQUE.
042822,000463: 16,3547           13632                           BZF      NOROLL                                
042823,000464: 
042824,000465:                                                                                                  #  JET FIRE TIME IS NZ, ARE JETS ON NOW.
042825,000466: 
042826,000467: 16,3550           31613                           CAE      TEMREG                                #  DESIRED CHANGE IN OGARATE
042827,000468: 16,3551           00006                           EXTEND                                         
042828,000469: 16,3552           71611                           MP       ROLLFIRE                              #  (SGN OF TORQUE..ZERO IF JETS NOW OFF)
042829,000470: 16,3553           10000                           CCS      A                                     
042830,000471: 16,3554           13560                           TCF      MOREROLL                              #  CONTINUE FIRING WITH PRESENT POLARITY
042831,000472: 16,3555           13563                           TCF      NEWROLL                               #  START NEW FIRING NOW, PLUS
042832,000473: 16,3556           13632                           TCF      NOROLL                                #  TERMINATE OLD FIRING, NEW SIGN REQUESTED
042833,000474: 16,3557           13563                           TCF      NEWROLL                               #  START NEW FIRING NOW, MINUS
042834,000475: 
042835,000476:                                                                                                  #  CONTINUE PRESENT FIRING
042836,000477: 
042837,000478: 16,3560           34714        MOREROLL           CAF      ZERO                                  
042838,000479: 16,3561           55700                           TS       I                                     #  USE TEMP. AS MOREROLL SWITCH
042839,000480: 16,3562           13574                           TCF      MAXTFIRE                              
042840,000481: 
042841,000482:                                                                                                  #  START NEW FIRING BUT CHECK IF GREATER THAN MINIMUM FIRE TIME.
042842,000483: 
042843,000484: 16,3563           11613        NEWROLL            CCS      TEMREG                                #  CALL THIS T6FIRE
042844,000485: 16,3564           64712                           AD       ONE                                   
042845,000486: 16,3565           13567                           TCF      +2                                    
042846,000487: 16,3566           64712                           AD       ONE                                   
042847,000488: 16,3567           40000                           COM                                            #  -MAG(T6FIRE)
042848,000489: 16,3570           63736                           AD       TMINFIRE                              #  TMINFIRE-MAG(T6FIRE)
042849,000490: 16,3571           40000                           COM                                            
042850,000491: 16,3572           00006                           EXTEND                                         
042851,000492: 16,3573           63632        MINTST             BZMF     NOROLL                                #  IF NOT GREATER THAN TMINFIRE (NEW FIRE)
042852,000493: 
042853,000494:                                                                                                  #  PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
042854,000495: 
042855,000496: 16,3574           31613        MAXTFIRE           CA       TEMREG                                
042856,000497: 16,3575           00006                           EXTEND                                         
042857,000498: 16,3576           74710                           MP       1/TMXFIR                              #  I.E. 1/TMAXFIRE
042858,000499: 16,3577           00006                           EXTEND                                         
042859,000500: 16,3600           13606        MAXTST             BZF      NOMXFIRE                              #  IF LESS THAN TMAXFIRE
042860,000501: 
042861,000502: 16,3601           10000                           CCS      A                                     
042862,000503: 16,3602           33737                           CAF      TMAXFIRE                              #  USE MAXIMUM
042863,000504: 16,3603           13605                           TCF      +2                                    
042864,000505: 16,3604           43737                           CS       TMAXFIRE                              #  USE MAXIMUM
042865,000506: 16,3605           55613                           TS       TEMREG                                
042866,000507: 

Page 957

042868,000509:                                                                                                  #  SET UP SIGN OF REQUIRED TORQUE
042869,000510: 
042870,000511: 16,3606           11613        NOMXFIRE           CCS      TEMREG                                #  FOR TORQUE SIGN
042871,000512: 16,3607           34672                           CA       POSMAX                                #  POSITIVE TORQUE REQUIRED
042872,000513: 16,3610           13612                           TCF      +2                                    
042873,000514: 16,3611           34674                           CA       NEGMAX                                #  NEGATIVE TORQUE REQUIRED
042874,000515: 16,3612           55611                           TS       ROLLFIRE                              #  SET ROLLFIRE FOR + OR - TORQUE
042875,000516: 
042876,000517: 16,3613           40000                           COM                                            #  COMPLEMENT... POS. FOR NEG. TORQUE
042877,000518: 16,3614           00006                           EXTEND                                         
042878,000519: 16,3615           63620                           BZMF     +3                                    #  POSITIVE TORQUE REQUIRED
042879,000520: 16,3616           41613                           CS       TEMREG                                
042880,000521: 16,3617           55613                           TS       TEMREG                                
042881,000522: 
042882,000523: 16,3620           31700        FIRELOOK           CA       I                                     #  IS IT MOREROLL
042883,000524: 16,3621           00006                           EXTEND                                         
042884,000525: 16,3622           13624                           BZF      FIREPLUG                              #  YES
042885,000526: 16,3623           13635                           TCF      JETROLL                               #  MAG(T6FIRE) NOW IN TEMREG
042886,000527: 
042887,000528: 16,3624           30031        FIREPLUG           CAE      TIME6                                 #  CHECK FOR EXTENDED FIRING
042888,000529: 16,3625           00006                           EXTEND                                         
042889,000530: 16,3626           61613                           SU       TEMREG                                
042890,000531: 16,3627           00006                           EXTEND                                         
042891,000532: 16,3630           65213        EXTENTST           BZMF     TASKOVER                              #  IF EXTENSION WANTED, DONT, EXIT ROLL DAP
042892,000533: 16,3631           13635                           TCF      JETROLL                               
042893,000534: 
042894,000535: 16,3632           44714        NOROLL             CS       ZERO                                  #  COAST....(NEG ZERO FOR TIME6)
042895,000536: 16,3633           55611                           TS       ROLLFIRE                              #  NOTE, JETS CAN FIRE NEXT PASS
042896,000537: 16,3634           55613                           TS       TEMREG                                
042897,000538: 
042898,000539: 16,3635           00006        JETROLL            EXTEND                                         
042899,000540: 16,3636           33726                           DCA      NOROL1T6                              
042900,000541: 16,3637           53311                           DXCH     T6LOC                                 
042901,000542: 16,3640           31613                           CA       TEMREG                                #  ENTER JET FIRING TIME
042902,000543: 16,3641           54031                           TS       TIME6                                 
042903,000544: 
042904,000545: 16,3642           31700                           CA       I                                     #  I=0 IF MOREROLL, KEEP SAME JETS ON
042905,000546: 16,3643           00006                           EXTEND                                         
042906,000547: 16,3644           15213        SAMEJETS           BZF      TASKOVER                              #  IF JETS ON KEEP SAME JETS.  EXIT ROLL DAP
042907,000548: 
042908,000549: 16,3645           11611                           CCS      ROLLFIRE                              
042909,000550: 16,3646           13652                           TCF      +TORQUE                               
042910,000551: 16,3647           13713                           TCF      T6ENABL                               
042911,000552: 16,3650           13673                           TCF      -TORQUE                               
042912,000553: 16,3651           13713                           TCF      T6ENABL                               
042913,000554: 
042914,000555:                                                                                                  #  PROCEED WITH + TORQUE
042915,000556: 
042916,000557: 16,3652           31612        +TORQUE            CA       ROLLWORD                              #  WHAT WAS THE LAST +TORQUE COMBINATION
042917,000558: 16,3653           74712                           MASK     BIT1                                  #  WAS IT NO.9-11
042918,000559: 16,3654           00006                           EXTEND                                         
042919,000560: 16,3655           13665                           BZF      NO.9-11                               #  NOT 9-11, SO USE IT THIS TIME
042920,000561: 

Page 958

042922,000563: 16,3656           44712        NO.13-15           CS       BIT1                                  
042923,000564: 16,3657           71612                           MASK     ROLLWORD                              
042924,000565: 16,3660           55612                           TS       ROLLWORD                              #  CHANGE BIT 1 TO ZERO
042925,000566: 16,3661           34732                           CAF      +ROLL2                                
042926,000567: 16,3662           00006                           EXTEND                                         
042927,000568: 16,3663           01006                           WRITE    CHAN6                                 
042928,000569: 16,3664           13713                           TCF      T6ENABL                               
042929,000570: 
042930,000571: 16,3665           34712        NO.9-11            CAF      BIT1                                  #  1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
042931,000572: 16,3666           27612                           ADS      ROLLWORD                              #  CHANGE BIT 1 TO ONE
042932,000573: 16,3667           34715                           CAF      +ROLL1                                
042933,000574: 16,3670           00006                           EXTEND                                         
042934,000575: 16,3671           01006                           WRITE    CHAN6                                 
042935,000576: 16,3672           13713                           TCF      T6ENABL                               
042936,000577: 
042937,000578: 16,3673           31612        -TORQUE            CA       ROLLWORD                              #  WHAT WAS LAST -TORQUE COMBINATION
042938,000579: 16,3674           74711                           MASK     BIT2                                  #  WAS IT NO.12-10
042939,000580: 16,3675           00006                           EXTEND                                         
042940,000581: 16,3676           13706                           BZF      NO.12-10                              #  NOT 12-10, SO USE IT THIS TIME
042941,000582: 
042942,000583: 16,3677           44711        NO.16-14           CS       BIT2                                  
042943,000584: 16,3700           71612                           MASK     ROLLWORD                              
042944,000585: 16,3701           55612                           TS       ROLLWORD                              #  CHANGE BIT 2 TO ZERO
042945,000586: 16,3702           33740                           CAF      -ROLL2                                
042946,000587: 16,3703           00006                           EXTEND                                         
042947,000588: 16,3704           01006                           WRITE    CHAN6                                 
042948,000589: 16,3705           13713                           TCF      T6ENABL                               
042949,000590: 
042950,000591: 16,3706           34711        NO.12-10           CAF      BIT2                                  #  1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
042951,000592: 16,3707           27612                           ADS      ROLLWORD                              #  CHANGE BIT 2 TO ONE
042952,000593: 16,3710           34377                           CAF      -ROLL1                                
042953,000594: 16,3711           00006                           EXTEND                                         
042954,000595: 16,3712           01006                           WRITE    CHAN6                                 
042955,000596: 
042956,000597: 16,3713           34674        T6ENABL            CAF      BIT15                                 
042957,000598: 16,3714           00006                           EXTEND                                         
042958,000599: 16,3715           05013                           WOR      CHAN13                                
042959,000600: 16,3716           15213        RDAPEND            TCF      TASKOVER                              #  EXIT ROLL DAP
042960,000601: 

Page 959

042962,000603:                                                                                                  #  THIS T6 TASK SHUTS OFF ALL ROLL JETS
042963,000604: 
042964,000605: 16,3717           22016        NOROLL1            LXCH     BANKRUPT                              #  SHUT OFF ALL (ROLL) JETS, (A T6 TASK
042965,000606: 16,3720           34714                           CAF      ZERO                                  #        CALLED BY ..JETROLL..)
042966,000607: 16,3721           55611                           TS       ROLLFIRE                              #  ZERO INDICATES JETS NOW OFF
042967,000608: 16,3722           00006                           EXTEND                                         
042968,000609: 16,3723           01006        KILLJETS           WRITE    CHAN6                                 
042969,000610: 16,3724           15224                           TCF      NOQRSM                                
042970,000611: 

Page 960

042972,000613:                                                                                                  #  CONSTANTS FOR ROLL AUTOPILOT....
042973,000614: 
042974,000615: 16,3725  E6,1742                                  EBANK=   BZERO                                 
042975,000616: 16,3725           03717 34066  NOROL1T6           2CADR    NOROLL1                               
042976,000617: 
042977,000618: 16,3727           00344        DB                 DEC      .01388889                             #  DEAD BAND (5 DEG), SC.AT B+0 REV
042978,000619: 16,3730           06315        -SLOPE             DEC      0.2                                   #  -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
042979,000620:                                                                                                  #        PER SEC
042980,000621: 16,3731           00111        LMCRATE            DEC      .00027778  B+4                        #  LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
042981,000622:                                                                                                  #        B-4 REV/SEC
042982,000623: 16,3732           00510        INTERCEP           DEC      .0025      B+3                        #  DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
042983,000624: 16,3733           01330        MINLIM             DEC      .00277778  B+4                        #  RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
042984,000625: 16,3734           00027        1/MINLIM           DEC      360        B-18                       #  RECIPROCAL THEREOF, SHIFTED 14 RIGHT
042985,000626: 16,3735           07071        MAXLIM             DEC      .01388889  B+4                        #  RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
042986,000627: 16,3736           00030        TMINFIRE           DEC      1.5        B+4                        #  15 MS (14MIN), SC.AT 16 BITS/CS
042987,000628: 16,3737           07640        TMAXFIRE           DEC      250        B+4                        #  2.5 SEC, SC.AT 16 BITS/CS
042988,000629: 
042989,000630: 16,3740     4710               1/TMXFIR           =        BIT3                                  #  RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
042990,000631:                                                                                                  #        ROUNDS TO OCT00004, SO ALLOWS 2.56
042991,000632:                                                                                                  #        SEC FIRINGS BEFORE APPLYING LIMIT
042992,000633: 16,3740     7665               T6SCALE            =        PRIO31                                #  (B+3) (16 BITS/CS)  (100CS/SEC)
042993,000634: 16,3740     4715               +ROLL1             =        FIVE                                  #  ONBITS FOR JETS 9 AND 11
042994,000635: 16,3740     4732               +ROLL2             =        OCT120                                #  ONBITS FOR JETS 13 AND 15
042995,000636: 16,3740     4377               -ROLL1             =        TEN                                   #  ONBITS FOR JETS 12 NAD 10
042996,000637: 16,3740           00240        -ROLL2             OCT      240                                   #  ONBITS FOR JETS 16 AND 14
042997,000638: 

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