Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. 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:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

047264,000002:                                                                                                  ## Copyright:   Public domain.
047265,000003:                                                                                                  ## Filename:    CM_ENTRY_DIGITAL_AUTOPILOT.agc
047266,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
047267,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
047268,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
047269,000007:                                                                                                  ## Assembler:   yaYUL
047270,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
047271,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
047272,000010:                                                                                                  ## Pages:       1063-1092
047273,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
047274,000012:                                                                                                  ##                              same name, using Comanche055 page images.
047275,000013:                                                                                                  ##              2009-05-20 RSB  Corrections: Removed an extraneous label 
047276,000014:                                                                                                  ##                              EXDAPIN, added a missing instruction in 
047277,000015:                                                                                                  ##                              COMPAT.
047278,000016:                                                                                                  ##              2010-08-28 JL   Fixed indentation.
047279,000017:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
047280,000018:                                                                                                  ##                              and corrected the errors found.
047281,000019:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
047282,000020:                                                                                                  ##                              Colossus 249.
047283,000021:                                                                                                  ##              2017-01-21 RSB  Fixed comment errors detected in diff vs
047284,000022:                                                                                                  ##                              Artemis 72.
047285,000023:                                                                                                  ##
047286,000024:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
047287,000025:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
047288,000026:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
047289,000027:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
047290,000028:                                                                                                  ## consequent reduction in image quality as well) are available online at
047291,000029:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
047292,000030:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
047293,000031:                                                                                                  ## (much) higher-quality images which Paul actually created.
047294,000032:                                                                                                  ##
047295,000033:                                                                                                  ## Notations on the hardcopy document read, in part:
047296,000034:                                                                                                  ##
047297,000035:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
047298,000036:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
047299,000037:                                                                                                  ##
047300,000038:                                                                                                  ##      This AGC program shall also be referred to as
047301,000039:                                                                                                  ##                      Colossus 2A
047302,000040: 

Page 1063

047304,000042:                                                                                                  #  SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES.  GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
047305,000043:                                                                                                  #  DIFFERENCES ARE IN 1S COMP.  ENTER AND READ ANGLES EACH .1 SEC.
047306,000044: 
047307,000045:                                                                                                  #        CM/DSTBY = 1 FOR DAP OPERATION
047308,000046:                                                                                                  #        CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
047309,000047: 
047310,000048: 15,2434                                           BANK     15                                    
047311,000049: 
047312,000050: 15,2000                                           SETLOC   ETRYDAP                               
047313,000051: 15,2000                                           BANK                                           
047314,000052: 
047315,000053: 15,2434                                           COUNT    15/DAPEN                              
047316,000054: 
047317,000055: 15,2434  E6,1661                                  EBANK=   AOG                                   
047318,000056: 
047319,000057: 15,2434           34377        READGYMB           CA       TEN                                   #  KEEP RESTART DT GOING RELATIVE TO
047320,000058: 15,2435           27725                           ADS      CM/GYMDT                              #  PIPTIME.  (GROUP 6)
047321,000059: 
047322,000060:                                                                                                  #  IF A RESTART OCCURS, SKIP PRESENT CYCLE.  THE
047323,000061:                                                                                                  #  PHASCHNG PROTECTION IS IN CM/DAPIC.
047324,000062: 
047325,000063: 15,2436           35012                           CA       BIT6                                  #  CHECK FOR FINE ALIGN MODE OF CDU.
047326,000064: 15,2437           71321                           MASK     IMODES33                              #  (PROTECT AOG/PIP ETC AS WELL AS
047327,000065: 15,2440           00006                           EXTEND                                         #  GIMBAL DIFFERENCES)
047328,000066: 15,2441           12447                           BZF      READGYM1                              #  OK
047329,000067: 
047330,000068: 15,2442           45017                           CS       BIT1                                  #  NOT IN FINE ALIGN, SO IDLE.
047331,000069: 15,2443           70102                           MASK     CM/FLAGS                              #  SET GYMDIFSW = 0
047332,000070: 15,2444           54102                           TS       CM/FLAGS                              
047333,000071: 15,2445           06000                           TC       FLUSHJET                              #  QUENCH JETS, SINCE MAY BE A WHILE.
047334,000072: 15,2446           02514                           TC       CM/GYMIC   +2                         
047335,000073: 
047336,000074: 15,2447           30032        READGYM1           CA       CDUX                                  
047337,000075: 15,2450           57661                           XCH      AOG                                   
047338,000076: 15,2451           00006                           EXTEND                                         
047339,000077: 15,2452           21661                           MSU      AOG                                   #  -DELAOG=AOG(N-1) - AOG(N)
047340,000078: 15,2453           55675                           TS       -DELAOG                               
047341,000079: 
047342,000080: 15,2454           30033                           CA       CDUY                                  
047343,000081: 15,2455           57662                           XCH      AIG                                   
047344,000082: 15,2456           00006                           EXTEND                                         
047345,000083: 15,2457           21662                           MSU      AIG                                   
047346,000084: 15,2460           55676                           TS       -DELAIG                               
047347,000085: 
047348,000086: 15,2461           30034                           CA       CDUZ                                  
047349,000087: 15,2462           57663                           XCH      AMG                                   
047350,000088: 15,2463           00006                           EXTEND                                         
047351,000089: 15,2464           21663                           MSU      AMG                                   
047352,000090: 15,2465           55677                           TS       -DELAMG                               
047353,000091: 

Page 1064

047355,000093: 15,2466           40102        DOBRATE?           CS       CM/FLAGS                              #  CM/DSTBY=103D BIT2  GYMDIFSW=104D BIT1
047356,000094: 15,2467           76214                           MASK     THREE                                 
047357,000095: 15,2470           50000                           INDEX    A                                     
047358,000096: 15,2471           02472                           TC       +1                                    
047359,000097: 15,2472           02501                           TC       DOBRATE                               #  OK, GO ON
047360,000098: 15,2473           02512                           TC       CM/GYMIC                              #  DONT CALC BODYRATE ON FIRST PASS.
047361,000099: 15,2474           12475                           NOOP                                           
047362,000100: 15,2475           06000                           TC       FLUSHJET                              #  TURN OFF ALL JETS
047363,000101: 
047364,000102: 15,2476           05412                           TC       PHASCHNG                              
047365,000103: 15,2477           00006                           OCT      00006                                 #  DEACTIVATE DAP GROUP 6.
047366,000104: 
047367,000105: 15,2500           05324                           TC       TASKOVER                              
047368,000106: 
047369,000107: 15,2501           35017        DOBRATE            CA       ONE                                   #  DO BODYRATE
047370,000108: 15,2502           55720        DOBRATE1           TS       JETEM                                 #  SKIP BODYRATE.
047371,000109: 
047372,000110: 15,2503           34377                           CA       TEN                                   #  KEEP CDU READ GOING.
047373,000111: 15,2504           05245                           TC       WAITLIST                              
047374,000112: 15,2505  E6,1661                                  EBANK=   AOG                                   
047375,000113: 15,2505           02434 32066                     2CADR    READGYMB                              
047376,000114: 
047377,000115:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047378,000116: 
047379,000117: 15,2507           11720                           CCS      JETEM                                 
047380,000118: 15,2510           02536                           TC       BODYRATE                              
047381,000119: 15,2511           05324                           TC       TASKOVER                              #  SKIP CALC ON INITIAL PASS.  (PASSES)
047382,000120: 
047383,000121: 15,2512           26102        CM/GYMIC           ADS      CM/FLAGS                              #  GYMDIFSW:  C(A)=1, KNOW BIT IS 0
047384,000122: 15,2513           35021                           CAF      ZERO                                  
047385,000123: 15,2514           55711                           TS       JETAG                                 
047386,000124: 15,2515           55706                           TS       OLDELP                                
047387,000125: 15,2516           55707                           TS       OLDELQ                                
047388,000126: 15,2517           55710                           TS       OLDELR                                
047389,000127: 15,2520           55723                           TS       GAMDOT                                #  NO GYM DIF, PROB NO GAM DIF.
047390,000128: 15,2521           02502                           TC       DOBRATE1                              
047391,000129: 

Page 1065

047393,000131:                                                                                                  #  COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
047394,000132: 
047395,000133: 15,2522           54001        ANGOVCOR           TS       L                                     #  THIS COSTS 2 MCT TO USE.
047396,000134: 15,2523           00002                           TC       Q                                     #  NO OVFL
047397,000135: 15,2524           50000                           INDEX    A                                     
047398,000136: 15,2525           35000                           CAF      LIMITS                                
047399,000137: 15,2526           26001                           ADS      L                                     
047400,000138: 15,2527           00002                           TC       Q                                     
047401,000139: 
047402,000140:    6000                                           BLOCK    3                                     
047403,000141: 
047404,000142:    6000                                           COUNT    03/DAPEN                              
047405,000143: 
047406,000144:    6000           30007        FLUSHJET           CA       7                                     #  COME HERE TO TURN OFF ALL JETS.
047407,000145:    6001           00006                           EXTEND                                         
047408,000146:    6002           01006                           WRITE    ROLLJETS                              #  ZERO CHANNEL 6
047409,000147:    6003           00006                           EXTEND                                         
047410,000148:    6004           01005                           WRITE    PYJETS                                #  ZERO CHANNEL 5
047411,000149:    6005           00002                           TC       Q                                     
047412,000150: 
047413,000151: 15,2530                                           BANK     15                                    
047414,000152: 
047415,000153: 15,2530                                           COUNT    15/DAPEN                              
047416,000154: 
047417,000155: 15,2000                                           SETLOC   ETRYDAP                               
047418,000156: 15,2000                                           BANK                                           
047419,000157: 
047420,000158: 15,2530           40000        RATEAVG            COM                                            #  SUBROUTINE TO ESTIMATE RATES IN PRESENCE
047421,000159: 15,2531           61720                           AD       JETEM                                 #  OF CONSTANT ACCELERATION.
047422,000160: 15,2532           00006                           EXTEND                                         
047423,000161: 15,2533           75002                           MP       HALF                                  #  DELV (EST) = DELV +(DELV-OLDELV)/2
047424,000162: 15,2534           61720                           AD       JETEM                                 
047425,000163: 15,2535           00002                           TC       Q                                     
047426,000164: 

Page 1066

047428,000166:                                                                                                  #  THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
047429,000167: 
047430,000168: 20,3612                                           BANK     20                                    
047431,000169: 20,2000                                           SETLOC   DAPS1                                 
047432,000170: 20,2000                                           BANK                                           
047433,000171: 
047434,000172: 20,3612                                           COUNT    20/DAPEN                              
047435,000173: 20,3612  E6,1661                                  EBANK=   AOG                                   
047436,000174: 
047437,000175: 20,3612           35057        CM/DAPON           CA       EBAOG                                 
047438,000176: 20,3613           54003                           TS       EBANK                                 
047439,000177: 
047440,000178: 20,3614           05560                           TC       DOWNFLAG                              #  RESET DAPBIT1.  T5 RESTART IDENTIFIER.
047441,000179: 20,3615           00132                           ADRES    DAPBIT1                               #  BIT 15 FLAG 6         CMFLAGS.
047442,000180: 20,3616           05560                           TC       DOWNFLAG                              #  RESET DAPBIT2
047443,000181: 20,3617           00133                           ADRES    DAPBIT2                               #  BIT 14 FLAG 6
047444,000182: 20,3620           00006                           EXTEND                                         
047445,000183: 20,3621           33737                           DCA      T5IDLER1                              #  DISABLE RCS CALCULATION
047446,000184: 20,3622           53313                           DXCH     T5LOC                                 
047447,000185: 20,3623           00006                           EXTEND                                         
047448,000186: 20,3624           33737                           DCA      T5IDLER1                              #  DISABLE RCS JET CALLS
047449,000187: 20,3625           53311                           DXCH     T6LOC                                 
047450,000188: 
047451,000189: 20,3626           06000                           TC       FLUSHJET                              #  JETS DEPARTED ON SM. ZERO JET BITS.
047452,000190: 
047453,000191: 20,3627           47707                           CS       13,14,15                              
047454,000192: 20,3630           71466                           MASK     DAPDATR1                              #  SET CONFIG BITS=0 FOR ENTRY
047455,000193: 20,3631           55466                           TS       DAPDATR1                              
047456,000194: 20,3632           03636                           TC       +4                                    
047457,000195: 
047458,000196: 20,3633           35036        NOTYET             CA       .5SEC                                 
047459,000197: 20,3634           04662                           TC       BANKCALL                              
047460,000198: 20,3635           01732                           CADR     DELAYJOB                              #  (DELAYJOB DOES INHINT)
047461,000199: 20,3636           35005                 +4        CA       BIT11                                 #  GAMDIFSW = 94D BIT11, INITLY=0
047462,000200: 20,3637           70102                           MASK     CM/FLAGS                              #  IF ZERO, WAIT UNTIL CM/POSE UPDATE.
047463,000201: 20,3640           00006                           EXTEND                                         
047464,000202: 20,3641           13633                           BZF      NOTYET                                
047465,000203: 
047466,000204: 20,3642           45017                           CS       ONE                                   #  ACTIVATE CM/DAP
047467,000205: 20,3643           55501                           TS       RCSFLAGS                              #  USE BIT3 TO INITIALIZE NEEDLER ON
047468,000206:                                                                                                  #  NEXT PASS.
047469,000207: 20,3644           55727                           TS       P63FLAG                               #  SO WAKEP62 WILL NOT BE INITIATED UNTIL
047470,000208:                                                                                                  #  HEADSUP IS SET IN P62.
047471,000209: 
047472,000210:                                                                                                  #  FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
047473,000211: 
047474,000212: 20,3645           30007                           CA       7                                     
047475,000213: 20,3646           55711                           TS       JETAG                                 
047476,000214: 20,3647           55713                           TS       PAXERR1                               #  KEEP NEEDLES ZERO UNTIL DAP UPDATE
047477,000215:                                                                                                  #  IN CASE CMDAPMOD IS NOT +1.

Page 1067

047479,000217: 20,3650           00004                           INHINT                                         
047480,000218: 20,3651           00006                           EXTEND                                         
047481,000219: 20,3652           31666                           DCA      ALFA/180                              #  DO ATTITUDE HOLD UNTIL KEYBOARD
047482,000220: 20,3653           53604                           DXCH     ALFACOM                               #  ESTABLISHES HEADSUP.
047483,000221: 20,3654           31664                           CA       ROLL/180                              
047484,000222: 20,3655           55717                           TS       ROLLHOLD                              #  FOR ATTITUDE HOLD IN MODE +1.
047485,000223: 20,3656           00006                           EXTEND                                         
047486,000224: 20,3657           75002                           MP       HALF                                  
047487,000225: 20,3660           55715                           TS       ROLLC                                 #  NOT INTERESTED IN LO WORD.
047488,000226: 
047489,000227: 20,3661           40102                           CS       CM/FLAGS                              
047490,000228: 20,3662           75004                           MASK     BIT12                                 #  CMDAPARM =93D BIT12  INITLY=0
047491,000229: 20,3663           26102                           ADS      CM/FLAGS                              #  SET BIT TO 1.
047492,000230: 
047493,000231: 20,3664           40076                           CS       FLAGWRD2                              #  SET  NODOFLAG  TO PREVENT FURTHER
047494,000232: 20,3665           75017                           MASK     BIT1                                  #  V 37 ENTRIES.
047495,000233: 20,3666           26076                           ADS      FLAGWRD2                              
047496,000234: 
047497,000235: 20,3667           00003                           RELINT                                         
047498,000236: 
047499,000237: 20,3670           04701                           TC       POSTJUMP                              
047500,000238: 20,3671           54342                           CADR     P62.1                                 
047501,000239: 

Page 1068

047503,000241:                                                                                                  #  INITIALIZE CM/DAP.  WAITLIST CALL FOR READGYMB.  SET SWITCH CM/DSTBY =1
047504,000242:                                                                                                  #  SO READACCS WILL ENTER A WTLST CALL FOR  SETJTAG .
047505,000243:                                                                                                  #   CMDAPARM  = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
047506,000244:                                                                                                  #  SET AVEGEXIT TO CONTINUE AT CM/POSE
047507,000245: 
047508,000246: 20,3672           35057        CM/DAPIC           CA       EBAOG                                 
047509,000247: 20,3673           54003                           TS       EBANK                                 
047510,000248: 
047511,000249: 20,3674           00004                           INHINT                                         
047512,000250: 20,3675           41205        CM/DAP2C           CS       PIPTIME    +1                         
047513,000251:                                                                                                  #  PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
047514,000252: 20,3676           55720                           TS       JETEM                                 
047515,000253: 
047516,000254: 20,3677           35002                           CA       POS1/2                                
047517,000255: 20,3700           65002                           AD       POS1/2                                
047518,000256: 20,3701           60025                           AD       TIME1                                 #  OVFL GUARANTEED
047519,000257: 20,3702           27720                           ADS      JETEM                                 #  C(A) = DELTA TIME SINCE PIPUP
047520,000258: 
047521,000259: 20,3703           45022                           CS       FIVE                                  
047522,000260: 20,3704           61720                           AD       JETEM                                 
047523,000261: 20,3705           10000                           CCS      A                                     
047524,000262: 20,3706           63735                           AD       -CDUT+1                               
047525,000263: 20,3707           13705                           TCF      -2                                    
047526,000264: 20,3710           13711                           NOOP                                           
047527,000265: 20,3711           65017                           AD       ONE                                   #  SEND NO ZERO TO WTLST
047528,000266: 20,3712           55725                           TS       CM/GYMDT                              #  FOR RESTART
047529,000267: 20,3713           05245                           TC       WAITLIST                              
047530,000268: 20,3714  E6,1661                                  EBANK=   AOG                                   
047531,000269: 20,3714           02434 32066                     2CADR    READGYMB                              
047532,000270: 
047533,000271: 20,3716           43734                           CS       CM/SWIC1                              #  GAMDIFSW, GYMDIFSW, CM/DSTBY
047534,000272: 20,3717           70102                           MASK     CM/FLAGS                              #  DAPARM, .05GSW, LATSW, ENTRYDSP
047535,000273: 20,3720           64377                           AD       CM/SWIC2                              #  SET CM/DSTBY, LATSW
047536,000274:                                                                                                  #  DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
047537,000275:                                                                                                  #  CALC.  (P62.3) GOES TO ENDEXIT.
047538,000276: 20,3721           54102                           TS       CM/FLAGS                              
047539,000277: 
047540,000278: 20,3722           30007                           CA       7                                     
047541,000279: 20,3723           55666                           TS       BETA/180                              #  NECESSARY:  NO OVFL CORRECTION
047542,000280: 20,3724           35017                           CA       ONE                                   #  INITIALIZE THE TM OF BODY RATES VIA
047543,000281: 20,3725           54305                           TS       SW/NDX                                #  UPBUFF.
047544,000282: 
047545,000283: 20,3726           05372                           TC       2PHSCHNG                              #  DOES INHINT/RELINT
047546,000284: 20,3727           40116                           OCT      40116                                 #  SAVE TBASE6
047547,000285: 20,3730           05024                           OCT      05024                                 
047548,000286: 20,3731           13000                           OCT      13000                                 
047549,000287: 
047550,000288: 20,3732           04701                           TC       POSTJUMP                              

Page 1069

047552,000290: 20,3733           54326                           CADR     P62.2                                 
047553,000291: 
047554,000292: 20,3734           16017        CM/SWIC1           OCT      16017                                 
047555,000293: 20,3735     4377               CM/SWIC2           =        TEN                                   #  00012: CM/DSTBY, LATSW
047556,000294: 20,3735           77766        -CDUT+1            OCT      77766                                 
047557,000295: 20,3736     1312                                  EBANK=   T5LOC                                 
047558,000296: 20,3736           03153 12062  T5IDLER1           2CADR    T5IDLOC                               
047559,000297: 

Page 1070

047561,000299:                                                                                                  #  THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC.  THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
047562,000300:                                                                                                  #  XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R.      REQUIREMENT:  TEMPORARY ERASE.  JETEM, JETEM +1
047563,000301: 
047564,000302:                                                                                                  #  SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS.  THAT IS,
047565,000303:                                                                                                  #  THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE.  MOST OF THE TIME THE 2 SEC
047566,000304:                                                                                                  #  ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL.  HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
047567,000305:                                                                                                  #  STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
047568,000306:                                                                                                  #  THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
047569,000307: 
047570,000308: 20,3740  E6,1661                                  EBANK=   AOG                                   
047571,000309: 15,2536                                           BANK     15                                    
047572,000310: 15,2000                                           SETLOC   ETRYDAP                               
047573,000311: 15,2000                                           BANK                                           
047574,000312: 
047575,000313: 15,2536                                           COUNT    15/DAPEN                              
047576,000314: 
047577,000315: 15,2536           31663        BODYRATE           CA       AMG                                   #  THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
047578,000316: 15,2537           05074                           TC       SPCOS                                 
047579,000317: 15,2540           55511                           TS       COSM                                  
047580,000318: 
047581,000319: 15,2541           31661                           CA       AOG                                   #  C(AOG) = AOG/180
047582,000320: 15,2542           05075                           TC       SPSIN                                 #  SINO
047583,000321: 15,2543           55512                           TS       SINO                                  #  SINO = SIN(AOG)
047584,000322: 
047585,000323: 15,2544           00006                           EXTEND                                         
047586,000324: 15,2545           71511                           MP       COSM                                  
047587,000325: 15,2546           55514                           TS       SINOCOSM                              #  SO CM
047588,000326: 
047589,000327: 15,2547           31661                           CA       AOG                                   
047590,000328: 15,2550           05074                           TC       SPCOS                                 #  COSO
047591,000329: 15,2551           55513                           TS       COSO                                  
047592,000330: 
047593,000331: 15,2552           00006                           EXTEND                                         
047594,000332: 15,2553           71511                           MP       COSM                                  
047595,000333: 15,2554           55515                           TS       COSOCOSM                              #  CO CM
047596,000334: 
047597,000335:                                                                                                  #  PITCHDOT:  Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
047598,000336: 
047599,000337: 15,2555           41677                           CS       -DELAMG                               
047600,000338: 15,2556           00006                           EXTEND                                         
047601,000339: 15,2557           71512                           MP       SINO                                  
047602,000340: 15,2560           53721                           DXCH     JETEM                                 #  2 LOCS _
047603,000341: 15,2561           41676                           CS       -DELAIG                               
047604,000342: 15,2562           00006                           EXTEND                                         
047605,000343: 15,2563           71515                           MP       COSOCOSM                              
047606,000344: 15,2564           21721                           DAS      JETEM                                 
047607,000345: 15,2565           31720                           CA       JETEM                                 
047608,000346: 15,2566           57707                           XCH      OLDELQ                                
047609,000347: 15,2567           02530                           TC       RATEAVG                               
047610,000348: 15,2570           55702                           TS       QREL                                  #  PITCHDOT = Q TCDU/180
047611,000349: 

Page 1071

047613,000351:                                                                                                  #  YAWDOT:  R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
047614,000352: 
047615,000353: 15,2571           41677                           CS       -DELAMG                               
047616,000354: 15,2572           00006                           EXTEND                                         
047617,000355: 15,2573           71513                           MP       COSO                                  
047618,000356: 15,2574           53721                           DXCH     JETEM                                 
047619,000357: 15,2575           31676                           CA       -DELAIG                               
047620,000358: 15,2576           00006                           EXTEND                                         
047621,000359: 15,2577           71514                           MP       SINOCOSM                              
047622,000360: 15,2600           21721                           DAS      JETEM                                 
047623,000361: 15,2601           31720                           CA       JETEM                                 
047624,000362: 15,2602           57710                           XCH      OLDELR                                
047625,000363: 15,2603           02530                           TC       RATEAVG                               
047626,000364: 15,2604           55703                           TS       RREL                                  #  YAWDOT = R TCDU/180
047627,000365: 
047628,000366:                                                                                                  #  ROLLDOT:  P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
047629,000367: 
047630,000368: 15,2605           31663                           CA       AMG                                   
047631,000369: 15,2606           05075                           TC       SPSIN                                 
047632,000370: 15,2607           55510                           TS       SINM                                  
047633,000371: 
047634,000372: 15,2610           00006                           EXTEND                                         
047635,000373: 15,2611           71676                           MP       -DELAIG                               
047636,000374: 15,2612           55720                           TS       JETEM                                 
047637,000375: 15,2613           35021                           CA       ZERO                                  
047638,000376: 15,2614           20001                           DDOUBL                                         #  ROUND L INTO A
047639,000377: 15,2615           61675                           AD       -DELAOG                               
047640,000378: 15,2616           61720                           AD       JETEM                                 
047641,000379: 15,2617           40000                           CS       A                                     
047642,000380: 15,2620           55720                           TS       JETEM                                 
047643,000381: 15,2621           57706                           XCH      OLDELP                                
047644,000382: 15,2622           02530                           TC       RATEAVG                               
047645,000383: 15,2623           55701                           TS       PREL                                  #  ROLLDOT = P TCDU/180
047646,000384: 
047647,000385:                                                                                                  #  IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
047648,000386: 
047649,000387: 15,2624           11723                           CCS      GAMDOT                                
047650,000388: 15,2625           02627                           TC       +2                                    
047651,000389: 15,2626           02651                           TC       NOGAMDUT                              
047652,000390: 15,2627           41664                           CS       ROLL/180                              
047653,000391: 15,2630           05075                           TC       SPSIN                                 
047654,000392: 15,2631           00006                           EXTEND                                         
047655,000393: 15,2632           71723                           MP       GAMDOT                                
047656,000394: 15,2633           55721                           TS       JETEM      +1                         #  -SR GAMDOT
047657,000395: 15,2634           00006                           EXTEND                                         
047658,000396: 15,2635           73177                           MP       SINTRIM                               #  SIN(-20)      (FOR NOMINAL L/D = .3)
047659,000397: 15,2636           27701                           ADS      PREL                                  #  PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
047660,000398: 
047661,000399: 15,2637           31664                           CA       ROLL/180                              
047662,000400: 15,2640           05074                           TC       SPCOS                                 

Page 1072

047664,000402: 15,2641           40000                           COM                                            
047665,000403: 15,2642           00006                           EXTEND                                         
047666,000404: 15,2643           71723                           MP       GAMDOT                                
047667,000405: 15,2644           27702                           ADS      QREL                                  #  QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
047668,000406: 
047669,000407: 15,2645           41721                           CS       JETEM      +1                         #  B( ) = -SR GAMDOT
047670,000408: 15,2646           00006                           EXTEND                                         
047671,000409: 15,2647           73200                           MP       COSTRIM                               #  COS(-20)      (FOR NOMINAL L/D = .3)
047672,000410: 15,2650           27703                           ADS      RREL                                  #  RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
047673,000411: 
047674,000412: 15,2651           35004        NOGAMDUT           CA       BIT12                                 #  CMDAPARM = 93D BIT 12
047675,000413: 15,2652           70102                           MASK     CM/FLAGS                              
047676,000414: 15,2653           00006                           EXTEND                                         
047677,000415: 15,2654           15324        STBYDUMP           BZF      TASKOVER                              #  DAP NOT ARMED.
047678,000416: 
047679,000417: 15,2655           34777                           CA       POSMAX                                #  PICK UP AT ATTRATES IN 10 MS OR SO.
047680,000418: 15,2656           54030                           TS       TIME5                                 
047681,000419: 
047682,000420: 15,2657           00006                           EXTEND                                         
047683,000421: 15,2660           32664                           DCA      ATDOTCAD                              
047684,000422: 15,2661           53313                           DXCH     T5LOC                                 
047685,000423:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047686,000424: 
047687,000425: 15,2662           05324                           TC       TASKOVER                              
047688,000426: 
047689,000427: 15,2663  E6,1661                                  EBANK=   AOG                                   
047690,000428: 15,2663           02665 32066  ATDOTCAD           2CADR    ATTRATES                              
047691,000429: 

Page 1073

047693,000431:                                                                                                  #  CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
047694,000432: 
047695,000433:                                                                                                  #        CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
047696,000434:                                                                                                  #        BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
047697,000435:                                                                                                  #        ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
047698,000436: 
047699,000437: 15,2665           22016        ATTRATES           LXCH     BANKRUPT                              #  CONTINUE HERE VIA T5
047700,000438: 15,2666           00006                           EXTEND                                         #  TASK MAY BE SKIPPED AT RESTART.
047701,000439: 15,2667           22012                           QXCH     QRUPT                                 
047702,000440: 15,2670           30021                           CA       SR                                    
047703,000441: 15,2671           60000                           DOUBLE                                         
047704,000442: 15,2672           55623                           TS       CM/SAVE                               
047705,000443:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047706,000444: 
047707,000445: 15,2673           31702                           CA       QREL                                  
047708,000446: 15,2674           61665                           AD       ALFA/180                              
047709,000447: 15,2675           02522                           TC       ANGOVCOR                              
047710,000448: 15,2676           55665                           TS       ALFA/180                              
047711,000449: 15,2677           05074                           TC       SPCOS                                 
047712,000450: 15,2700           55506                           TS       CALFA                                 #  CALFA
047713,000451: 15,2701           55705                           TS       PHIDOT                                
047714,000452: 
047715,000453: 15,2702           00006                           EXTEND                                         
047716,000454: 15,2703           71701                           MP       PREL                                  
047717,000455: 15,2704           57705                           XCH      PHIDOT                                #  CA PREL
047718,000456: 15,2705           00006                           EXTEND                                         
047719,000457: 15,2706           71703                           MP       RREL                                  #  CA RREL
047720,000458: 15,2707           55704                           TS       BETADOT                               
047721,000459: 
047722,000460: 15,2710           31665                           CA       ALFA/180                              
047723,000461: 15,2711           05075                           TC       SPSIN                                 
047724,000462: 15,2712           55507                           TS       SALFA                                 #  SIN(ALFA)
047725,000463: 
047726,000464: 15,2713           00006                           EXTEND                                         
047727,000465: 15,2714           71703                           MP       RREL                                  #  SA RREL
047728,000466: 15,2715           27705                           ADS      PHIDOT                                #  CB PHIDOT, SAVED.
047729,000467: 
047730,000468: 15,2716           41507                           CS       SALFA                                 
047731,000469: 15,2717           00006                           EXTEND                                         
047732,000470: 15,2720           71701                           MP       PREL                                  
047733,000471: 15,2721           27704                           ADS      BETADOT                               #  SAVE BETADOT TCDU/180
047734,000472: 15,2722           27666                           ADS      BETA/180                              #  BETA DONE.
047735,000473: 
047736,000474: 15,2723           05075                           TC       SPSIN                                 
047737,000475: 15,2724           00006                           EXTEND                                         
047738,000476: 15,2725           71705                           MP       PHIDOT                                #  NEGLECT CB IN CB PHIDOT
047739,000477: 15,2726           61665                           AD       ALFA/180                              
047740,000478: 15,2727           02522                           TC       ANGOVCOR                              
047741,000479: 15,2730           55665                           TS       ALFA/180                              #  ALFA DONE.

Page 1074

047743,000481: 15,2731           40000                           COM                                            
047744,000482: 15,2732           61603                           AD       ALFACOM                               
047745,000483: 15,2733           02522                           TC       ANGOVCOR                              #  JUST IN CASE ...
047746,000484: 15,2734           55477                           TS       AK1                                   
047747,000485: 15,2735           55572                           TS       QAXERR                                #  FOR PITCH FDAI AND EDIT.
047748,000486: 
047749,000487: 15,2736           31705                           CA       PHIDOT                                #  PHIDOT TCDU/180, NEGLECTING CB
047750,000488: 15,2737           61664                           AD       ROLL/180                              
047751,000489: 15,2740           02522                           TC       ANGOVCOR                              
047752,000490: 15,2741           55714                           TS       ROLLTM                                #  ROLL/180 FOR TM.
047753,000491: 15,2742           55664                           TS       ROLL/180                              #  ROLL DONE.
047754,000492: 
047755,000493:                                                                                                  #  START YAW AUTOPILOT HERE.  RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047756,000494: 
047757,000495: 15,2743           41666                           CS       BETA/180                              #  IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047758,000496: 15,2744           61604                           AD       BETACOM                               
047759,000497: 15,2745           55573                           TS       RAXERR                                #  IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047760,000498:                                                                                                  #  AS A TEMPORARY.  (DAP OPERATION IS IN INTERRUPT, SO
047761,000499:                                                                                                  #  IS OK.)  FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047762,000500:                                                                                                  #  BE R-AXIS ERROR.
047763,000501: 
047764,000502: 15,2746           35015                           CA       BIT3                                  #  .05GSW = 102D BIT3    SW=0, LESS .05G
047765,000503: 15,2747           70102                           MASK     CM/FLAGS                              #  SWITCH =1, GREATER THAN .05 G
047766,000504: 15,2750           00006                           EXTEND                                         
047767,000505: 15,2751           13037                           BZF      EXDAP                                 #  IF G LESS THAN .05
047768,000506: 15,2752           45017                           CS       ONE                                   #  IF G GEQ  THAN .05
047769,000507: 15,2753           55700                           TS       CMDAPMOD                              #  SAVE -1 FOR USE IN CM/RCS
047770,000508: 
047771,000509: 15,2754           55477                           TS       AK1                                   #  TO ZERO PITCH AND YAW FDAI NEEDLES
047772,000510: 15,2755           55500                           TS       AK2                                   #  IN ATM.  (MODE =-1)
047773,000511: 
047774,000512: 15,2756           41701                           CS       PREL                                  #  YAW ERROR = RREL - PREL TAN(ALFA)
047775,000513: 15,2757           00006                           EXTEND                                         
047776,000514: 15,2760           73177                           MP       SINTRIM                               #  LET SIN(-20) BE APPROX FOR TAN(-20)
047777,000515: 15,2761           61703                           AD       RREL                                  
047778,000516: 15,2762           03027                           TC       2D/SDZ                                #  GO TEST DZ.  GET TAG: +0 IF IN DZ
047779,000517: 15,2763           50000                           INDEX    A                                     #  +/- 1 IF NOT
047780,000518: 15,2764           33202                           CAF      YJETCODE                              
047781,000519: 
047782,000520: 15,2765           55720                           TS       JETEM                                 
047783,000521: 
047784,000522:                                                                                                  #  START PITCH AUTOPILOT HERE.  RATE DAMPING ONLY.
047785,000523: 
047786,000524: 15,2766           31702                           CA       QREL                                  
047787,000525: 15,2767           03027                           TC       2D/SDZ                                
047788,000526: 15,2770           50000        EXDAPIN            INDEX    A                                     #  COME HERE FROM EX ATM DAP
047789,000527: 15,2771           33205                           CAF      P/RJCODE                              
047790,000528: 15,2772           27720                           ADS      JETEM                                 #  COMBINE ALL NEW BITS.
047791,000529: 
047792,000530: 15,2773           00006                           EXTEND                                         #  DOES NOT REQUIRE SAVING OLD CODES.

Page 1075

047794,000532: 15,2774           01005                           WRITE    PYJETS                                #  SET PYCHAN TO DESIRED BIT CONFIG.
047795,000533: 
047796,000534: 15,2775           11711                           CCS      JETAG                                 
047797,000535: 15,2776           03216                           TC       CM/RCS                                
047798,000536: 15,2777           03677                           TC       CM/FDAI                               
047799,000537: 15,3000           03704                           TC       CM/FDAIR   -1                         #  (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047800,000538: 

Page 1076

047802,000540:                                                                                                  #  DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047803,000541: 
047804,000542: 15,3001           10000        3DDZ               CCS      A                                     #  YAWLIM=1.0-3/180=16384-273=16111
047805,000543: 15,3002           63175                           AD       YAWLIM                                
047806,000544: 15,3003           13033                           TCF      DZCOM                                 
047807,000545: 15,3004           63175                           AD       YAWLIM                                
047808,000546: 15,3005           13034                           TCF      DZNOCOM                               
047809,000547: 
047810,000548:                                                                                                  #  BIASED DZ FOR EXT ATM DAP.
047811,000549: 15,3006           55624        BIASEDZ            TS       JETEM2                                #  SAVE RATE/180.  ERROR/180 IS IN L.
047812,000550: 15,3007           10000                           CCS      A                                     #  START ERROR DZ.
047813,000551: 15,3010           43174                           CS       CM/BIAS                               #  = .6/180
047814,000552: 15,3011           13013                           TCF      +2                                    
047815,000553: 15,3012           33174                           CA       CM/BIAS                               
047816,000554: 15,3013           60001                           AD       L                                     #  BIAS THE ERROR.
047817,000555: 15,3014           22002                           LXCH     Q                                     #  SAVE CALLERS RETURN ADDRESS.
047818,000556: 15,3015           03001                           TC       3DDZ                                  #  GO GENERATE THE ERROR BIT.
047819,000557: 15,3016           52002                           DXCH     L                                     #  BIT TO L, RESTORE CALLERS Q.
047820,000558: 15,3017           11624        4D/SDZ             CCS      JETEM2                                #  CAME HERE IN EXT ATM.  C(L) = ERROR BIT
047821,000559: 15,3020           63172                           AD       4D/SLIM                               #  IF RATE GEQ 4D/S, SET L=0 AND TAKE
047822,000560: 15,3021           13023                           TCF      +2                                    #  JET BITS ACCORDING TO SGN OF RATE.
047823,000561: 15,3022           63172                           AD       4D/SLIM                               
047824,000562: 15,3023           54000                           TS       A                                     
047825,000563: 15,3024           13026                           TCF      +2                                    #  RATE OK. CONTINUE
047826,000564: 15,3025           22007                           ZL                                             #  RATE GEQ 4 D/S.  OVER RIDE ERROR BIT
047827,000565: 15,3026           57624                           XCH      JETEM2                                #  AND CONTINUE TO GET SIGN.
047828,000566: 
047829,000567: 15,3027           10000        2D/SDZ             CCS      A                                     #  COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047830,000568: 15,3030           63173                           AD       YDOTLIM                               #  1.0 - YDOT DZ         (OR PDOT)
047831,000569: 15,3031           13034                           TCF      +3                                    
047832,000570: 15,3032           63173                           AD       YDOTLIM                               #  YDOT DZ = 2 DEG/SEC
047833,000571: 15,3033           40000        DZCOM              COM                                            
047834,000572: 15,3034           55721        DZNOCOM            TS       JETEM      +1                         #  GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047835,000573: 15,3035           35021                           CA       ZERO                                  #  SET C(A) = +0 INSIDE
047836,000574: 15,3036           00002                           TC       Q                                     
047837,000575: 

Page 1077

047839,000577:                                                                                                  #  EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047840,000578: 
047841,000579:                                                                                                  #  1.    IF ABS(CALF) -C(45) POS, USE                    IF CALFA POS, CMDAPMOD= +0
047842,000580:                                                                                                  #        BETA:   YAW ERROR = SGN(CALF) (BETACOM -BETA)   IF CALFA NEG, CMDAPMOD= -0
047843,000581:                                                                                                  #                     RATE = BETADOT                     IF CMDAPMOD = -0, RATE = RREL
047844,000582:                                                                                                  #                   R-AXIS = CONTROL
047845,000583: 
047846,000584:                                                                                                  #        ROLL:  ROLL ERROR = SGN(CALF) (ROLLC - ROLL)    IF CMDAPMOD = -0, RATE DAMP ONLY.
047847,000585:                                                                                                  #                     RATE = PREL
047848,000586:                                                                                                  #                   P-AXIS = CONTROL
047849,000587: 
047850,000588:                                                                                                  #  2.    IF C(45) GEQ CALFA GEQ -C(45), USE              CMDAPMOD = +1
047851,000589:                                                                                                  #        BETA:  ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047852,000590:                                                                                                  #                     RATE = BETADOT
047853,000591:                                                                                                  #                   P-AXIS = CONTROL
047854,000592: 
047855,000593:                                                                                                  #        ROLL:   YAW ERROR = SGN(SALF) (ROLLC - ROLL)    RATE DAMP ONLY.
047856,000594:                                                                                                  #                     RATE = RREL
047857,000595:                                                                                                  #                   R-AXIS = CONTROL
047858,000596: 
047859,000597:                                                                                                  #  3.    FOR ALL CASES, USE
047860,000598:                                                                                                  #        ALFA: PITCH ERROR = (ALFACOM - ALFA)
047861,000599:                                                                                                  #                     RATE = QREL
047862,000600:                                                                                                  #                   Q-AXIS = CONTROL
047863,000601: 
047864,000602: 15,3037           55700        EXDAP              TS       CMDAPMOD                              #  +0 FOR NOW
047865,000603: 15,3040           11506                           CCS      CALFA                                 
047866,000604: 15,3041           63176                           AD       C45LIM                                #  =1.0-COS(45)
047867,000605: 15,3042           13044                           TCF      +2                                    
047868,000606: 15,3043           63176                           AD       C45LIM                                
047869,000607: 15,3044           54000                           TS       A                                     
047870,000608: 15,3045           13126                           TCF      EXDAP2                                #  HERE IF ABS(CALFA) L COS(45)
047871,000609: 
047872,000610: 15,3046           11506                           CCS      CALFA                                 #  |CALFA| > 0.707
047873,000611: 15,3047           13050                           TCF      +1                                    #  CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047874,000612: 
047875,000613: 15,3050           11727                           CCS      P63FLAG                               #  VALID VALUES ARE:  -1, +1, +0.
047876,000614: 15,3051           03064                           TC       EXDAP4                                
047877,000615: 15,3052           03054                           TC       +2                                    
047878,000616: 15,3053           03064                           TC       EXDAP4                                
047879,000617: 15,3054           05412                           TC       PHASCHNG                              #  SINGLE PASS THROUGH HERE.
047880,000618: 15,3055           40334                           OCT      40334                                 
047881,000619: 15,3056           45017                           CS       ONE                                   
047882,000620: 15,3057           55727                           TS       P63FLAG                               #  SET FLAG TO ASSURE SINGLE PASS.
047883,000621: 15,3060           33171                           CA       NSEC                                  
047884,000622: 15,3061           05245                           TC       WAITLIST                              
047885,000623: 15,3062  E6,1661                                  EBANK=   AOG                                   
047886,000624: 15,3062           02374 54066                     2CADR    WAKEP62                               #  CALL TO TERMINATE P62 IN N SEC.

Page 1078

047888,000626:                                                                                                  #  65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047889,000627:                                                                                                  #  TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047890,000628: 
047891,000629: 15,3064           11711        EXDAP4             CCS      JETAG                                 #  ROLLJET INTERFACE TEST BETWEEN .1 SEC
047892,000630: 15,3065           13073                           TCF      EXDAP3                                #  DAP AND THE 2 SEC CM/RCS DAP
047893,000631: 15,3066           13073                           TCF      EXDAP3                                
047894,000632: 15,3067           35021                           CA       ZERO                                  
047895,000633: 15,3070           00006                           EXTEND                                         #  TURN OFF ROLL JETS IF ON AND WAIT
047896,000634: 15,3071           01006                           WRITE    ROLLJETS                              #  UNTIL START OF 2 SEC CM/RCS CYCLE
047897,000635: 15,3072           55711                           TS       JETAG                                 #  RESTORE PROPER VALUE +0
047898,000636: 
047899,000637:                                                                                                  #  ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047900,000638: 15,3073           11506        EXDAP3             CCS      CALFA                                 #  HERE IF ABS(CALFA) GEQ COS(45)
047901,000639: 15,3074           31573                           CA       RAXERR                                #  C()= BETACOM - BETA/180
047902,000640: 15,3075           13101                           TCF      EXDAP1                                
047903,000641: 15,3076           45021                           CS       ZERO                                  
047904,000642: 15,3077           55700                           TS       CMDAPMOD                              #  FOR CM/RCS
047905,000643: 15,3100           41573                           CS       RAXERR                                #  COMPLEMENT OF YAW ERROR.
047906,000644: 15,3101           55573        EXDAP1             TS       RAXERR                                #  FOR YAW FDAI
047907,000645: 15,3102           55500                           TS       AK2                                   #  WANT RAXERR FOR TM.
047908,000646: 15,3103           54001                           TS       L                                     
047909,000647: 15,3104           11700                           CCS      CMDAPMOD                              #  COORDINATE BETA CONTROL.
047910,000648: 15,3105           03110                           TC       +3                                    #  C(CMDAPMOD) CAN BE +1, +0, OR -0.
047911,000649: 15,3106           35017                           CA       ONE                                   #  USE BETADOT TO COORD IN MODE +0
047912,000650: 15,3107           50000                           INDEX    A                                     #  OTHERWISE USE RREL.
047913,000651: 15,3110           31703                           CA       RREL                                  
047914,000652: 15,3111           03006                           TC       BIASEDZ                               #  GO TEST DZ.  +0 IF IN DZ, +-1 OTHERWISE
047915,000653:                                                                                                  #  IF GEQ 4D/S, SET ERROR BIT IN L=0)
047916,000654: 15,3112           00006                           EXTEND                                         
047917,000655: 15,3113           04001                           ROR      LCHAN                                 #  L HAS BETA BIT
047918,000656: 15,3114           50000                           INDEX    A                                     
047919,000657: 15,3115           33202                           CAF      YJETCODE                              
047920,000658: 15,3116           55720                           TS       JETEM                                 
047921,000659: 
047922,000660: 15,3117           31572                           CA       QAXERR                                #  ALFA ERROR.
047923,000661: 15,3120           54001                           TS       L                                     
047924,000662: 15,3121           31702                           CA       QREL                                  #  FOR ALFADOT USE QREL
047925,000663: 15,3122           03006                           TC       BIASEDZ                               
047926,000664: 15,3123           00006                           EXTEND                                         
047927,000665: 15,3124           04001                           ROR      LCHAN                                 
047928,000666: 15,3125           12770                           TCF      EXDAPIN                               #  CONTINUE ON IN DAP
047929,000667: 
047930,000668: 15,3126           25700        EXDAP2             INCR     CMDAPMOD                              #  SET CMDAPMOD TO +1
047931,000669: 
047932,000670: 15,3127           45017                           CS       ONE                                   #  INDICATE CHANGE FROM .1 SEC UPDATE TO
047933,000671: 15,3130           55711                           TS       JETAG                                 #  TO 2 SEC FOR ROLL JETS.  (IF CMDAPMOD
047934,000672:                                                                                                  #  =0 AND JETAG =-1, QUENCHES JETS IF ON)
047935,000673: 
047936,000674: 15,3131           11727                           CCS      P63FLAG                               #  IF FLAG WAS +1, SET =0.
047937,000675: 15,3132           55727                           TS       P63FLAG                               

Page 1079

047939,000677: 15,3133           13134                           NOOP                                           
047940,000678: 
047941,000679: 15,3134           11507                           CCS      SALFA                                 #  BETA CONTROL WITH P JETS
047942,000680: 15,3135           41573                           CS       RAXERR                                #  B()= BETACOM - BETA/180
047943,000681: 15,3136           13140                           TCF      +2                                    
047944,000682: 15,3137           31573                           CA       RAXERR                                
047945,000683: 15,3140           55713                           TS       PAXERR1                               #  TEMP SAVE.  ERROR/180
047946,000684: 15,3141           00006                           EXTEND                                         
047947,000685: 15,3142           75002                           MP       HALF                                  #  CM/FDAI EXPECTS ERROR/360.
047948,000686: 15,3143           57713                           XCH      PAXERR1                               #  ERROR/360 FOR FDAI, GET ERROR/180.
047949,000687: 15,3144           54001                           TS       L                                     
047950,000688: 15,3145           11507                           CCS      SALFA                                 
047951,000689: 15,3146           41704                           CS       BETADOT                               #  USE BETADOT TO COORD IN MODE +1
047952,000690: 15,3147           03151                           TC       +2                                    
047953,000691: 15,3150           31704                           CA       BETADOT                               
047954,000692: 15,3151           03006                           TC       BIASEDZ                               
047955,000693: 15,3152           00006                           EXTEND                                         
047956,000694: 15,3153           04001                           ROR      LCHAN                                 
047957,000695: 15,3154           50000                           INDEX    A                                     
047958,000696: 15,3155           33205                           CAF      P/RJCODE                              #  GET ROLL CODE
047959,000697: 15,3156           00006                           EXTEND                                         #  ROLL CONTROL WITH YAW JETS.
047960,000698: 15,3157           01006                           WRITE    ROLLJETS                              #  WE,LL SKIP REGULAR ROLL SYST
047961,000699: 
047962,000700: 15,3160           31717                           CA       ROLLHOLD                              #  ROLL/180 AT CM/DAPON TIME.
047963,000701: 15,3161           00006                           EXTEND                                         
047964,000702: 15,3162           21664                           MSU      ROLL/180                              #  1,S COMPL, BUT SO WHATS A BIT.?
047965,000703: 15,3163           54001                           TS       L                                     #  FORCE A LIMIT CYCLE IN YAW RATE.
047966,000704: 15,3164           11507                           CCS      SALFA                                 
047967,000705: 15,3165           30001                           CA       L                                     #  TO REMOVE ITS BIASING EFFECT ON M DOT.
047968,000706: 15,3166           03101                           TC       EXDAP1                                
047969,000707: 15,3167           40001                           CS       L                                     
047970,000708: 15,3170           03101                           TC       EXDAP1                                
047971,000709: 
047972,000710: 15,3171           04064        NSEC               DEC      2100       B-14                       #  65 DEG/ 3 DEG/SEC
047973,000711:                                                                                                  #  IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047974,000712: 15,3172           37734        4D/SLIM            DEC      16348      B-14                       #  1.0 -4/180 D/S = 4/1800 EXP 14
047975,000713: 15,3173           37756        YDOTLIM            DEC      16366      B-14                       #  =1.0 - YDOT DZ= 16384 -18
047976,000714:                                                                                                  #  YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047977,000715: 
047978,000716: 15,3174           00067        CM/BIAS            DEC      55         B-14                       #  =.6/180 B14 = 55
047979,000717: 15,3175           37267        YAWLIM             DEC      16055      B-14                       #  YAWLIM=1.0-3.6/180=16384-329=16055
047980,000718: 15,3176           11277        C45LIM             DEC      .29289                                #  =1.0-COS(45)
047981,000719: 
047982,000720: 15,3177           65033        SINTRIM            DEC      -.34202                               #  SIN(-20)      (FOR NOMINAL L/D = .3)
047983,000721: 15,3200           36044        COSTRIM            DEC      .93969                                #  COS(-20)      (FOR NOMINAL L/D = .3)
047984,000722: 
047985,000723:                                                                                                  #  TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047986,000724:                                                                                                  #  USED DURING ATMOSPHERIC COORDINATION.  OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
047987,000725:                                                                                                  #  FROM TRIM, SO USE ON-BOARD ESTIMATES.
047988,000726: 

Page 1080

047990,000728:                                                                                                  #  JET CODE TABLES FOLLOW _
047991,000729: 
047992,000730: 15,3201           00120                           OCTAL    00120                                 #  POS Y
047993,000731: 15,3202           00000        YJETCODE           OCTAL    00000                                 #  RCS JET BITS
047994,000732: 15,3203           00240                           OCTAL    00240                                 #  NEG Y
047995,000733: 15,3204           00005                           OCTAL    00005                                 #  POS R JET BITS        ALSO POS P JET BITS
047996,000734: 15,3205           00000        P/RJCODE           OCTAL    00000                                 
047997,000735: 15,3206           00012                           OCTAL    00012                                 #  NEG R                 ALSO NEG P
047998,000736: 

Page 1081

048000,000738:                                                                                                  #  RCS           THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
048001,000739:                                                                                                  #  THE TASK  SETJTAG  SETS A FLAG IN  JETAG  TO SIGNIFY THAT ROLL UPDATE IS DUE.  IN ROUGHLY 5 CS  BPDYRATE  WILL BE
048002,000740:                                                                                                  #  EXECUTED AND JETAG WILL CAUSE  CM/RCS  TO ACT ON ROLLC IMMEDIATELY THEREAFTER.  THE
048003,000741:                                                                                                  #  TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
048004,000742:                                                                                                  #  NEXT UPDATE.
048005,000743: 
048006,000744: 15,3207           40025        SETJTAG            CS       TIME1                                 #  SAVE NOMINAL UPDATE TIME FOR SYNCH
048007,000745: 15,3210           55712                           TS       TUSED                                 
048008,000746:                                                                                                  #  THE 5 CS APPEARS IN TIMETST.
048009,000747: 15,3211           35017                           CA       ONE                                   #  RATHER THAN INCR, FOR SAFETY
048010,000748: 15,3212           55711                           TS       JETAG                                 #  SET JETAG=1 TO CAUSE CM/RCS TO BE
048011,000749: 15,3213           05412                           TC       PHASCHNG                              
048012,000750: 15,3214           00001                           OCT      00001                                 
048013,000751: 
048014,000752: 15,3215           05324                           TC       TASKOVER                              #  EXECUTED AFTER NEXT BODYRATE UPDATE
048015,000753: 
048016,000754:                                                                                                  #  PREDICTIVE ROLL SYSTEM        ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC.  THE FOLLOWING CALCULATES THE
048017,000755:                                                                                                  #  TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V).  PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
048018,000756:                                                                                                  #  THE DESIRED TRAJECTORY.  ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL  T  (2 SEC) ARE ENTERED IN
048019,000757:                                                                                                  #  WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
048020,000758: 
048021,000759: 15,3216     5001               HALFPR             EQUALS   NEG1/2     +1                         
048022,000760: 
048023,000761:                                                                                                  #  CLEAR JETAG BEFORE TIMETST.  SET TO +0 TO SHOW
048024,000762:                                                                                                  #  ROLL DAP CALLED.  IN EVENT OF RESTART, BODYRATE
048025,000763:                                                                                                  #  MAY MISS A CYCLE.  CM/RCS WILL MISS A CYCLE ONLY
048026,000764:                                                                                                  #  IF A RESTART OCCURS AFTER TIMETST COMMENCES.
048027,000765: 
048028,000766: 15,3216           45017        CM/RCS             CS       ONE                                   
048029,000767: 15,3217           55617                           TS       JNDX                                  #  SET NDX FOR POS ROLL, AND CHANGE LATER
048030,000768: 
048031,000769: 15,3220           45033                           CS       2T/TCDU                               #  ROLLDOT = DELAOG + DELAIG SINM =DELR
048032,000770: 15,3221           00006                           EXTEND                                         
048033,000771: 15,3222           71701                           MP       PREL                                  #  DELR/180 = RDOT TCDU/180 = RDOT/1800
048034,000772: 15,3223           60001                           AD       L                                     #  -2 RDOT T/180 IN L
048035,000773: 15,3224           55613                           TS       -VT/180                               #  SAVE -2VT/180 HERE
048036,000774: 
048037,000775: 15,3225           41664                           CS       ROLL/180                              
048038,000776: 15,3226           54021                           TS       SR                                    #  SAVE (-R/180) /2
048039,000777: 
048040,000778: 15,3227           40102                           CS       CM/FLAGS                              
048041,000779: 15,3230           75014                           MASK     BIT4                                  #  LATSW = 101D BIT4
048042,000780: 15,3231           00006                           EXTEND                                         #  ROLL OVER TOP $
048043,000781: 15,3232           13240                           BZF      GETLCX                                #  NO, TAKE SHORTEST PATH
048044,000782: 15,3233           26102                           ADS      CM/FLAGS                              #  YES, ENFORCE ROLL OVER TOP.. (BIT =0)
048045,000783: 15,3234           31715                           CA       ROLLC                                 #  (ROLLC/180) /2
048046,000784: 15,3235           60021                           AD       SR                                    #  -(R/180) /2
048047,000785: 15,3236           57614                           XCH      LCX/360                               #  DIFFERENT X REQD HERE.  DISCONT AT 180.
048048,000786: 15,3237           13300                           TCF      COMPAT                                #  POSSIBLE OVFL ABOVE.
048049,000787: 

Page 1082

048051,000789: 15,3240           35002        GETLCX             CA       POS1/2                                #  FORM RCOM/360
048052,000790: 15,3241           60000                           DOUBLE                                         
048053,000791: 15,3242           61715                           AD       ROLLC                                 
048054,000792: 15,3243           57614                           XCH      LCX/360                               #  IGNORE POSSIBLE OVFL.
048055,000793: 
048056,000794: 15,3244           30021                           CA       SR                                    #  FORM -R/360
048057,000795: 15,3245           65000                           AD       NEG1/2                                
048058,000796: 15,3246           65000                           AD       NEG1/2                                #  IGNORE OVFL
048059,000797: 15,3247           57614                           XCH      LCX/360                               #  -R/360
048060,000798: 15,3250           27614                           ADS      LCX/360                               #  LCX/360 = RCOM/360 - R/360  RANGE (-1,1)
048061,000799: 
048062,000800:                                                                                                  #  DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2    OVFL ?
048063,000801: 
048064,000802: 15,3251           11613                           CCS      -VT/180                               #  TAKE SHORTEST ANGULAR PATH
048065,000803: 15,3252           65017                           AD       ONE                                   #  (BASED ON SINGLE JET ACCELERATION)
048066,000804: 15,3253           13255                           TCF      +2                                    
048067,000805: 15,3254           65017                           AD       ONE                                   
048068,000806: 15,3255           00006                           EXTEND                                         
048069,000807: 15,3256           71613                           MP       -VT/180                               #  C(-VT/180) = -2 VT/180
048070,000808: 15,3257           00006                           EXTEND                                         
048071,000809: 15,3260           73750                           MP       1/16A1                                #  = 180/(16 A1 TT)
048072,000810: 15,3261           00006                           EXTEND                                         
048073,000811: 15,3262           11506                           DV       CALFA                                 
048074,000812: 15,3263           54001                           TS       L                                     
048075,000813: 15,3264           11614                           CCS      LCX/360                               
048076,000814: 15,3265           35002                           CAF      POS1/2                                
048077,000815: 15,3266           13270                           TCF      +2                                    
048078,000816: 15,3267           45002                           CS       POS1/2                                
048079,000817: 15,3270           61614                           AD       LCX/360                               #  IS LCX/360 LESS THAN 180 DEG  $
048080,000818: 15,3271           60001                           AD       L                                     
048081,000819: 15,3272           54001                           TS       L                                     
048082,000820: 15,3273           13300                           TCF      COMPAT                                #  YES, GO ON.
048083,000821: 15,3274           50000        TRTAGXPI           INDEX    A                                     #  NO, SHIFT X BY - SGN(X) 2 PI
048084,000822: 15,3275           45001                           CS       HALFPR                                #  +A YIELDS -1/2
048085,000823: 15,3276           60000                           DOUBLE                                         
048086,000824: 15,3277           27614                           ADS      LCX/360                               
048087,000825: 
048088,000826: 15,3300           31614        COMPAT             CA       LCX/360                               #  CORRECT FOR ASSUMED COORD TURN.
048089,000827: 15,3301           00006                           EXTEND                                         
048090,000828: 15,3302           71506                           MP       CALFA                                 #  COS ALFA
048091,000829: 15,3303           55614                           TS       LCX/360                               #  SCALED LCX OK HERE.
048092,000830: 
048093,000831: 15,3304           11700                           CCS      CMDAPMOD                              #  FOUR POSSIBILITIES HERE
048094,000832: 15,3305           03675                           TC       DZCALL1                               #  EXIT, SETTING JETAG=0. (C(A)=0)
048095,000833:                                                                                                  #  ALL 3 AXES ALREADY DONE.
048096,000834: 15,3306           03307                           TC       +1                                    #  G LESS THAN .05.  CA POS. CONTINUE
048097,000835: 15,3307           31614                           CA       LCX/360                               #  G GEQ .05.  CONTINUE IN CM/RCS
048098,000836: 15,3310           55614                           TS       LCX/360                               #  CMDAPMOD=-0.  DAMPING ONLY. SET LCX=0
048099,000837: 15,3311           55571                           TS       ERRORZ                                #  INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
048100,000838: 15,3312           55713                           TS       PAXERR1                               #  SAVE LCX FOR FDAI AND EDIT.  (/360)

Page 1083

048102,000840: 15,3313           31613                           CA       -VT/180                               #  GET - 2 VT/180
048103,000841: 15,3314           54021                           TS       SR                                    
048104,000842: 15,3315           30021                           CA       SR                                    #  GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
048105,000843: 15,3316           55570                           TS       -VT/180E                              #                        DIAGNOSTIC ****
048106,000844: 15,3317           57613                           XCH      -VT/180                               #  NOW CONTENTS OF -VT/180 AS LABELED
048107,000845: 15,3320           00006                           EXTEND                                         
048108,000846: 15,3321           71613                           MP       -VT/180                               #  B(A) = -2VT/180
048109,000847: 15,3322           00006                           EXTEND                                         
048110,000848: 15,3323           73750                           MP       180/8ATT                              
048111,000849: 15,3324           55616                           TS       VSQ/4API                              
048112,000850: 
048113,000851:                                                                                                  #  IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360  POS?
048114,000852: 
048115,000853: 15,3325           60000        WHICHALF           DOUBLE                                         #  FOR SECOND BURN, A1
048116,000854: 15,3326           40000                           COM                                            
048117,000855: 15,3327           63754                           AD       BUFLIM                                #  =BUFLIM/(2 360)
048118,000856: 15,3330           54001                           TS       L                                     
048119,000857: 15,3331           11613                           CCS      -VT/180                               
048120,000858: 15,3332           40001                           CS       L                                     
048121,000859: 15,3333           13335                           TCF      +2                                    
048122,000860: 15,3334           30001                           CA       L                                     
048123,000861: 15,3335           61614                           AD       LCX/360                               
048124,000862: 15,3336           63754                           AD       BUFLIM                                
048125,000863: 15,3337           00006                           EXTEND                                         
048126,000864: 15,3340           63355                           BZMF     REFLECT                               #  POINT (X,V) IN LHP.
048127,000865: 
048128,000866:                                                                                                  #  IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360  NEG?
048129,000867: 
048130,000868: 15,3341           40000                           COM                                            
048131,000869: 15,3342           63754                           AD       BUFLIM                                
048132,000870: 15,3343           63754                           AD       BUFLIM                                
048133,000871: 15,3344           00006                           EXTEND                                         
048134,000872: 15,3345           63364                           BZMF     DZ1                                   #  POINT (X,V) IN RHP.
048135,000873: 
048136,000874:                                                                                                  #  IS POINT WITHIN VELOCITY DZ?
048137,000875: 
048138,000876: 15,3346           43747                           CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN NEG?
048139,000877: 15,3347           61616                           AD       VSQ/4API                              
048140,000878: 15,3350           00006                           EXTEND                                         
048141,000879: 15,3351           63657                           BZMF     DZCALL                                #  YES.
048142,000880: 
048143,000881:                                                                                                  #  POINT IS IN BUFFER ZONE.  THRUST TO X AXIS.
048144,000882: 
048145,000883: 15,3352           41617                           CS       JNDX                                  
048146,000884: 15,3353           55620                           TS       JNDX1                                 
048147,000885: 15,3354           03437                           TC       OVRLINE1                              
048148,000886: 
048149,000887: 15,3355           41613        REFLECT            CS       -VT/180                               #  REFLECT LHP INTO RHP REL TO TERM CONTR
048150,000888: 15,3356           55613                           TS       -VT/180                               
048151,000889: 15,3357           54021                           TS       SR                                    #  -VT/360 SAVED FOR DZ.

Page 1084

048153,000891: 15,3360           41614                           CS       LCX/360                               
048154,000892: 15,3361           55614                           TS       LCX/360                               
048155,000893: 15,3362           41617                           CS       JNDX                                  
048156,000894: 15,3363           55617                           TS       JNDX                                  
048157,000895: 
048158,000896:                                                                                                  #  IS VSQ/4API - (VSQ/4API) MIN NEG    $
048159,000897: 
048160,000898: 15,3364           43747        DZ1                CS       VSQMIN                                #  IS VSQ/4API - (VSQ/4API) MIN NEG  $
048161,000899: 15,3365           61616                           AD       VSQ/4API                              
048162,000900: 15,3366           00006                           EXTEND                                         
048163,000901: 15,3367           63371                           BZMF     DZ2                                   #  YES, GO TEST FURTHER.
048164,000902: 15,3370           13376                           TCF      MAXVTEST                              #  NO
048165,000903: 
048166,000904:                                                                                                  #  IS X/360 - XMIN/360 -VT/360 NEG   $
048167,000905: 
048168,000906: 15,3371           43752        DZ2                CS       XMIN/360                              #  XMIN/360 = 4/360
048169,000907: 15,3372           61614                           AD       LCX/360                               
048170,000908: 15,3373           60021                           AD       SR                                    #  C(SR) = -VT/360
048171,000909: 15,3374           00006                           EXTEND                                         #  IS X/360 - XMIN/360 -VT/360 NEG  $
048172,000910: 15,3375           63657                           BZMF     DZCALL                                #  YES,IN DZ.  EXIT SETTING JETAG=0.
048173,000911: 
048174,000912:                                                                                                  #  IS XD/360 - VM/360K - XS/360 POS   ?
048175,000913: 
048176,000914: 15,3376           41617        MAXVTEST           CS       JNDX                                  
048177,000915: 15,3377           55620                           TS       JNDX1                                 #  NOW CAN SET JNDX1 FOR TON2 JETS.
048178,000916: 15,3400           43754                           CS       XS/360                                #  XS/360 = (XMIN -YMIN/K) /360
048179,000917: 15,3401           61616                           AD       VSQ/4API                              
048180,000918: 15,3402           61614                           AD       LCX/360                               
048181,000919: 15,3403           55615                           TS       XD/360                                #  XD/360= X/360 +VSQ/4API   X INTERCEPT
048182,000920:                                                                                                  #  BUT C(XD/360) = (XD - XS) /360
048183,000921: 15,3404           63753                           AD       -VM/360K                              #  X INTERCEPT FOR MAX V (VM)
048184,000922: 15,3405           40000                           COM                                            
048185,000923: 15,3406           00006                           EXTEND                                         
048186,000924: 15,3407           63415                           BZMF     MAXVTIM1                              #  YES, THRUST TO VM
048187,000925: 15,3410           31615                           CA       XD/360                                
048188,000926: 15,3411           00006                           EXTEND                                         
048189,000927: 15,3412           75002                           MP       KTRCS                                 
048190,000928: 15,3413           20001                           DDOUBL                                         #  GO SAVE PREDICTED DRIFTING VELOCITY.
048191,000929: 
048192,000930: 15,3414           03420                           TC       GETON1                                #  INSURE THAT Q IS POS AS TAG.
048193,000931: 15,3415           00006        MAXVTIM1           EXTEND                                         
048194,000932: 15,3416           22007                           ZQ                                             #  SET +0 AS TAG
048195,000933: 15,3417           43753                           CS       -VMT/180                              
048196,000934: 15,3420           55567        GETON1             TS       VDT/180                               #  VDT/180 OR VMT/180.
048197,000935: 15,3421           61613                           AD       -VT/180                               
048198,000936: 15,3422           60000                           DOUBLE                                         
048199,000937: 15,3423           00006                           EXTEND                                         
048200,000938: 15,3424           73750                           MP       180/8ATT                              
048201,000939: 15,3425           55621                           TS       TON1                                  #  TON1 / 4T

Page 1085

048203,000941: 15,3426           00006                           EXTEND                                         
048204,000942: 15,3427           63431                           BZMF     OVRLINE                               
048205,000943: 15,3430           03443                           TC       GETON2                                #  RESET Q POS IF CAME FROM MAXVTIM1
048206,000944: 
048207,000945: 15,3431           10002        OVRLINE            CCS      Q                                     
048208,000946: 15,3432           13437                           TCF      OVRLINE1                              
048209,000947: 15,3433           31620        MAXVTIM2           CA       JNDX1                                 #  ABOVE VM, SO THRUST DOWN
048210,000948: 15,3434           55617                           TS       JNDX                                  
048211,000949: 15,3435           41621                           CS       TON1                                  
048212,000950: 15,3436           13442                           TCF      OVRLINE2   +1                         
048213,000951: 
048214,000952: 15,3437           41613        OVRLINE1           CS       -VT/180                               #  DRIFT AT V
048215,000953: 15,3440           55567                           TS       VDT/180                               
048216,000954: 15,3441           35021        OVRLINE2           CA       ZERO                                  
048217,000955: 15,3442           55621                           TS       TON1                                  
048218,000956: 15,3443           31567        GETON2             CA       VDT/180                               #  VDT/180, OR VMT/180 OR VT/180
048219,000957: 15,3444           60000                           DOUBLE                                         
048220,000958: 15,3445           00006                           EXTEND                                         
048221,000959: 15,3446           73750                           MP       180/8ATT                              
048222,000960: 15,3447           60000                           DOUBLE                                         #  FOR SECOND BURN, A1
048223,000961: 15,3450           55607                           TS       TON2                                  #  = TON2 / 4T
048224,000962: 
048225,000963: 15,3451           40000                           COM                                            
048226,000964: 15,3452           00006                           EXTEND                                         
048227,000965: 15,3453           63457                           BZMF     GETOFF                                
048228,000966: 15,3454           55607                           TS       TON2                                  
048229,000967: 15,3455           31617                           CA       JNDX                                  
048230,000968: 15,3456           55620                           TS       JNDX1                                 
048231,000969: 
048232,000970: 15,3457           41607        GETOFF             CS       TON2                                  #  TON2 / 4T
048233,000971: 15,3460           00006                           EXTEND                                         
048234,000972: 15,3461           71567                           MP       VDT/180                               #  VDT/180, OR VT/180, OR VMT/180.
048235,000973: 15,3462           55615                           TS       XD/360                                #  USE AS TEMP
048236,000974: 15,3463           41567                           CS       VDT/180                               
048237,000975: 15,3464           00006                           EXTEND                                         
048238,000976: 15,3465           13501                           BZF      TOFFOVFL                              #  OMIT THE DIVIDE IF DEN = 0.
048239,000977: 15,3466           61613                           AD       -VT/180                               
048240,000978: 15,3467           00006                           EXTEND                                         
048241,000979: 15,3470           71621                           MP       TON1                                  #  TON1 /4T
048242,000980: 15,3471           61615                           AD       XD/360                                #  TEMP = -VDT/180 / 2 TON2
048243,000981: 15,3472           61614                           AD       LCX/360                               
048244,000982: 15,3473           22007                           ZL                                             
048245,000983: 15,3474           56001                           XCH      L                                     #  TEST THE DIVIDE
048246,000984: 15,3475           00006                           EXTEND                                         
048247,000985: 15,3476           11567                           DV       VDT/180                               
048248,000986: 15,3477           00006                           EXTEND                                         
048249,000987: 15,3500           13503                           BZF      GETOFF2                               #  DIVIDE OK
048250,000988: 
048251,000989: 15,3501           35045        TOFFOVFL           CA       2JETT                                 #  OVFL, USE  2T  FOR CONVENIENCE.
048252,000990: 15,3502           13510                           TCF      TIMSCAL                               
048253,000991: 

Page 1086

048255,000993: 15,3503           56001        GETOFF2            XCH      L                                     #  GET NUMERATOR.
048256,000994: 15,3504           00006                           EXTEND                                         
048257,000995: 15,3505           11567                           DV       VDT/180                               #  C(A) = TOFF / 2T
048258,000996: 15,3506           00006                           EXTEND                                         
048259,000997: 15,3507           75045                           MP       2JETT                                 
048260,000998: 15,3510           55605        TIMSCAL            TS       TOFF                                  #  IN CS
048261,000999: 
048262,001000: 15,3511           33751                           CAF      4JETT                                 
048263,001001: 15,3512           00006                           EXTEND                                         
048264,001002: 15,3513           71621                           MP       TON1                                  #  C(TON1) = TON1 / 4T
048265,001003: 15,3514           55621                           TS       TON1                                  #  IN CS
048266,001004: 
048267,001005: 15,3515           33751                           CAF      4JETT                                 
048268,001006: 15,3516           00006                           EXTEND                                         
048269,001007: 15,3517           71607                           MP       TON2                                  #  C(TON2) = TON2 / 4T
048270,001008: 15,3520           55607                           TS       TON2                                  #  IN CS
048271,001009: 
048272,001010: 15,3521           35021                           CA       ZERO                                  #  CANNOT REDO AFTER TIMETST.  TUSED GONE
048273,001011: 15,3522           55711                           TS       JETAG                                 #  SET +0 TO SHOW ROLL DAP CALLED.
048274,001012: 
048275,001013:                                                                                                  #  CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
048276,001014:                                                                                                  #  INITIALIZED.  ALSO CAUSE NEEDLES TO BE DONE ON NEXT
048277,001015:                                                                                                  #  AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
048278,001016: 
048279,001017: 15,3523           35017                           CA       ONE                                   
048280,001018: 15,3524           54305                           TS       SW/NDX                                
048281,001019: 

Page 1087

048283,001021:                                                                                                  #  TIMETEST SECTION FOR RCS
048284,001022: 
048285,001023:                                                                                                  #  ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
048286,001024:                                                                                                  #  JNDX1.  SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
048287,001025:                                                                                                  #  (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
048288,001026:                                                                                                  #  (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
048289,001027:                                                                                                  #  TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS.  THUS:  TON1, T1BITS,
048290,001028:                                                                                                  #  TOFF, TBITS, TON2, T2BITS.  OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
048291,001029:                                                                                                  #  SECTION JETCALL BELOW PROCESSES THIS LIST.
048292,001030: 
048293,001031: 15,3525           30025        TIMETST            CA       TIME1                                 #  CORRECT FOR POSSIBLE TIME1 OVFL.
048294,001032: 15,3526           65002                           AD       POS1/2                                
048295,001033: 15,3527           65002                           AD       POS1/2                                #  OVFL GUARANTEED.
048296,001034: 15,3530           27712                           ADS      TUSED                                 #  B(TUSED) =-TUSED =-OLTIME1
048297,001035: 
048298,001036: 15,3531           33746                           CA       -T-3                                  #  =-T +2 -5 (SEE SETJTAG)
048299,001037:                                                                                                  #  THE +2 REQUIRED FOR PROPER BRANCH.
048300,001038: 15,3532           27712                           ADS      TUSED                                 #  TUSED = TIME(K)-TIME(K-1)-T+2
048301,001039: 
048302,001040: 15,3533           45016                           CS       TWO                                   #  USE 2 SINCE TIME3 UNCERTAIN TO 1
048303,001041: 15,3534           61621                           AD       TON1                                  
048304,001042: 15,3535           00006                           EXTEND                                         
048305,001043: 15,3536           63550                           BZMF     TIMETST1                              
048306,001044: 15,3537           51617                           INDEX    JNDX                                  
048307,001045: 15,3540           33205                           CAF      P/RJCODE                              
048308,001046: 15,3541           55622                           TS       T1BITS                                
048309,001047: 
048310,001048: 15,3542           31621                           CA       TON1                                  
048311,001049: 15,3543           27712                           ADS      TUSED                                 
048312,001050: 15,3544           00006                           EXTEND                                         
048313,001051: 15,3545           63552                           BZMF     TOFFTEST                              
048314,001052: 15,3546           35021                           CA       ZERO                                  
048315,001053: 15,3547           13603                           TCF      TIMETST3                              
048316,001054: 15,3550           45017        TIMETST1           CS       ONE                                   
048317,001055: 15,3551           55621                           TS       TON1                                  
048318,001056: 15,3552           45016        TOFFTEST           CS       TWO                                   
048319,001057: 15,3553           61605                           AD       TOFF                                  
048320,001058: 15,3554           00006                           EXTEND                                         
048321,001059: 15,3555           63564                           BZMF     TIMETST2                              
048322,001060: 15,3556           31605                           CA       TOFF                                  
048323,001061: 15,3557           27712                           ADS      TUSED                                 
048324,001062: 15,3560           00006                           EXTEND                                         
048325,001063: 15,3561           63566                           BZMF     TON2TEST                              
048326,001064: 15,3562           35021                           CA       ZERO                                  
048327,001065: 15,3563           13605                           TCF      TIMETST4                              
048328,001066: 15,3564           45017        TIMETST2           CS       ONE                                   
048329,001067: 15,3565           55605                           TS       TOFF                                  
048330,001068: 15,3566           45016        TON2TEST           CS       TWO                                   
048331,001069: 15,3567           61607                           AD       TON2                                  
048332,001070: 15,3570           00006                           EXTEND                                         
048333,001071: 15,3571           63606                           BZMF     TIMETST5                              

Page 1088

048335,001073: 15,3572           51620                           INDEX    JNDX1                                 
048336,001074: 15,3573           33205                           CAF      P/RJCODE                              
048337,001075: 15,3574           55610                           TS       T2BITS                                
048338,001076: 15,3575           31607                           CA       TON2                                  
048339,001077: 15,3576           27712                           ADS      TUSED                                 
048340,001078: 15,3577           00006                           EXTEND                                         
048341,001079: 15,3600           63610                           BZMF     JETCALL1                              
048342,001080: 15,3601           35021                           CA       ZERO                                  
048343,001081: 15,3602           13607                           TCF      TIMETST5   +1                         
048344,001082: 15,3603           55621        TIMETST3           TS       TON1                                  
048345,001083: 15,3604           45017                           CS       ONE                                   
048346,001084: 15,3605           55605        TIMETST4           TS       TOFF                                  
048347,001085: 15,3606           45017        TIMETST5           CS       ONE                                   
048348,001086: 15,3607           55607                           TS       TON2                                  
048349,001087: 
048350,001088:                                                                                                  #  SECTION  JETCALL  EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
048351,001089:                                                                                                  #  JET CODES.  A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
048352,001090:                                                                                                  #  EXECUTED.  A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
048353,001091:                                                                                                  #  EXECUTED.  A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED.  IN EVENT OF +0 OR -1, THE 
048354,001092:                                                                                                  #  SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION.  THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
048355,001093:                                                                                                  #  THAN ONE REGISTER.
048356,001094: 
048357,001095: 15,3610           35021        JETCALL1           CA       ZERO                                  
048358,001096: 15,3611           55611                           TS       OUTTAG                                
048359,001097: 15,3612           55612                           TS       NUJET                                 
048360,001098: 15,3613           55606                           TS       TBITS                                 
048361,001099: 15,3614           53622                           DXCH     TON1                                  
048362,001100: 15,3615           10000                           CCS      A                                     
048363,001101: 15,3616           13633                           TCF      JETCALL2                              #  CALL WTLST
048364,001102: 15,3617           23612        JETCALL3           LXCH     NUJET                                 #  WTLST ENTRIES COME HERE FROM JETCALL
048365,001103: 15,3620           45017                           CS       ONE                                   
048366,001104: 15,3621           53606                           DXCH     TOFF                                  
048367,001105: 15,3622           10000                           CCS      A                                     
048368,001106: 15,3623           13633                           TCF      JETCALL2                              #  CALL WTLST
048369,001107: 15,3624           23612                           LXCH     NUJET                                 
048370,001108: 15,3625           45017                           CS       ONE                                   
048371,001109: 15,3626           53610                           DXCH     TON2                                  
048372,001110: 15,3627           10000                           CCS      A                                     
048373,001111: 15,3630           13633                           TCF      JETCALL2                              #  CALL WTLST
048374,001112: 15,3631           23612                           LXCH     NUJET                                 
048375,001113: 15,3632           03642                           TC       JETACTN                               #  C(A) = +0
048376,001114: 15,3633           56001        JETCALL2           XCH      L                                     #  SAVE JET BITS FOR AFTER WTLST CALL
048377,001115: 15,3634           27612                           ADS      NUJET                                 
048378,001116: 15,3635           56001                           XCH      L                                     
048379,001117: 15,3636           65017                           AD       ONE                                   #  RESTORE FOR CCS
048380,001118: 15,3637           05245                           TC       WAITLIST                              
048381,001119: 15,3640  E6,1661                                  EBANK=   AOG                                   
048382,001120: 15,3640           03650 32066                     2CADR    JETCALL                               
048383,001121: 
048384,001122: 15,3642           31612        JETACTN            CA       NUJET                                 #  COME HERE WHEN DESIRED JET CODE IS KNOWN

Page 1089

048386,001124: 15,3643           00006                           EXTEND                                         #  NO NEED TO SAVE OLD CODES
048387,001125: 15,3644           01006                           WRITE    ROLLJETS                              #  SET RCHAN TO NEW BIT CONFIG.
048388,001126: 
048389,001127: 15,3645           11611                           CCS      OUTTAG                                
048390,001128: 15,3646           05324                           TC       TASKOVER                              
048391,001129: 15,3647           03705        ROLLDUMP           TC       CM/FDAIR                              
048392,001130: 
048393,001131:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
048394,001132: 
048395,001133:                                                                                                  #  WAITLIST ENTRIES COME HERE.
048396,001134: 
048397,001135: 15,3650           35016        JETCALL            CAF      BIT2                                  #  CM/DSTBY =103D BIT2
048398,001136: 15,3651           55611                           TS       OUTTAG                                #  SIGNIFY WTLST ENTRY
048399,001137: 15,3652           70102                           MASK     CM/FLAGS                              #  IS SYSTEM DISABLED  $
048400,001138: 15,3653           00006                           EXTEND                                         
048401,001139: 15,3654           13643                           BZF      JETACTN    +1                         #  YES, QUENCH ROLL JETS, IF ON AND EXIT.
048402,001140: 15,3655           22007                           ZL                                             #  NO, CONTINUE.
048403,001141: 15,3656           13617                           TCF      JETCALL3                              #  C(A) POS, C(L) = +0
048404,001142: 
048405,001143:                                                                                                  #  DEAD ZONE ENTRIES COME HERE.
048406,001144: 
048407,001145: 15,3657           41700        DZCALL             CS       CMDAPMOD                              #  POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
048408,001146: 15,3660           75017                           MASK     BIT1                                  
048409,001147: 15,3661           54001                           TS       L                                     #  C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
048410,001148: 15,3662           50000                           INDEX    A                                     #  ERASBLE ORDER:  ROLLTM,ROLLC,ROLLC +1.
048411,001149: 15,3663           31714                           CA       ROLLTM                                #  GET ROLL/180 OR ROLLC (/360).
048412,001150: 15,3664           50001                           INDEX    L                                     
048413,001151: 15,3665           54000                           TS       A                                     #  IF C(L)=1, STORE 'ROLLC' IN 'L'.
048414,001152: 15,3666           60001                           AD       L                                     #  (BOTH MUST BE SCALED DEG/180)
048415,001153: 15,3667           02522                           TC       ANGOVCOR                              #  C(A)=ROLL/180 OR 2 ROLLC  .
048416,001154: 15,3670           55717                           TS       ROLLHOLD                              #  IF CMDAPMOD =-0, SAVE ROLL ANGLE,
048417,001155:                                                                                                  #        OTHERWISE, SAVE ROLL COMMAND.
048418,001156: 
048419,001157: 15,3671           35021                           CA       ZERO                                  #  COME HERE IF IN DZ, AND CANCEL JETS.
048420,001158: 15,3672           00006                           EXTEND                                         #  INHINT NOT NEEDED HERE.
048421,001159: 15,3673           01006                           WRITE    ROLLJETS                              #  TURN OFF ALL ROLL JETS.
048422,001160: 15,3674           55567                           TS       VDT/180                               #  SET =0 TO SHOW IN DEAD ZONE.
048423,001161: 15,3675           55711        DZCALL1            TS       JETAG                                 #  COME HERE WITH C(A)=0.
048424,001162: 15,3676           03647                           TC       ROLLDUMP                              
048425,001163: 

Page 1090

048427,001165:                                                                                                  #  CM ENTRY FDAI DISPLAY
048428,001166: 
048429,001167:                                                                                                  #  CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES.  DISPLAY ATTITUDE ERRORS AS FOLLOWS:
048430,001168:                                                                                                  #        ATM DAP:        DISPLAY ONLY ROLL ATTITUDE ERROR.
048431,001169:                                                                                                  #        EXT ATM DAP:    PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
048432,001170:                                                                                                  #                                ROLL    ROLLC-ROLL
048433,001171:                                                                                                  #                                PITCH   ALFAC-ALFA
048434,001172:                                                                                                  #                                YAW     BETAC-BETA
048435,001173: 
048436,001174:                                                                                                  #  DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
048437,001175:                                                                                                  #  THE SUBROUTINE  NEEDLER  EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
048438,001176: 
048439,001177:                                                                                                  #  COME HERE EACH .1 SEC.  (CMDAPMOD=+1 COMES BELOW)
048440,001178: 15,3677           41705        CM/FDAI            CS       PHIDOT                                #  INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
048441,001179: 15,3700           00006                           EXTEND                                         
048442,001180: 15,3701           71506                           MP       CALFA                                 #  FOR ASSUMED COORDINATION.
048443,001181: 15,3702           00006                           EXTEND                                         
048444,001182: 15,3703           75002                           MP       HALF                                  
048445,001183: 15,3704           27713                           ADS      PAXERR1                               #  ROLL ERROR/360.  OVFL OK.
048446,001184: 
048447,001185:                                                                                                  #  EDIT DUMP AT ABOVE LOCATION.
048448,001186: 15,3705           35002        CM/FDAIR           CA       HALF                                  
048449,001187: 15,3706           00006                           EXTEND                                         
048450,001188: 15,3707           71713                           MP       PAXERR1                               #  FULL SCALE FOR FDAI (ROLL) IS 67.5 D
048451,001189: 15,3710           55476                           TS       PAXERR                                #  .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
048452,001190: 
048453,001191:                                                                                                  #  PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
048454,001192:                                                                                                  #  TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
048455,001193:                                                                                                  #  SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
048456,001194:                                                                                                  #  IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
048457,001195:                                                                                                  #  THE SUBSEQUENT PASS.
048458,001196: 
048459,001197: 15,3711           40305        CM/DUMPR           CS       SW/NDX                                #  COMBINED ALTERNATION SWITCH AND FILE
048460,001198: 15,3712           54305                           TS       SW/NDX                                
048461,001199: 15,3713           00006                           EXTEND                                         #  INDEX.
048462,001200: 15,3714           63720                           BZMF     CMTMFILE                              #  FILE STARTS WITH SW/NDX +1 AND GOES TO
048463,001201:                                                                                                  #  ENDBUF.                       
048464,001202:                                                                                                  #  INDEX IS POS FOR NEEDLES
048465,001203: 
048466,001204: 15,3715           04740                           TC       IBNKCALL                              
048467,001205: 15,3716           42420                           CADR     NEEDLER                               
048468,001206: 
048469,001207: 15,3717           03736                           TC       CM/END                                
048470,001208: 
048471,001209:                                                                                                  #  INDEX IS NEG FOR TM FILE
048472,001210: 
048473,001211: 15,3720           66214        CMTMFILE           AD       THREE                                 
048474,001212: 15,3721           00006                           EXTEND                                         
048475,001213: 15,3722           63726                           BZMF     SAVENDX                               
048476,001214: 

Page 1091

048478,001216: 15,3723           30025                           CA       TIME1                                 #  INITIALIZE THE TM LIST IN UPBUFF.
048479,001217: 15,3724           54304                           TS       CMTMTIME                              
048480,001218: 15,3725           45025                           CS       THIRTEEN                              #  INITIALIZE COUNTER
048481,001219: 15,3726           54305        SAVENDX            TS       SW/NDX                                #  A NEGATIVE NUMBER.
048482,001220: 15,3727           00006                           EXTEND                                         
048483,001221: 15,3730           31702                           DCA      PREL                                  
048484,001222: 15,3731           50305                           INDEX    SW/NDX                                
048485,001223: 15,3732           52324                           DXCH     ENDBUF     -1                         
048486,001224: 15,3733           31703                           CA       RREL                                  
048487,001225: 15,3734           50305                           INDEX    SW/NDX                                
048488,001226: 15,3735           54325                           TS       ENDBUF     +1                         
048489,001227: 
048490,001228: 15,3736           31623        CM/END             CA       CM/SAVE                               
048491,001229: 15,3737           54021                           TS       SR                                    
048492,001230:                                                                                                  #  DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
048493,001231: 
048494,001232: 15,3740           00006                           EXTEND                                         
048495,001233: 15,3741           33745                           DCA      T5IDLER2                              
048496,001234: 15,3742           53313                           DXCH     T5LOC                                 
048497,001235: 15,3743           05333                           TC       RESUME                                
048498,001236: 
048499,001237: 15,3744     1312                                  EBANK=   T5LOC                                 
048500,001238: 15,3744           03153 12062  T5IDLER2           2CADR    T5IDLOC                               
048501,001239: 
048502,001240:                                                                                                  #  DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
048503,001241:                                                                                                  #  USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
048504,001242:                                                                                                  #  THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
048505,001243:                                                                                                  #  DATA POINTS EACH 1 SEC.  TM LIST IS READ TWICE
048506,001244:                                                                                                  #  EACH 2 SECONDS.
048507,001245: 
048508,001246:                                                                                                  #  THE SEQUENCE IS:      SP TIME         INITIAL TIME
048509,001247:                                                                                                  #                        SWITCH          ALSO INDEX.
048510,001248:                                                                                                  #                        P               ROLL RATE
048511,001249:                                                                                                  #                        Q               PITCH RATE
048512,001250:                                                                                                  #                        R               YAW RATE
048513,001251:                                                                                                  #                        ETC.
048514,001252: 
048515,001253:                                                                                                  # CMTMTIME       =       UPBUFF
048516,001254:                                                                                                  # SW/NDX         =       UPBUFF +1
048517,001255:                                                                                                  # ENDBUF         =       UPBUFF +16D
048518,001256: 

Page 1092

048520,001258:                                                                                                  #  SPACER
048521,001259: 
048522,001260:                                                                                                  #  CONSTANTS USED IN THE ROLL CONTROL SYSTEM:    
048523,001261:                                                                                                  #  CONSTANTS ARE THE FOLLOWING:  A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
048524,001262:                                                                                                  #  XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
048525,001263:                                                                                                  #  XBUF = 4DEG
048526,001264: 
048527,001265: 15,3746           77464        -T-3               DEC      -203       B-14                       #  CS
048528,001266: 15,3747           00012        VSQMIN             DEC      .61050061  E-3                        #  VSQ MIN/4 A PI = 4/(4 (9.1) 180)
048529,001267: 15,3750     5033               2T/TCDU            =        OCT50                                 #  T/TCDU EXP-14    TCDU = .1SEC
048530,001268: 15,3750           23617        180/8ATT           DEC      .61813187                             #  180/(8 (9.1) 4)=(180/ATT)     EXP -3
048531,001269: 15,3751  15,3753               -VMT/180           =        -VM/360K                              #  = 20 (2) / 180
048532,001270: 15,3751     5045               2JETT              =        4SECS                                 #  CS            2 (2) 100       INTEGER
048533,001271: 15,3751           01440        4JETT              DEC      800        B-14                       #  CS            4 (2) 100       INTEGER
048534,001272: 15,3752           00266        XMIN/360           DEC      182        B-14                       #  XMIN/360 = 4/ 360  EXP 14  = 182 INTEGER
048535,001273: 15,3753           70706        -VM/360K           DEC      -.22222222                            #  =-20/( 360 (.25))
048536,001274: 15,3754  15,3750               1/16A1             =        180/8ATT                              
048537,001275:                                                                                                  #  1/16A1   = 180/(16 A1 TT)
048538,001276:                                                                                                  #           = 180/(16 4.55 4)
048539,001277: 15,3754           00133        XS/360             DEC      91         B-14                       #  = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
048540,001278: 15,3755  15,3754               BUFLIM             =        XS/360                                #  4/(2 360)
048541,001279: 
048542,001280: 15,3755     5002               KTRCS              =        HALF                                  #     KT = (.25) 2 = .5
048543,001281: 
048544,001282: 

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