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.

042973,000002:                                                                                                  ## Copyright:   Public domain.
042974,000003:                                                                                                  ## Filename:    TVCDAPS.agc
042975,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
042976,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
042977,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
042978,000007:                                                                                                  ## Assembler:   yaYUL
042979,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
042980,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
042981,000010:                                                                                                  ## Pages:       961-978
042982,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
042983,000012:                                                                                                  ##                              same name, using Comanche055 page images.
042984,000013:                                                                                                  ##              2009-05-20 RSB  Corrections:  Eliminated an extraneous EXTEND,
042985,000014:                                                                                                  ##                              added a missing instruction to PFORWARD.
042986,000015:                                                                                                  ##              2000-05-21 RSB  Wrong opcode was used with DELBRTMP and 
042987,000016:                                                                                                  ##                              DELBRTMP +1 operands in 4 places.  Corrected
042988,000017:                                                                                                  ##                              an MP operation in 2CASFLTR.
042989,000018:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
042990,000019:                                                                                                  ##                              and corrected the errors found.
042991,000020:                                                                                                  ##              2017-01-20 RSB  Fixed comment-text errors noted while diff'ing
042992,000021:                                                                                                  ##                              vs Colossus 249.
042993,000022:                                                                                                  ##              2017-02-09 RSB  Fixed comment-text errors noted while proofing Artemis 72.
042994,000023:                                                                                                  ##
042995,000024:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
042996,000025:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
042997,000026:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
042998,000027:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
042999,000028:                                                                                                  ## consequent reduction in image quality as well) are available online at
043000,000029:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
043001,000030:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
043002,000031:                                                                                                  ## (much) higher-quality images which Paul actually created.
043003,000032:                                                                                                  ##
043004,000033:                                                                                                  ## Notations on the hardcopy document read, in part:
043005,000034:                                                                                                  ##
043006,000035:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
043007,000036:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
043008,000037:                                                                                                  ##
043009,000038:                                                                                                  ##      This AGC program shall also be referred to as
043010,000039:                                                                                                  ##                      Colossus 2A
043011,000040: 

Page 961

043013,000042:                                                                                                  #  PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
043014,000043:                                                                                                  #  LOG SECTION...TVCDAPS                 SUBROUTINE...DAPCSM
043015,000044:                                                                                                  #  MODIFIED BY SCHLUNDT                          21 OCTOBER 1968
043016,000045: 
043017,000046:                                                                                                  #  FUNCTIONAL DESCRIPTION....
043018,000047: 
043019,000048:                                                                                                  #        SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
043020,000049:                                                                                                  #        FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
043021,000050:                                                                                                  #        IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
043022,000051:                                                                                                  #        (S40.8).  IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
043023,000052:                                                                                                  #        ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
043024,000053: 
043025,000054:                                                                                                  #        THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
043026,000055:                                                                                                  #        EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
043027,000056:                                                                                                  #        GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
043028,000057:                                                                                                  #        INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
043029,000058:                                                                                                  #        FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
043030,000059:                                                                                                  #        CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
043031,000060: 
043032,000061:                                                                                                  #        THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
043033,000062:                                                                                                  #        TIME, AS DETERMINED BY T5TVCDT.  THE ACTUATOR COMMANDS ARE
043034,000063:                                                                                                  #        REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
043035,000064:                                                                                                  #        TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
043036,000065:                                                                                                  #        MODING.
043037,000066: 
043038,000067:                                                                                                  #  CALLING SEQUENCE.... (TYPICALLY)
043039,000068: 
043040,000069:                                                                                                  #        T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
043041,000070:                                                                                                  #        T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
043042,000071:                                                                                                  #        T5 CALL OF PITCHDAP BY DAPINIT
043043,000072:                                                                                                  #        T5 CALL OF YAWDAP BY PITCHDAP
043044,000073:                                                                                                  #        T5 CALL OF PITCHDAP BY YAWDAP
043045,000074:                                                                                                  #                ETC.
043046,000075:                                                                                                  #        (AUTOMATIC SEQUENCING FROM TVCDAPON)
043047,000076: 
043048,000077:                                                                                                  #  NORMAL EXIT MODE....RESUME
043049,000078: 
043050,000079:                                                                                                  #  ALARM OR ABORT EXIT MODES....NONE
043051,000080: 
043052,000081:                                                                                                  #  SUBROUTINES CALLED....
043053,000082: 
043054,000083:                                                                                                  #        HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
043055,000084:                                                                                                  #        PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
043056,000085:                                                                                                  #        DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
043057,000086:                                                                                                  #        ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
043058,000087:                                                                                                  #                OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
043059,000088:                                                                                                  #                YAW DAPS
043060,000089:                                                                                                  #        FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
043061,000090:                                                                                                  #                OUTPUTS AND STORAGE VALUES
043062,000091:                                                                                                  #        RESUME
043063,000092: 

Page 962

043065,000094:                                                                                                  #  OTHER INTERFACES....
043066,000095: 
043067,000096:                                                                                                  #        S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
043068,000097:                                                                                                  #        S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
043069,000098:                                                                                                  #        TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
043070,000099:                                                                                                  #        TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
043071,000100: 
043072,000101:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED....
043073,000102: 
043074,000103:                                                                                                  #        PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
043075,000104:                                                                                                  #        CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
043076,000105:                                                                                                  #        ENGINE-ON BIT (11.13) FOR RESTARTS
043077,000106:                                                                                                  #        TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
043078,000107:                                                                                                  #        T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
043079,000108:                                                                                                  #        MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
043080,000109:                                                                                                  #                INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
043081,000110:                                                                                                  #        CDUX,Y,Z AND SINCDUX.... COSCDUZ AS PREPARED BY QUICTRIG (WITH
043082,000111:                                                                                                  #                UPDATES EVERY 1/2 SECOND)
043083,000112:                                                                                                  #        ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
043084,000113:                                                                                                  #                UNLESS BENCH-TESTING.
043085,000114: 
043086,000115:                                                                                                  #  OUTPUT....
043087,000116: 
043088,000117:                                                                                                  #        TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
043089,000118:                                                                                                  #                TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
043090,000119:                                                                                                  #                AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
043091,000120:                                                                                                  #                OFFSET-TRACKER-FILTER OUTPUTS, ETC.
043092,000121: 
043093,000122:                                                                                                  #  DEBRIS....
043094,000123: 
043095,000124:                                                                                                  #        MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043096,000125: 
043097,000126: 17,2552                                           BANK     17                                    
043098,000127: 20,2000                                           SETLOC   DAPS2                                 
043099,000128: 20,2000                                           BANK                                           
043100,000129: 
043101,000130: 20,2530  E6,1702                                  EBANK=   BZERO                                 
043102,000131: 
043103,000132: 20,2530                                           COUNT*   $$/DAPS                               
043104,000133: 

Page 963

043106,000135:                                                                                                  #  PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
043107,000136: 
043108,000137: 20,2530           22016        PITCHDAP           LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL OR VIA DAPINIT
043109,000138: 20,2531           00006                           EXTEND                                         
043110,000139: 20,2532           22012                           QXCH     QRUPT                                 
043111,000140: 
043112,000141: 20,2533           33475                           CAF      YAWT5                                 #  SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
043113,000142: 20,2534           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
043114,000143: 20,2535           31625                           CAE      T5TVCDT                               
043115,000144: 20,2536           54030                           TS       TIME5                                 
043116,000145: 
043117,000146: 20,2537           11574        PSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
043118,000147: 20,2540           03533                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
043119,000148: 20,2541           12543                           TCF      +2                                    #  NO-TEST
043120,000149: 20,2542           03533                           TC       HACK                                  #  TEST-IN-PROGRESS
043121,000150: 
043122,000151: 20,2543           30033        PCDUDOTS           CAE      CDUY                                  #  COMPUTE CDUYDOT (USED BY PITCH AND YAW)
043123,000152: 20,2544           57645                           XCH      PCDUYPST                              
043124,000153: 20,2545           00006                           EXTEND                                         
043125,000154: 20,2546           21645                           MSU      PCDUYPST                              
043126,000155: 20,2547           02560                           TCR      RLIMTEST                              #        RATE TEST
043127,000156: 20,2550           55647                           TS       MCDUYDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
043128,000157: 
043129,000158: 20,2551           30034                           CAE      CDUZ                                  #  COMPUTE CDUZDOT (USED BY PITCH AND YAW)
043130,000159: 20,2552           57646                           XCH      PCDUZPST                              
043131,000160: 20,2553           00006                           EXTEND                                         
043132,000161: 20,2554           21646                           MSU      PCDUZPST                              
043133,000162: 20,2555           02560                           TCR      RLIMTEST                              #        RATE TEST
043134,000163: 20,2556           55650                           TS       MCDUZDOT                              #        (MINUS, SC.AT 1/2TVCDT REVS/SEC)
043135,000164: 20,2557           12571                           TCF      PINTEGRL                              
043136,000165: 
043137,000166: 20,2560           55611        RLIMTEST           TS       TTMP1                                 #  TEST FOR EXCESSIVE CDU RATES (GREATER
043138,000167: 20,2561           00006                           EXTEND                                         #        THAN 2.33 DEG IN ONE SAMPLE PERIOD)
043139,000168: 20,2562           73476                           MP       1/RTLIM                               
043140,000169: 20,2563           00006                           EXTEND                                         
043141,000170: 20,2564           12567                           BZF      +3                                    
043142,000171: 20,2565           35021                           CAF      ZERO                                  
043143,000172: 20,2566           55611                           TS       TTMP1                                 
043144,000173: 20,2567           31611                           CAE      TTMP1                                 
043145,000174: 20,2570           00002                           TC       Q                                     
043146,000175: 
043147,000176: 20,2571           00006        PINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
043148,000177: 20,2572           31576                           DCA      PERRB                                 #        ERROR, SC.AT B-1 REVS
043149,000178: 20,2573           53703                           DXCH     ERRBTMP                               
043150,000179: 
043151,000180: 20,2574           00006                           EXTEND                                         
043152,000181: 20,2575           31530                           DCA      OMEGAYC                               
043153,000182: 20,2576           21703                           DAS      ERRBTMP                               
043154,000183: 

Page 964

043156,000185: 20,2577           40746                           CS       COSCDUZ                               #  PREPARE BODY-AXIS PITCH RATE, OMEGAYB
043157,000186: 20,2600           00006                           EXTEND                                         
043158,000187: 20,2601           70750                           MP       COSCDUX                               
043159,000188: 20,2602           20001                           DDOUBL                                         
043160,000189: 20,2603           00006                           EXTEND                                         
043161,000190: 20,2604           71647                           MP       MCDUYDOT                              
043162,000191: 20,2605           20001                           DDOUBL                                         
043163,000192: 20,2606           53536                           DXCH     OMEGAYB                               
043164,000193: 
043165,000194: 20,2607           41650                           CS       MCDUZDOT                              
043166,000195: 20,2610           00006                           EXTEND                                         
043167,000196: 20,2611           70742                           MP       SINCDUX                               
043168,000197: 20,2612           20001                           DDOUBL                                         
043169,000198: 20,2613           21536                           DAS      OMEGAYB                               #  (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
043170,000199: 
043171,000200: 20,2614           00006                           EXTEND                                         #  PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
043172,000201: 20,2615           41536                           DCS      OMEGAYB                               
043173,000202: 20,2616           21703                           DAS      ERRBTMP                               
043174,000203: 
043175,000204: 20,2617           03124        PERORLIM           TCR      ERRORLIM                              #  PITCH BODY-AXIS-ERROR INPUT LIMITER
043176,000205: 
043177,000206: 20,2620           00006        PFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
043178,000207: 20,2621           31542                           DCA      PTMP1                                 #        FOR THE PITCH CHANNEL
043179,000208: 20,2622           53707                           DXCH     TMP1                                  
043180,000209: 20,2623           00006                           EXTEND                                         
043181,000210: 20,2624           31546                           DCA      PTMP3                                 
043182,000211: 20,2625           53713                           DXCH     TMP3                                  
043183,000212: 20,2626           00006                           EXTEND                                         
043184,000213: 20,2627           31552                           DCA      PTMP5                                 
043185,000214: 20,2630           53717                           DXCH     TMP5                                  
043186,000215: 
043187,000216: 20,2631           03156                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
043188,000217:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
043189,000218: 
043190,000219: 20,2632           00006        POFFSET            EXTEND                                         
043191,000220: 20,2633           31606                           DCA      PDELOFF                               
043192,000221: 20,2634           21705                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
043193,000222: 
043194,000223: 20,2635           03137        PACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
043195,000224: 
043196,000225: 20,2636           41623        POUT               CS       PCMD                                  #  INCREMENTAL PITCH COMMAND
043197,000226: 20,2637           61704                           AD       CMDTMP                                
043198,000227: 20,2640           26054                           ADS      TVCPITCH                              #  UPDATE THE ERROR COUNTER (NO RESTART-
043199,000228:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
043200,000229: 
043201,000230: 20,2641           35005                           CAF      BIT11                                 #  BIT FOR TVCPITCH COUNT RELEASE
043202,000231: 20,2642           00006                           EXTEND                                         
043203,000232: 20,2643           05014                           WOR      CHAN14                                
043204,000233: 
043205,000234: 20,2644           00006        PPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR PITCH

Page 965

043207,000236: 20,2645           31544                           DCA      PTMP2                                 
043208,000237: 20,2646           53711                           DXCH     TMP2                                  
043209,000238: 20,2647           00006                           EXTEND                                         
043210,000239: 20,2650           31550                           DCA      PTMP4                                 
043211,000240: 20,2651           53715                           DXCH     TMP4                                  
043212,000241: 20,2652           00006                           EXTEND                                         
043213,000242: 20,2653           31554                           DCA      PTMP6                                 
043214,000243: 20,2654           53721                           DXCH     TMP6                                  
043215,000244: 
043216,000245: 20,2655           03247                           TCR      PRECOMP                               #      TO THE FILTER FOR PRECOMPUTATION
043217,000246: 
043218,000247: 20,2656           31602        DELBARP            CAE      DELPBAR    +1                         #  UPDATE PITCH OFFSET-TRACKER-FILTER
043219,000248: 20,2657           00006                           EXTEND                                         
043220,000249: 20,2660           73500                           MP       E(-AT)                                
043221,000250: 20,2661           55701                           TS       DELBRTMP   +1                         
043222,000251: 20,2662           31601                           CAE      DELPBAR                               
043223,000252: 20,2663           00006                           EXTEND                                         
043224,000253: 20,2664           73500                           MP       E(-AT)                                
043225,000254: 20,2665           21701                           DAS      DELBRTMP                              
043226,000255: 20,2666           31704                           CAE      CMDTMP                                
043227,000256: 20,2667           00006                           EXTEND                                         
043228,000257: 20,2670           73477                           MP       1-E(-AT)                              
043229,000258: 20,2671           21701                           DAS      DELBRTMP                              
043230,000259: 
043231,000260: 20,2672           02674        PCOPYCYC           TCR      PCOPY                                 #  PITCH COPYCYCLE
043232,000261: 
043233,000262: 20,2673           15333        PDAPEND            TCF      RESUME                                #  PITCH DAP COMPLETED

Page 966

043235,000264:                                                                                                  #  PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
043236,000265: 
043237,000266: 20,2674           25644        PCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (1)
043238,000267:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
043239,000268:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
043240,000269:                                                                                                  #        DURING PITCH COPYCYCLE.
043241,000270: 
043242,000271: 20,2675           00006                           EXTEND                                         
043243,000272: 20,2676           31707                           DCA      TMP1                                  
043244,000273: 20,2677           53542                           DXCH     PTMP1                                 
043245,000274: 20,2700           00006                           EXTEND                                         
043246,000275: 20,2701           31711                           DCA      TMP2                                  
043247,000276: 20,2702           53544                           DXCH     PTMP2                                 
043248,000277: 20,2703           00006                           EXTEND                                         
043249,000278: 20,2704           31713                           DCA      TMP3                                  
043250,000279: 20,2705           53546                           DXCH     PTMP3                                 
043251,000280: 20,2706           00006                           EXTEND                                         
043252,000281: 20,2707           31715                           DCA      TMP4                                  
043253,000282: 20,2710           53550                           DXCH     PTMP4                                 
043254,000283: 20,2711           00006                           EXTEND                                         
043255,000284: 20,2712           31717                           DCA      TMP5                                  
043256,000285: 20,2713           53552                           DXCH     PTMP5                                 
043257,000286: 20,2714           00006                           EXTEND                                         
043258,000287: 20,2715           31721                           DCA      TMP6                                  
043259,000288: 20,2716           53554                           DXCH     PTMP6                                 
043260,000289: 
043261,000290: 20,2717           00006        PMISC              EXTEND                                         #  MISC....PITCH-RATE-ERROR INTEGRATOR
043262,000291: 20,2720           31703                           DCA      ERRBTMP                               
043263,000292: 20,2721           55477                           TS       AK1                                   #        FOR PITCH NEEDLES, SC.AT B-1 REVS
043264,000293: 20,2722           53576                           DXCH     PERRB                                 
043265,000294: 
043266,000295: 20,2723           31704                           CAE      CMDTMP                                #        PITCH ACTUATOR COMMAND
043267,000296: 20,2724           55623                           TS       PCMD                                  
043268,000297: 
043269,000298: 20,2725           00006                           EXTEND                                         #        PITCH OFFSET-TRACKER-FILTER
043270,000299: 20,2726           31701                           DCA      DELBRTMP                              
043271,000300: 20,2727           53602                           DXCH     DELPBAR                               
043272,000301: 
043273,000302: 20,2730           25644                           INCR     TVCPHASE                              #  PITCH COPYCYCLE COMPLETED             (2)
043274,000303: 
043275,000304: 20,2731           00002                           TC       Q                                     
043276,000305: 

Page 967

043278,000307:                                                                                                  #  YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
043279,000308: 
043280,000309: 20,2732           22016        YAWDAP             LXCH     BANKRUPT                              #  T5 ENTRY, NORMAL
043281,000310: 20,2733           00006                           EXTEND                                         
043282,000311: 20,2734           22012                           QXCH     QRUPT                                 
043283,000312: 
043284,000313: 20,2735           33473                           CAF      PITCHT5                               #  SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
043285,000314: 20,2736           55312                           TS       T5LOC                                 #        ORDER PART OF 2CADR ALREADY THERE)
043286,000315: 20,2737           31625                           CAE      T5TVCDT                               
043287,000316: 20,2740           54030                           TS       TIME5                                 
043288,000317: 
043289,000318: 20,2741           11574        YSTROKER           CCS      STROKER                               #  (STRKFLG) CHECK FOR STROKE TEST
043290,000319: 20,2742           03533                           TC       HACK                                  #  TEST-START OR TEST-IN-PROGRESS
043291,000320: 20,2743           12745                           TCF      +2                                    #  NO-TEST
043292,000321: 20,2744           03533                           TC       HACK                                  #  TEST-IN-PROGRESS
043293,000322: 
043294,000323:                                                                                                  #  USE BODY RATES FROM PITCHDAP (PCDUDOTS)
043295,000324: 
043296,000325: 20,2745           00006        YINTEGRL           EXTEND                                         #  COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
043297,000326: 20,2746           31600                           DCA      YERRB                                 #        ERROR, SC.AT B-1 REVS
043298,000327: 20,2747           53703                           DXCH     ERRBTMP                               
043299,000328: 
043300,000329: 20,2750           00006                           EXTEND                                         
043301,000330: 20,2751           31532                           DCA      OMEGAZC                               
043302,000331: 20,2752           21703                           DAS      ERRBTMP                               
043303,000332: 
043304,000333: 20,2753           30746                           CAE      COSCDUZ                               #  PREPARE BODY-AXIS YAW-RATE, OMEGAZB
043305,000334: 20,2754           00006                           EXTEND                                         
043306,000335: 20,2755           70742                           MP       SINCDUX                               
043307,000336: 20,2756           20001                           DDOUBL                                         
043308,000337: 20,2757           00006                           EXTEND                                         
043309,000338: 20,2760           71647                           MP       MCDUYDOT                              
043310,000339: 20,2761           20001                           DDOUBL                                         
043311,000340: 20,2762           53540                           DXCH     OMEGAZB                               
043312,000341: 
043313,000342: 20,2763           41650                           CS       MCDUZDOT                              
043314,000343: 20,2764           00006                           EXTEND                                         
043315,000344: 20,2765           70750                           MP       COSCDUX                               
043316,000345: 20,2766           20001                           DDOUBL                                         
043317,000346: 20,2767           21540                           DAS      OMEGAZB                               #  (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
043318,000347: 
043319,000348: 20,2770           00006                           EXTEND                                         #  PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
043320,000349: 20,2771           41540                           DCS      OMEGAZB                               
043321,000350: 20,2772           21703                           DAS      ERRBTMP                               
043322,000351: 
043323,000352: 20,2773           03124        YERORLIM           TCR      ERRORLIM                              #  YAW BODY-AXIS-ERROR INPUT LIMITER
043324,000353: 
043325,000354: 20,2774           00006        YFORWARD           EXTEND                                         #        PREPARE THE FILTER STORAGE LOCATIONS
043326,000355: 20,2775           31556                           DCA      YTMP1                                 #        FOR THE YAW CHANNEL

Page 968

043328,000357: 20,2776           53707                           DXCH     TMP1                                  
043329,000358: 20,2777           00006                           EXTEND                                         
043330,000359: 20,3000           31562                           DCA      YTMP3                                 
043331,000360: 20,3001           53713                           DXCH     TMP3                                  
043332,000361: 20,3002           00006                           EXTEND                                         
043333,000362: 20,3003           31566                           DCA      YTMP5                                 
043334,000363: 20,3004           53717                           DXCH     TMP5                                  
043335,000364: 
043336,000365: 20,3005           03156                           TCR      FWDFLTR                               #  GO COMPUTE PRESENT OUTPUT
043337,000366:                                                                                                  #  (INCLUDES VARIABLE GAIN PACKAGE)
043338,000367: 
043339,000368: 20,3006           00006        YOFFSET            EXTEND                                         
043340,000369: 20,3007           31610                           DCA      YDELOFF                               
043341,000370: 20,3010           21705                           DAS      CMDTMP                                #  NOW SCALED AT B+0 ASCREV
043342,000371: 
043343,000372: 20,3011           03137        YACLIM             TCR      ACTLIM                                #  ROUND OFF & LIMIT YAW ACTUATOR COMMAND
043344,000373: 
043345,000374: 20,3012           41624        YOUT               CS       YCMD                                  #  INCREMENTAL YAW COMMAND
043346,000375: 20,3013           61704                           AD       CMDTMP                                
043347,000376: 20,3014           26053                           ADS      TVCYAW                                #  UPDATE THE ERROR COUNTER (NO RESTART-
043348,000377:                                                                                                  #        PROTECT, SINCE ERROR CNTR ZEROED)
043349,000378: 
043350,000379: 20,3015           35004                           CAF      BIT12                                 #  BIT FOR TVCYAW COUNT RELEASE
043351,000380: 20,3016           00006                           EXTEND                                         
043352,000381: 20,3017           05014                           WOR      CHAN14                                
043353,000382: 
043354,000383: 20,3020           00006        YPRECOMP           EXTEND                                         #        PREPARE THE FILTER STORAGE FOR YAW
043355,000384: 20,3021           31560                           DCA      YTMP2                                 
043356,000385: 20,3022           53711                           DXCH     TMP2                                  
043357,000386: 20,3023           00006                           EXTEND                                         
043358,000387: 20,3024           31564                           DCA      YTMP4                                 
043359,000388: 20,3025           53715                           DXCH     TMP4                                  
043360,000389: 20,3026           00006                           EXTEND                                         
043361,000390: 20,3027           31570                           DCA      YTMP6                                 
043362,000391: 20,3030           53721                           DXCH     TMP6                                  
043363,000392: 
043364,000393: 20,3031           03247                           TCR      PRECOMP                               #        TO THE FILTER FOR PRECOMPUTATION
043365,000394: 
043366,000395: 20,3032           31604        DELBARY            CAE      DELYBAR    +1                         #  UPDATE YAW OFFSET-TRACKER-FILTER
043367,000396: 20,3033           00006                           EXTEND                                         
043368,000397: 20,3034           73500                           MP       E(-AT)                                
043369,000398: 20,3035           55701                           TS       DELBRTMP   +1                         
043370,000399: 20,3036           31603                           CAE      DELYBAR                               
043371,000400: 20,3037           00006                           EXTEND                                         
043372,000401: 20,3040           73500                           MP       E(-AT)                                
043373,000402: 20,3041           21701                           DAS      DELBRTMP                              
043374,000403: 20,3042           31704                           CAE      CMDTMP                                
043375,000404: 20,3043           00006                           EXTEND                                         
043376,000405: 20,3044           73477                           MP       1-E(-AT)                              
043377,000406: 20,3045           21701                           DAS      DELBRTMP                              
043378,000407: 

Page 969

043380,000409: 20,3046           03050        YCOPYCYC           TCR      YCOPY                                 #  YAW COPYCYCLE
043381,000410: 
043382,000411: 20,3047           15333        YDAPEND            TCF      RESUME                                #  YAW DAP COMPLETED
043383,000412: 

Page 970

043385,000414:                                                                                                  #  YAW   TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW   TVCDAP OR TVC RESTART PACKAGE)
043386,000415: 
043387,000416: 20,3050           25644        YCOPY              INCR     TVCPHASE                              #  RESTART-PROTECT THE COPYCYCLE.        (3)
043388,000417:                                                                                                  #        NOTE POSSIBLE RE-ENTRY FROM RESTART
043389,000418:                                                                                                  #        PACKAGE, SHOULD A RESTART OCCUR
043390,000419:                                                                                                  #        DURING YAW   COPYCYCLE.
043391,000420: 
043392,000421: 20,3051           00006                           EXTEND                                         
043393,000422: 20,3052           31707                           DCA      TMP1                                  
043394,000423: 20,3053           53556                           DXCH     YTMP1                                 
043395,000424: 20,3054           00006                           EXTEND                                         
043396,000425: 20,3055           31711                           DCA      TMP2                                  
043397,000426: 20,3056           53560                           DXCH     YTMP2                                 
043398,000427: 20,3057           00006                           EXTEND                                         
043399,000428: 20,3060           31713                           DCA      TMP3                                  
043400,000429: 20,3061           53562                           DXCH     YTMP3                                 
043401,000430: 20,3062           00006                           EXTEND                                         
043402,000431: 20,3063           31715                           DCA      TMP4                                  
043403,000432: 20,3064           53564                           DXCH     YTMP4                                 
043404,000433: 20,3065           00006                           EXTEND                                         
043405,000434: 20,3066           31717                           DCA      TMP5                                  
043406,000435: 20,3067           53566                           DXCH     YTMP5                                 
043407,000436: 20,3070           00006                           EXTEND                                         
043408,000437: 20,3071           31721                           DCA      TMP6                                  
043409,000438: 20,3072           53570                           DXCH     YTMP6                                 
043410,000439: 
043411,000440: 20,3073           00006        YMISC              EXTEND                                         #  MISC....YAW-RATE-ERROR INTEGRATOR
043412,000441: 20,3074           31703                           DCA      ERRBTMP                               
043413,000442: 20,3075           55500                           TS       AK2                                   #        FOR YAW   NEEDLES, SC.AT B-1 REVS
043414,000443: 20,3076           53600                           DXCH     YERRB                                 
043415,000444: 
043416,000445: 20,3077           31704                           CAE      CMDTMP                                
043417,000446: 20,3100           55624                           TS       YCMD                                  
043418,000447: 
043419,000448: 20,3101           00006                           EXTEND                                         
043420,000449: 20,3102           31701                           DCA      DELBRTMP                              
043421,000450: 20,3103           53604                           DXCH     DELYBAR                               
043422,000451: 
043423,000452: 20,3104           35021                           CAF      ZERO                                  #  YAW   COPYCYCLE COMPLETED
043424,000453: 20,3105           55644                           TS       TVCPHASE                              #        RESET TVCPHASE
043425,000454: 
043426,000455: 20,3106           00002                           TC       Q                                     
043427,000456: 

Page 971

043429,000458:                                                                                                  #  SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043430,000459: 
043431,000460:                                                                                                  #  INITIALIZATION PACKAGE FOR CDURATES....
043432,000461: 
043433,000462: 20,3107           22016        DAPINIT            LXCH     BANKRUPT                              #  T5 RUPT ENTRY (CALLED BY TVCINT4)
043434,000463: 
043435,000464: 20,3110           37716                           CAF      NEGONE                                #        SET UP
043436,000465: 20,3111           61625                           AD       T5TVCDT                               #        T5 CALL FOR PITCHDAP IN TVCDT SECS
043437,000466: 20,3112           65001                           AD       NEGMAX                                #        (T5TVCDT = POSMAX - TVCDT/2 +1)
043438,000467: 20,3113           61625                           AD       T5TVCDT                               
043439,000468: 20,3114           54030                           TS       TIME5                                 
043440,000469: 20,3115           33473                           CAF      PITCHT5                               #        (BBCON ALREADY THERE)
043441,000470: 20,3116           55312                           TS       T5LOC                                 
043442,000471: 
043443,000472: 20,3117           30033                           CAE      CDUY                                  #  READ AND STORE CDUS FOR DIFFERENTIATOR
043444,000473: 20,3120           55645                           TS       PCDUYPST                              #        PAST-VALUES
043445,000474: 20,3121           30034                           CAE      CDUZ                                  
043446,000475: 20,3122           55646                           TS       PCDUZPST                              
043447,000476: 
043448,000477: 20,3123           15335                           TCF      NOQRSM                                
043449,000478: 
043450,000479:                                                                                                  #  BODY-AXIS-ERROR   INPUT LIMITER PACKAGE....
043451,000480: 
043452,000481: 20,3124           31702        ERRORLIM           CAE      ERRBTMP                               #  CHECK FOR INPUT-ERROR LIMIT
043453,000482: 20,3125           00006                           EXTEND                                         #        CHECKS UPPER WORD ONLY
043454,000483: 20,3126           75015                           MP       1/ERRLIM                              
043455,000484: 20,3127           00006                           EXTEND                                         
043456,000485: 20,3130           13136                           BZF      +6                                    
043457,000486: 20,3131           11702                           CCS      ERRBTMP                               
043458,000487: 20,3132           35003                           CAF      ERRLIM                                
043459,000488: 20,3133           13135                           TCF      +2                                    
043460,000489: 20,3134           45003                           CS       ERRLIM                                
043461,000490: 20,3135           55702                           TS       ERRBTMP                               #  LIMIT WRITES OVER UPPER WORD ONLY
043462,000491: 
043463,000492: 20,3136           00002                           TC       Q                                     
043464,000493: 
043465,000494:                                                                                                  #  ACTUATOR-COMMAND LIMITER PACKAGE....
043466,000495: 
043467,000496: 20,3137           31705        ACTLIM             CAE      CMDTMP     +1                         #  ROUND UP FOR OUTPUT
043468,000497: 20,3140           60000                           DOUBLE                                         
043469,000498: 20,3141           54001                           TS       L                                     
043470,000499: 20,3142           35021                           CAF      ZERO                                  
043471,000500: 20,3143           61704                           AD       CMDTMP                                
043472,000501: 
043473,000502: 20,3144           00006                           EXTEND                                         #  CHECK FOR ACTUATOR COMMAND LIMIT
043474,000503: 20,3145           73472                           MP       1/ACTSAT                              
043475,000504: 20,3146           00006                           EXTEND                                         

Page 972

043477,000506: 20,3147           13155                           BZF      +6                                    
043478,000507: 20,3150           11704                           CCS      CMDTMP                                #  APPLY LIMITS
043479,000508: 20,3151           33471                           CAF      ACTSAT                                
043480,000509: 20,3152           13154                           TCF      +2                                    
043481,000510: 20,3153           43471                           CS       ACTSAT                                
043482,000511: 20,3154           55704                           TS       CMDTMP                                #  LIMITS WRITE OVER CMDTMP
043483,000512: 
043484,000513: 20,3155           00002                           TC       Q                                     
043485,000514: 
043486,000515:                                                                                                  #  FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043487,000516: 
043488,000517: 20,3156           35021        FWDFLTR            CAF      ZERO                                  
043489,000518: 20,3157           55615                           TS       DAP1                                  
043490,000519: 20,3160           55617                           TS       DAP2                                  
043491,000520: 20,3161           55621                           TS       DAP3                                  
043492,000521: 20,3162           55704                           TS       CMDTMP                                
043493,000522: 
043494,000523: 20,3163           55700                           TS       DELBRTMP                              
043495,000524: 
043496,000525: 20,3164           31703        1DAPCAS            CAE      ERRBTMP    +1                         #  FIRST DAP CASCADE
043497,000526: 20,3165           00006                           EXTEND                                         
043498,000527: 20,3166           71723                           MP       N10                                   #        N10
043499,000528: 20,3167           55616                           TS       DAP1       +1                         
043500,000529: 20,3170           31702                           CA       ERRBTMP                               
043501,000530: 20,3171           00006                           EXTEND                                         
043502,000531: 20,3172           71723                           MP       N10                                   #        N10
043503,000532: 20,3173           21616                           DAS      DAP1                                  
043504,000533: 20,3174           53707                           DXCH     TMP1                                  
043505,000534: 20,3175           21616                           DAS      DAP1                                  
043506,000535: 
043507,000536: 20,3176           31616        2DAPCAS            CAE      DAP1       +1                         #  SECOND DAP CASCADE
043508,000537: 20,3177           00006                           EXTEND                                         
043509,000538: 20,3200           71730                           MP       N10        +5                         #        N20
043510,000539: 20,3201           55620                           TS       DAP2       +1                         
043511,000540: 20,3202           31615                           CA       DAP1                                  
043512,000541: 20,3203           00006                           EXTEND                                         
043513,000542: 20,3204           71730                           MP       N10        +5                         #        N20
043514,000543: 20,3205           21620                           DAS      DAP2                                  
043515,000544: 20,3206           53713                           DXCH     TMP3                                  
043516,000545: 20,3207           21620                           DAS      DAP2                                  
043517,000546: 
043518,000547: 20,3210           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043519,000548: 20,3211           75002                           MASK     BIT14                                 
043520,000549: 20,3212           10000                           CCS      A                                     
043521,000550: 20,3213           13220                           TCF      3DAPCAS                               #  LEM ON
043522,000551: 20,3214           00006                           EXTEND                                         #  LEM OFF
043523,000552: 20,3215           31620                           DCA      DAP2                                  
043524,000553: 20,3216           53622                           DXCH     DAP3                                  
043525,000554: 20,3217           13232                           TCF      OPTVARK                               
043526,000555: 

Page 973

043528,000557: 20,3220           31620        3DAPCAS            CAE      DAP2       +1                         #  THIRD DAP CASCADE
043529,000558: 20,3221           00006                           EXTEND                                         
043530,000559: 20,3222           71735                           MP       N10        +10D                       #        N30
043531,000560: 20,3223           55622                           TS       DAP3       +1                         
043532,000561: 20,3224           31617                           CA       DAP2                                  
043533,000562: 20,3225           00006                           EXTEND                                         
043534,000563: 20,3226           71735                           MP       N10        +10D                       #        N30
043535,000564: 20,3227           21622                           DAS      DAP3                                  
043536,000565: 20,3230           53717                           DXCH     TMP5                                  
043537,000566: 20,3231           21622                           DAS      DAP3                                  
043538,000567: 
043539,000568: 20,3232           41622        OPTVARK            CS       DAP3       +1                         #  VARIABLE GAIN PACKAGE
043540,000569: 20,3233           00006                           EXTEND                                         #  (ALSO, SIGN CHANGE IN FORWARD LOOP)
043541,000570: 20,3234           71641                           MP       VARK                                  #  SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
043542,000571: 20,3235           55705                           TS       CMDTMP     +1                         
043543,000572: 20,3236           41621                           CS       DAP3                                  
043544,000573: 20,3237           00006                           EXTEND                                         
043545,000574: 20,3240           71641                           MP       VARK                                  
043546,000575: 20,3241           21705                           DAS      CMDTMP                                
043547,000576: 
043548,000577: 20,3242           53705                           DXCH     CMDTMP                                #  FIX UP SCALING - SCALED B+3 ASCREVS
043549,000578: 20,3243           20001                           DDOUBL                                         
043550,000579: 20,3244           20001                           DDOUBL                                         
043551,000580: 20,3245           53705                           DXCH     CMDTMP                                #                 - SCALED B+1 ASCREVS
043552,000581:                                                                                                  #  NOTE - THERE IS AN INHERANT GAIN OF
043553,000582:                                                                                                  #  (B+1 ASCREVS) ON THE OUTPUT DACS.
043554,000583: 
043555,000584: 20,3246           00002                           TC       Q                                     
043556,000585: 
043557,000586:                                                                                                  #  FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043558,000587: 
043559,000588: 20,3247           35021        PRECOMP            CAF      ZERO                                  #  ***** FIRST CASCADE FILTER **********
043560,000589: 20,3250           55611                           TS       TTMP1                                 
043561,000590: 20,3251           55613                           TS       TTMP2                                 
043562,000591: 
043563,000592: 20,3252           31703                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
043564,000593: 20,3253           00006                           EXTEND                                         
043565,000594: 20,3254           71724                           MP       N10        +1                         #        N11/2
043566,000595: 20,3255           55612                           TS       TTMP1      +1                         
043567,000596: 20,3256           31702                           CA       ERRBTMP                               
043568,000597: 20,3257           00006                           EXTEND                                         
043569,000598: 20,3260           71724                           MP       N10        +1                         #        N11/2
043570,000599: 20,3261           21612                           DAS      TTMP1                                 
043571,000600: 
043572,000601: 20,3262           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
043573,000602: 20,3263           00006                           EXTEND                                         
043574,000603: 20,3264           71726                           MP       N10        +3                         #        D11/2
043575,000604: 20,3265           55614                           TS       TTMP2      +1                         
043576,000605: 20,3266           41615                           CS       DAP1                                  
043577,000606: 

Page 974

043579,000608: 20,3267           00006                           EXTEND                                         
043580,000609: 20,3270           71726                           MP       N10        +3                         #        D11/2
043581,000610: 20,3271           21614                           DAS      TTMP2                                 
043582,000611: 
043583,000612: 20,3272           53614                           DXCH     TTMP2                                 
043584,000613: 20,3273           21612                           DAS      TTMP1                                 
043585,000614: 20,3274           53612                           DXCH     TTMP1                                 
043586,000615: 20,3275           20001                           DDOUBL                                         
043587,000616: 20,3276           21711                           DAS      TMP2                                  
043588,000617: 
043589,000618: 20,3277           53711                           DXCH     TMP2                                  
043590,000619: 20,3300           53707                           DXCH     TMP1                                  
043591,000620: 
043592,000621: 20,3301           35021                           CAF      ZERO                                  
043593,000622: 20,3302           55611                           TS       TTMP1                                 
043594,000623: 20,3303           55710                           TS       TMP2                                  
043595,000624: 
043596,000625: 20,3304           31703                           CA       ERRBTMP    +1                         #  MULTIPLY INPUT BY
043597,000626: 20,3305           00006                           EXTEND                                         #  SECOND-ORDER NUMERATOR COEFF.
043598,000627: 20,3306           71725                           MP       N10        +2                         #        N12
043599,000628: 20,3307           55612                           TS       TTMP1      +1                         
043600,000629: 20,3310           31702                           CA       ERRBTMP                               
043601,000630: 20,3311           00006                           EXTEND                                         
043602,000631: 20,3312           71725                           MP       N10        +2                         #        N12
043603,000632: 20,3313           21612                           DAS      TTMP1                                 
043604,000633: 
043605,000634: 20,3314           41616                           CS       DAP1       +1                         #  MULTIPLY OUTPUT BY
043606,000635: 20,3315           00006                           EXTEND                                         
043607,000636: 20,3316           71727                           MP       N10        +4                         #        D12
043608,000637: 20,3317           55711                           TS       TMP2       +1                         
043609,000638: 20,3320           41615                           CS       DAP1                                  
043610,000639: 20,3321           00006                           EXTEND                                         
043611,000640: 20,3322           71727                           MP       N10        +4                         #        D12
043612,000641: 20,3323           21711                           DAS      TMP2                                  
043613,000642: 
043614,000643: 20,3324           53612                           DXCH     TTMP1                                 
043615,000644: 20,3325           21711                           DAS      TMP2                                  
043616,000645: 
043617,000646: 20,3326           35021        2CASFLTR           CAF      ZERO                                  #  ***** SECOND CASCADE FILTER *****
043618,000647: 20,3327           55611                           TS       TTMP1                                 
043619,000648: 20,3330           55613                           TS       TTMP2                                 
043620,000649: 
043621,000650: 20,3331           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
043622,000651: 20,3332           00006                           EXTEND                                         
043623,000652: 20,3333           71731                           MP       N10        +6                         #        N21/2
043624,000653: 20,3334           55612                           TS       TTMP1      +1                         
043625,000654: 20,3335           31615                           CA       DAP1                                  
043626,000655: 20,3336           00006                           EXTEND                                         
043627,000656: 20,3337           71731                           MP       N10        +6                         #        N21/2

Page 975

043629,000658: 20,3340           21612                           DAS      TTMP1                                 
043630,000659: 
043631,000660: 20,3341           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043632,000661: 20,3342           00006                           EXTEND                                         
043633,000662: 20,3343           71733                           MP       N10        +8D                        #        D21/2
043634,000663: 20,3344           55614                           TS       TTMP2      +1                         
043635,000664: 20,3345           41617                           CS       DAP2                                  
043636,000665: 20,3346           00006                           EXTEND                                         
043637,000666: 20,3347           71733                           MP       N10        +8D                        #        D21/2
043638,000667: 20,3350           21614                           DAS      TTMP2                                 
043639,000668: 
043640,000669: 20,3351           53614                           DXCH     TTMP2                                 
043641,000670: 20,3352           21612                           DAS      TTMP1                                 
043642,000671: 20,3353           53612                           DXCH     TTMP1                                 
043643,000672: 20,3354           20001                           DDOUBL                                         
043644,000673: 20,3355           21715                           DAS      TMP4                                  
043645,000674: 
043646,000675: 20,3356           53715                           DXCH     TMP4                                  
043647,000676: 20,3357           53713                           DXCH     TMP3                                  
043648,000677: 
043649,000678: 20,3360           35021                           CAF      ZERO                                  
043650,000679: 20,3361           55611                           TS       TTMP1                                 
043651,000680: 20,3362           55714                           TS       TMP4                                  
043652,000681: 
043653,000682: 20,3363           31616                           CA       DAP1       +1                         #  MULTIPLY INPUT BY
043654,000683: 20,3364           00006                           EXTEND                                         
043655,000684: 20,3365           71732                           MP       N10        +7                         #        N22
043656,000685: 20,3366           55612                           TS       TTMP1      +1                         
043657,000686: 20,3367           31615                           CA       DAP1                                  
043658,000687: 20,3370           00006                           EXTEND                                         
043659,000688: 20,3371           71732                           MP       N10        +7                         #        N22
043660,000689: 20,3372           21612                           DAS      TTMP1                                 
043661,000690: 
043662,000691: 20,3373           41620                           CS       DAP2       +1                         #  MULTIPLY OUTPUT BY
043663,000692: 20,3374           00006                           EXTEND                                         
043664,000693: 20,3375           71734                           MP       N10        +9D                        #        D22
043665,000694: 20,3376           55715                           TS       TMP4       +1                         
043666,000695: 20,3377           41617                           CS       DAP2                                  
043667,000696: 20,3400           00006                           EXTEND                                         
043668,000697: 20,3401           71734                           MP       N10        +9D                        #        D22
043669,000698: 20,3402           21715                           DAS      TMP4                                  
043670,000699: 
043671,000700: 20,3403           53612                           DXCH     TTMP1                                 
043672,000701: 20,3404           21715                           DAS      TMP4                                  
043673,000702: 
043674,000703: 20,3405           31466                           CAE      DAPDATR1                              #  TEST FOR LEM ON OR OFF
043675,000704: 20,3406           75003                           MASK     BIT13                                 
043676,000705: 20,3407           10000                           CCS      A                                     
043677,000706: 20,3410           00002                           TC       Q                                     #  EXIT IF LEM OFF
043678,000707: 

Page 976

043680,000709: 20,3411           35021        3CASFLTR           CAF      ZERO                                  #  ***** THIRD CASCADE FILTER *****
043681,000710: 20,3412           55611                           TS       TTMP1                                 
043682,000711: 20,3413           55613                           TS       TTMP2                                 
043683,000712: 
043684,000713: 20,3414           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY (1/2)
043685,000714: 20,3415           00006                           EXTEND                                         
043686,000715: 20,3416           71736                           MP       N10        +11D                       #        N31/2
043687,000716: 20,3417           55612                           TS       TTMP1      +1                         
043688,000717: 20,3420           31617                           CA       DAP2                                  
043689,000718: 20,3421           00006                           EXTEND                                         
043690,000719: 20,3422           71736                           MP       N10        +11D                       #        N31/2
043691,000720: 20,3423           21612                           DAS      TTMP1                                 
043692,000721: 
043693,000722: 20,3424           41622                           CS       DAP3       +1                         
043694,000723: 20,3425           00006                           EXTEND                                         
043695,000724: 20,3426           71740                           MP       N10        +13D                       #        D31/2
043696,000725: 20,3427           55614                           TS       TTMP2      +1                         
043697,000726: 20,3430           41621                           CS       DAP3                                  
043698,000727: 20,3431           00006                           EXTEND                                         
043699,000728: 20,3432           71740                           MP       N10        +13D                       #        D31/2
043700,000729: 20,3433           21614                           DAS      TTMP2                                 
043701,000730: 
043702,000731: 20,3434           53614                           DXCH     TTMP2                                 
043703,000732: 20,3435           21612                           DAS      TTMP1                                 
043704,000733: 20,3436           53612                           DXCH     TTMP1                                 
043705,000734: 20,3437           20001                           DDOUBL                                         
043706,000735: 20,3440           21721                           DAS      TMP6                                  
043707,000736: 
043708,000737: 20,3441           53721                           DXCH     TMP6                                  
043709,000738: 20,3442           53717                           DXCH     TMP5                                  
043710,000739: 
043711,000740: 20,3443           35021                           CAF      ZERO                                  
043712,000741: 20,3444           55611                           TS       TTMP1                                 
043713,000742: 20,3445           55720                           TS       TMP6                                  
043714,000743: 
043715,000744: 20,3446           31620                           CA       DAP2       +1                         #  MULTIPLY INPUT BY
043716,000745: 20,3447           00006                           EXTEND                                         
043717,000746: 20,3450           71737                           MP       N10        +12D                       #        N32
043718,000747: 20,3451           55612                           TS       TTMP1      +1                         
043719,000748: 20,3452           31617                           CA       DAP2                                  
043720,000749: 20,3453           00006                           EXTEND                                         
043721,000750: 20,3454           71737                           MP       N10        +12D                       #        N32
043722,000751: 20,3455           21612                           DAS      TTMP1                                 
043723,000752: 
043724,000753: 20,3456           41622                           CS       DAP3       +1                         
043725,000754: 20,3457           00006                           EXTEND                                         
043726,000755: 20,3460           71741                           MP       N10        +14D                       #        D32
043727,000756: 20,3461           55721                           TS       TMP6       +1                         
043728,000757: 20,3462           41621                           CS       DAP3                                  
043729,000758: 20,3463           00006                           EXTEND                                         

Page 977

043731,000760: 20,3464           71741                           MP       N10        +14D                       #        D32
043732,000761: 20,3465           21721                           DAS      TMP6                                  
043733,000762: 
043734,000763: 20,3466           53612                           DXCH     TTMP1                                 
043735,000764: 20,3467           21721                           DAS      TMP6                                  
043736,000765: 
043737,000766: 20,3470           00002                           TC       Q                                     
043738,000767: 

Page 978

043740,000769:                                                                                                  #  CONSTANTS FOR AUTOPILOTS
043741,000770: 
043742,000771:                                                                                                  #  NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
043743,000772:                                                                                                  #          1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043744,000773: 
043745,000774: 20,3471           00375        ACTSAT             DEC      253        B-14                       #  ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
043746,000775: 20,3472           00101        1/ACTSAT           DEC      .0039525692                            #  RECIPROCAL (1/253)
043747,000776: 
043748,000777: 20,3473     5003               ERRLIM             EQUALS   BIT13                                 #  FILTER INPUT LIMIT....B-3 REVS (45DEG),
043749,000778: 20,3473     5015               1/ERRLIM           EQUALS   BIT3                                  #        SC.AT B-1 REV, AND ITS RECIPROCAL
043750,000779: 
043751,000780: 20,3473           02530        PITCHT5            GENADR   PITCHDAP                              #  UPPER WORDS OF T5 2CADRS, LOWER WORDS
043752,000781: 20,3474           03107        DAPT5              GENADR   DAPINIT                               #        (BBCON) ALREADY THERE.  ORDER IS
043753,000782: 20,3475           02732        YAWT5              GENADR   YAWDAP                                #        REQUIRED.
043754,000783: 
043755,000784: 20,3476           00115        1/RTLIM            DEC      0.004715                              #  .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
043756,000785: 20,3477           00243        1-E(-AT)           OCT      00243                                 #  AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043757,000786: 20,3500           37535        E(-AT)             OCT      37535                                 #                     OR(1/A=8SEC, T=80MS)
043758,000787: 

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