Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be 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 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

045052,000002:                                                                                                  ## Copyright:   Public domain.
045053,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
045054,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
045055,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
045056,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
045057,000007:                                                                                                  ##              Apollo 15-17.
045058,000008:                                                                                                  ## Assembler:   yaYUL
045059,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
045060,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
045061,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
045062,000012:                                                                                                  ## Mod history: 2009-08-27 SN   Adapted from corresponding Comanche 055 file.
045063,000013:                                                                                                  ##              2009-09-06 JL   Fixed typos.
045064,000014:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
045065,000015:                                                                                                  ##              2017-01-21 RSB  Proofed comment text by diff'ing vs Comanche 55
045066,000016:                                                                                                  ##                              and corrected errors found.
045067,000017: 

Page 1024

045069,000019: 21,2000                                           SETLOC   DAPS3                                 
045070,000020: 21,2000                                           BANK                                           
045071,000021: 
045072,000022: 21,3272                                           COUNT*   $$/DAPAM                              
045073,000023: 21,3272  E6,1510                                  EBANK=   KMPAC                                 
045074,000024: 21,3272           34753        AHFNOROT           CAF      BIT14                                 
045075,000025: 21,3273           05654                           TC       C31BTCHK                              
045076,000026: 21,3274           13310                           TCF      FREECONT                              
045077,000027: 21,3275           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
045078,000028: 21,3276           74753                           MASK     BIT14                                 
045079,000029: 21,3277           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
045080,000030: 21,3300           12541                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
045081,000031:                                                                                                  #  AUTOMATIC CONTROL YET
045082,000032: 21,3301           34754                           CAF      BIT13                                 
045083,000033: 21,3302           05654                           TC       C31BTCHK                              
045084,000034: 21,3303           13404                           TCF      HOLDFUNC                              
045085,000035: 21,3304           31340        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
045086,000036: 21,3305           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
045087,000037: 21,3306           63334                           BZMF     ATTHOLD                               
045088,000038: 21,3307           13410                           TCF      GRABANG                               
045089,000039: 
045090,000040:                                                                                                  #  MINIMUM IMPULSE CONTROL
045091,000041: 
045092,000042: 21,3310           34770        FREECONT           CAF      ONE                                   
045093,000043: 21,3311           55340                           TS       HOLDFLAG                              #  RESET HOLDFLAG
045094,000044:                                                                                                  #  INHIBIT AUTOMATIC STEERING
045095,000045: 21,3312           00006                           EXTEND                                         
045096,000046: 21,3313           00032                           READ     CHAN32                                
045097,000047: 21,3314           54001                           TS       L                                     
045098,000048: 21,3315           40000                           COM                                            
045099,000049: 21,3316           71633                           MASK     CHANTEMP                              
045100,000050: 21,3317           23633                           LXCH     CHANTEMP                              
045101,000051: 21,3320           73063        RHCMINP            MASK     MANROT                                
045102,000052: 21,3321           03152                           TC       STICKCHK                              
045103,000053: 21,3322           51656                           INDEX    RMANNDX                               
045104,000054: 21,3323           34614                           CA       MINTAU                                #  MINTAU  +0
045105,000055: 21,3324           55561                           TS       TAU                                   #             +1   +14MS MINIMUM IMPULSE
045106,000056: 21,3325           51657                           INDEX    PMANNDX                               #             +2   -14MS TIME
045107,000057: 21,3326           34614                           CA       MINTAU                                #             +3   +0
045108,000058: 21,3327           55562                           TS       TAU1                                  
045109,000059: 21,3330           51660                           INDEX    YMANNDX                               
045110,000060: 21,3331           34614                           CA       MINTAU                                
045111,000061: 21,3332           55563                           TS       TAU2                                  
045112,000062: 21,3333           13105                           TCF      T6PROGM                               
045113,000063: 
045114,000064: 
045115,000065:    4000                                           SETLOC   FFTAG12                               
045116,000066:    4000                                           BANK                                           
045117,000067: 
045118,000068:    4614                                           COUNT*   $$/DAPAM                              

Page 1025

045120,000070: 
045121,000071:    4614           00000        MINTAU             DEC      0          B-14                       
045122,000072:    4615           00027        DEC23              DEC      23         B-14                       #  = 14 MS
045123,000073:    4616           77750        DECNEG23           DEC      -23        B-14                       #  = -14 MS
045124,000074:    4617           00000                           DEC      0          B-14                       
045125,000075: 
045126,000076: 
045127,000077: 21,2000                                           SETLOC   DAPS3                                 
045128,000078: 21,2000                                           BANK                                           
045129,000079: 
045130,000080: 21,3334                                           COUNT*   $$/DAPAM                              
045131,000081: 

Page 1026

045133,000083:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
045134,000084: 
045135,000085:                                                                                                  #        -    *     -      -          -
045136,000086:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
045137,000087: 
045138,000088:                                                                                                  #  IE    *AK *   * 1   SIN(PSI)            0     ** CDUX - THETADX *    *BIAS *
045139,000089:                                                                                                  #        *   *   *                               **                *    *     *
045140,000090:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
045141,000091:                                                                                                  #        *   *   *                               **                *    *     *
045142,000092:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
045143,000093: 
045144,000094:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045145,000095:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045146,000096:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045147,000097:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045148,000098: 
045149,000099: 21,3334           30032        ATTHOLD            CA       CDUX                                  
045150,000100: 21,3335           00006                           EXTEND                                         
045151,000101: 21,3336           21572                           MSU      THETADX                               
045152,000102: 21,3337           55567                           TS       ERRORX                                
045153,000103: 21,3340           30033                           CA       CDUY                                  
045154,000104: 21,3341           00006                           EXTEND                                         
045155,000105: 21,3342           21573                           MSU      THETADY                               
045156,000106: 21,3343           55502                           TS       T5TEMP                                
045157,000107: 21,3344           00006                           EXTEND                                         
045158,000108: 21,3345           71640                           MP       AMGB1                                 
045159,000109: 21,3346           27567                           ADS      ERRORX                                
045160,000110: 21,3347           31502                           CA       T5TEMP                                
045161,000111: 21,3350           00006                           EXTEND                                         
045162,000112: 21,3351           71641                           MP       AMGB4                                 
045163,000113: 21,3352           55570                           TS       ERRORY                                
045164,000114: 21,3353           31502                           CA       T5TEMP                                
045165,000115: 21,3354           00006                           EXTEND                                         
045166,000116: 21,3355           71643                           MP       AMGB7                                 
045167,000117: 21,3356           55571                           TS       ERRORZ                                
045168,000118: 21,3357           30034                           CA       CDUZ                                  
045169,000119: 21,3360           00006                           EXTEND                                         
045170,000120: 21,3361           21574                           MSU      THETADZ                               
045171,000121: 21,3362           55502                           TS       T5TEMP                                
045172,000122: 21,3363           00006                           EXTEND                                         
045173,000123: 21,3364           71642                           MP       AMGB5                                 
045174,000124: 21,3365           27570                           ADS      ERRORY                                
045175,000125: 21,3366           31502                           CA       T5TEMP                                
045176,000126: 21,3367           00006                           EXTEND                                         
045177,000127: 21,3370           71644                           MP       AMGB8                                 
045178,000128: 21,3371           27571                           ADS      ERRORZ                                
045179,000129: 21,3372           41340                           CS       HOLDFLAG                              
045180,000130: 21,3373           00006                           EXTEND                                         

Page 1027

045182,000132: 21,3374           63452                           BZMF     JETS                                  
045183,000133: 21,3375           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
045184,000134: 21,3376           27567                           ADS      ERRORX                                
045185,000135: 21,3377           31565                           CA       BIAS1                                 
045186,000136: 21,3400           27570                           ADS      ERRORY                                
045187,000137: 21,3401           31566                           CA       BIAS2                                 
045188,000138: 21,3402           27571                           ADS      ERRORZ                                
045189,000139: 21,3403           13452                           TCF      JETS                                  
045190,000140: 
045191,000141: 
045192,000142: 21,3404           11340        HOLDFUNC           CCS      HOLDFLAG                              
045193,000143: 21,3405           13410                           TCF      +3                                    
045194,000144: 21,3406           13334                           TCF      ATTHOLD                               
045195,000145: 21,3407           13410                           TCF      +1                                    
045196,000146: 21,3410           34772        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
045197,000147: 21,3411           55525                           TS       WBODY                                 
045198,000148: 21,3412           55526                           TS       WBODY      +1                         
045199,000149: 21,3413           55527                           TS       WBODY1                                
045200,000150: 21,3414           55530                           TS       WBODY1     +1                         
045201,000151: 21,3415           55531                           TS       WBODY2                                
045202,000152: 21,3416           55532                           TS       WBODY2     +1                         
045203,000153: 21,3417           55564                           TS       BIAS                                  
045204,000154: 21,3420           55565                           TS       BIAS1                                 
045205,000155: 21,3421           55566                           TS       BIAS2                                 
045206,000156: 
045207,000157: 21,3422           31501                           CA       RCSFLAGS                              
045208,000158: 21,3423           73064                           MASK     OCT16000                              
045209,000159: 21,3424           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045210,000160: 21,3425           13433                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
045211,000161: 21,3426           34772                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
045212,000162: 21,3427           55567                           TS       ERRORX                                
045213,000163: 21,3430           55570                           TS       ERRORY                                
045214,000164: 21,3431           55571                           TS       ERRORZ                                
045215,000165: 21,3432           13452                           TCF      JETS                                  
045216,000166: 
045217,000167: 21,3433           55340        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
045218,000168: 21,3434           00006                           EXTEND                                         
045219,000169: 21,3435           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
045220,000170: 21,3436           53573                           DXCH     THETADX                               #  REFERENCES
045221,000171: 21,3437           30034                           CA       CDUZ                                  
045222,000172: 21,3440           55574                           TS       THETADZ                               
045223,000173: 21,3441           13334                           TCF      ATTHOLD                               
045224,000174: 

Page 1028

045226,000176:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045227,000177: 
045228,000178:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045229,000179:                                                                                                  #  PLANE.
045230,000180:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045231,000181:                                                                                                  #  APPROPRIATE DEADZONE.
045232,000182: 
045233,000183: 
045234,000184:                                                                                                  #                                      .
045235,000185:                                                                                                  #    R22                          RATE . ERROR
045236,000186:                                                                                                  #         WL+H                         .
045237,000187:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
045238,000188:                                                                                                  #    R23  WL                        *  .
045239,000189:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
045240,000190:                                                                                                  #    R23  WL-H       -                *.
045241,000191:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC  REGIONS IN PHASE
045242,000192:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
045243,000193:                                                                                                  #                     *                . *
045244,000194:                                                                                                  #                      *-              .  *
045245,000195:                                                                                                  #    R22             R24*-     R23     .   *
045246,000196:                                                                                                  #                        *-            .    *
045247,000197:                                                                                                  #                         *            .     *
045248,000198:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
045249,000199:                                                                                                  #  .........................+--+---------------+--+........................
045250,000200:                                                                                                  #                            AF *      .     +ADB  +             ERROR
045251,000201:                                                                                                  #                                *     .            *
045252,000202:                                                                                                  #                                 *    .            -*
045253,000203:                                                                                                  #                                  *   .             -*
045254,000204:                                                                                                  #                                   *  .              -*
045255,000205:                                                                                                  #                                    * .                *
045256,000206:                                                                                                  #                                     *.               - *
045257,000207:                                                                                                  #                                      .                - *****************
045258,000208:                                                                                                  #                                      .*                -
045259,000209:                                                                                                  #                                      . * --------------------------------
045260,000210:                                                                                                  #                                      .  *
045261,000211:                                                                                                  #                                      .   ********************************
045262,000212:                                                                                                  #                                      .
045263,000213: 
045264,000214:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
045265,000215: 
045266,000216: 
045267,000217:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
045268,000218: 
045269,000219: 21,3442           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
045270,000220: 21,3443     5006               WL-H/SLP           =        DEC45                                 #  = WL-H/SLOPE = .5 DEG          $180
045271,000221: 21,3443           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
045272,000222: 21,3445           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
045273,000223: 21,3447           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
045274,000224: 

Page 1029

045276,000226: 21,3451           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
045277,000227: 21,3452           31655        JETS               CA       ADB                                   
045278,000228: 21,3453           64766                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
045279,000229: 21,3454           55502                           TS       T5TEMP                                #  ADB+AF
045280,000230: 21,3455           34767                           CAF      TWO                                   
045281,000231: 21,3456           55506        JLOOP              TS       SPNDX                                 
045282,000232: 21,3457           60000                           DOUBLE                                         
045283,000233: 21,3460           55507                           TS       DPNDX                                 
045284,000234: 21,3461           00006                           EXTEND                                         
045285,000235: 21,3462           50000                           INDEX    A                                     
045286,000236: 21,3463           31534                           DCA      ADOT                                  
045287,000237: 21,3464           53516                           DXCH     EDOT                                  
045288,000238: 21,3465           31340                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
045289,000239: 21,3466           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
045290,000240: 21,3467           13474                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
045291,000241:                                                                                                  #  OF WBODY AND GO TO INHOLD
045292,000242: 21,3470           00006                           EXTEND                                         
045293,000243: 21,3471           51507                           INDEX    DPNDX                                 
045294,000244: 21,3472           41526                           DCS      WBODY                                 
045295,000245: 21,3473           21516                           DAS      EDOT                                  #  = ADOT-WBODY
045296,000246: 21,3474           51506        INHOLD             INDEX    SPNDX                                 
045297,000247: 21,3475           31567                           CA       ERRORX                                
045298,000248: 21,3476           55517                           TS       AERR                                  #  AERR = BIAS + AK
045299,000249: 
045300,000250: 21,3477           11515                           CCS      EDOT                                  
045301,000251: 21,3500           13510                           TCF      POSVEL                                
045302,000252: 21,3501           13503                           TCF      SIGNCK1                               
045303,000253: 21,3502           13520                           TCF      NEGVEL                                
045304,000254: 21,3503           11516        SIGNCK1            CCS      EDOT       +1                         
045305,000255: 21,3504           13510                           TCF      POSVEL                                
045306,000256: 21,3505           13510                           TCF      POSVEL                                
045307,000257: 21,3506           13520                           TCF      NEGVEL                                
045308,000258: 21,3507           13520                           TCF      NEGVEL                                
045309,000259: 21,3510           00006        POSVEL             EXTEND                                         
045310,000260: 21,3511           31516                           DCA      EDOT                                  
045311,000261: 21,3512           53521                           DXCH     EDOTVEL                               
045312,000262: 21,3513           31502                           CA       T5TEMP                                
045313,000263: 21,3514           55523                           TS       ADBVEL                                #  +(ADB+AF)
045314,000264: 21,3515           31517                           CA       AERR                                  
045315,000265: 21,3516           55522                           TS       AERRVEL                               
045316,000266: 21,3517           03527                           TC       J6.                                   
045317,000267: 21,3520           00006        NEGVEL             EXTEND                                         
045318,000268: 21,3521           41516                           DCS      EDOT                                  
045319,000269: 21,3522           53521                           DXCH     EDOTVEL                               
045320,000270: 21,3523           41502                           CS       T5TEMP                                
045321,000271: 21,3524           55523                           TS       ADBVEL                                #  -(ADB+AF)
045322,000272: 21,3525           41517                           CS       AERR                                  
045323,000273: 21,3526           55522                           TS       AERRVEL                               
045324,000274: 
045325,000275: 21,3527           00006        J6.                EXTEND                                         

Page 1030

045327,000277: 21,3530           61655                           SU       ADB                                   
045328,000278: 21,3531           63442                           AD       WLH/SLOP                              
045329,000279: 21,3532           00006                           EXTEND                                         
045330,000280: 21,3533           63562                           BZMF     J8                                    
045331,000281: 
045332,000282: 21,3534           41502                           CS       T5TEMP                                #  (ADB+AF)
045333,000283: 21,3535           61522                           AD       AERRVEL                               
045334,000284: 21,3536           00006                           EXTEND                                         
045335,000285: 21,3537           63541                           BZMF     +2                                    
045336,000286: 21,3540           13553                           TCF      J7                                    
045337,000287: 21,3541           00006                           EXTEND                                         
045338,000288: 21,3542           41521                           DCS      EDOTVEL                               
045339,000289: 21,3543           00006                           EXTEND                                         
045340,000290: 21,3544           11654                           DV       SLOPE                                 
045341,000291: 21,3545           00006                           EXTEND                                         
045342,000292: 21,3546           61522                           SU       AERRVEL                               
045343,000293: 21,3547           61655                           AD       ADB                                   
045344,000294: 21,3550           00006                           EXTEND                                         
045345,000295: 21,3551           63641                           BZMF     J18                                   
045346,000296: 21,3552           13715                           TCF      J23                                   
045347,000297: 
045348,000298: 21,3553           45006        J7                 CS       WL-H/SLP                              
045349,000299: 21,3554           00006                           EXTEND                                         
045350,000300: 21,3555           61502                           SU       T5TEMP                                #  (ADB+AF)
045351,000301: 21,3556           61522                           AD       AERRVEL                               
045352,000302: 21,3557           00006                           EXTEND                                         
045353,000303: 21,3560           63645                           BZMF     J20                                   
045354,000304: 21,3561           13656                           TCF      J21                                   
045355,000305: 
045356,000306: 21,3562           00006        J8                 EXTEND                                         
045357,000307: 21,3563           43444                           DCS      WLH                                   
045358,000308: 21,3564           53514                           DXCH     WTEMP                                 
045359,000309: 21,3565           00006                           EXTEND                                         
045360,000310: 21,3566           31521                           DCA      EDOTVEL                               
045361,000311: 21,3567           21514                           DAS      WTEMP                                 
045362,000312: 21,3570           11513                           CCS      WTEMP                                 
045363,000313: 21,3571           13704                           TCF      J22                                   
045364,000314: 21,3572           13574                           TCF      SIGNCK2                               
045365,000315: 21,3573           13600                           TCF      NJ22                                  
045366,000316: 21,3574           11514        SIGNCK2            CCS      WTEMP      +1                         
045367,000317: 21,3575           13704                           TCF      J22                                   
045368,000318: 21,3576           13704                           TCF      J22                                   
045369,000319: 21,3577           13600                           TCF      NJ22                                  
045370,000320: 
045371,000321: 21,3600           00006        NJ22               EXTEND                                         
045372,000322: 21,3601           31521                           DCA      EDOTVEL                               
045373,000323: 21,3602           00006                           EXTEND                                         
045374,000324: 21,3603           11654                           DV       SLOPE                                 
045375,000325: 21,3604           61502                           AD       T5TEMP                                #  (ADB+AF)
045376,000326: 21,3605           61522                           AD       AERRVEL                               

Page 1031

045378,000328: 21,3606           10000                           CCS      A                                     
045379,000329: 21,3607           13715                           TCF      J23                                   
045380,000330: 21,3610           13715                           TCF      J23                                   
045381,000331: 21,3611           13613                           TCF      +2                                    
045382,000332: 21,3612           13715                           TCF      J23                                   
045383,000333: 
045384,000334: 21,3613           00006                           EXTEND                                         
045385,000335: 21,3614           43446                           DCS      WLMH                                  #  WL - H
045386,000336: 21,3615           53514                           DXCH     WTEMP                                 
045387,000337: 21,3616           00006                           EXTEND                                         
045388,000338: 21,3617           31521                           DCA      EDOTVEL                               
045389,000339: 21,3620           21514                           DAS      WTEMP                                 
045390,000340: 21,3621           11513                           CCS      WTEMP                                 
045391,000341: 21,3622           13715                           TCF      J23                                   
045392,000342: 21,3623           13625                           TCF      SIGNCK3                               
045393,000343: 21,3624           13631                           TCF      NJ23                                  
045394,000344: 21,3625           11514        SIGNCK3            CCS      WTEMP      +1                         
045395,000345: 21,3626           13715                           TCF      J23                                   
045396,000346: 21,3627           13715                           TCF      J23                                   
045397,000347: 21,3630           13631                           TCF      NJ23                                  
045398,000348: 
045399,000349: 21,3631           31522        NJ23               CA       AERRVEL                               
045400,000350: 21,3632           61502                           AD       T5TEMP                                #  (ADB+AF)
045401,000351: 21,3633           65006                           AD       WL-H/SLP                              
045402,000352: 21,3634           10000                           CCS      A                                     
045403,000353: 21,3635           13727                           TCF      J24                                   
045404,000354: 21,3636           13727                           TCF      J24                                   
045405,000355: 21,3637           13704                           TCF      J22                                   
045406,000356: 21,3640           13704                           TCF      J22                                   
045407,000357: 
045408,000358: 21,3641           00006        J18                EXTEND                                         
045409,000359: 21,3642           41516                           DCS      EDOT                                  
045410,000360: 21,3643           53511                           DXCH     KMPAC                                 
045411,000361: 21,3644           13740                           TCF      JTIME                                 
045412,000362: 
045413,000363: 21,3645           41517        J20                CS       AERR                                  
045414,000364: 21,3646           61523                           AD       ADBVEL                                
045415,000365: 21,3647           00006                           EXTEND                                         
045416,000366: 21,3650           73451                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
045417,000367: 21,3651           53511                           DXCH     KMPAC                                 
045418,000368: 21,3652           00006                           EXTEND                                         
045419,000369: 21,3653           41516                           DCS      EDOT                                  
045420,000370: 21,3654           21511                           DAS      KMPAC                                 
045421,000371: 21,3655           13740                           TCF      JTIME                                 
045422,000372: 
045423,000373: 21,3656           11515        J21                CCS      EDOT                                  
045424,000374: 21,3657           13675                           TCF      JP                                    
045425,000375: 21,3660           13662                           TCF      SIGNCK4                               
045426,000376: 21,3661           13666                           TCF      JN                                    
045427,000377: 21,3662           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1032

045429,000379: 21,3663           13675                           TCF      JP                                    
045430,000380: 21,3664           13675                           TCF      JP                                    
045431,000381: 21,3665           13666                           TCF      JN                                    
045432,000382: 21,3666           00006        JN                 EXTEND                                         
045433,000383: 21,3667           41516                           DCS      EDOT                                  
045434,000384: 21,3670           53511                           DXCH     KMPAC                                 
045435,000385: 21,3671           00006                           EXTEND                                         
045436,000386: 21,3672           33450                           DCA      WL                                    
045437,000387: 21,3673           21511                           DAS      KMPAC                                 
045438,000388: 21,3674           13740                           TCF      JTIME                                 
045439,000389: 
045440,000390: 21,3675           00006        JP                 EXTEND                                         
045441,000391: 21,3676           41516                           DCS      EDOT                                  
045442,000392: 21,3677           53511                           DXCH     KMPAC                                 
045443,000393: 21,3700           00006                           EXTEND                                         
045444,000394: 21,3701           43450                           DCS      WL                                    
045445,000395: 21,3702           21511                           DAS      KMPAC                                 
045446,000396: 21,3703           13740                           TCF      JTIME                                 
045447,000397: 
045448,000398: 21,3704           11515        J22                CCS      EDOT                                  
045449,000399: 21,3705           13666                           TCF      JN                                    
045450,000400: 21,3706           13710                           TCF      SIGNCK5                               
045451,000401: 21,3707           13675                           TCF      JP                                    
045452,000402: 21,3710           11516        SIGNCK5            CCS      EDOT       +1                         
045453,000403: 21,3711           13666                           TCF      JN                                    
045454,000404: 21,3712           13666                           TCF      JN                                    
045455,000405: 21,3713           13675                           TCF      JP                                    
045456,000406: 21,3714           13675                           TCF      JP                                    
045457,000407: 
045458,000408: 21,3715           51506        J23                INDEX    SPNDX                                 
045459,000409: 21,3716           44754                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
045460,000410: 21,3717           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
045461,000411: 21,3720           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
045462,000412:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
045463,000413: 
045464,000414: 21,3721           51506                           INDEX    SPNDX                                 
045465,000415: 21,3722           33060                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
045466,000416: 21,3723           71501                           MASK     RCSFLAGS                              #  AXIS
045467,000417: 21,3724           00006                           EXTEND                                         
045468,000418: 21,3725           13761                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
045469,000419: 
045470,000420: 21,3726           13641                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
045471,000421: 
045472,000422: 21,3727           41517        J24                CS       AERR                                  
045473,000423: 21,3730           00006                           EXTEND                                         
045474,000424: 21,3731           61523                           SU       ADBVEL                                
045475,000425: 21,3732           00006                           EXTEND                                         
045476,000426: 21,3733           73451                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
045477,000427: 21,3734           53511                           DXCH     KMPAC                                 
045478,000428: 21,3735           00006                           EXTEND                                         

Page 1033

045480,000430: 21,3736           41516                           DCS      EDOT                                  
045481,000431: 21,3737           21511                           DAS      KMPAC                                 
045482,000432: 

Page 1034

045484,000434:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045485,000435: 
045486,000436:                                                                                                  #             T  = J/M(DELTA W)
045487,000437:                                                                                                  #              J
045488,000438: 
045489,000439:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045490,000440:                                                                                                  #                  SWITCHING LOGIC,  AT THIS POINT STORED IN KMPAC.
045491,000441: 
045492,000442:                                                                                                  #           J/M  = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045493,000443:                                                                                                  #                    (57.3/450)(B24/1600)(1/.8)
045494,000444:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
045495,000445:                                                                                                  #                  IE J/M = J(SLUG-FTFT) X 0.00000085601606
045496,000446: 
045497,000447:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045498,000448:                                                                                                  #                  KEYBOARD ENTRY ARE
045499,000449:                                                                                                  #                     J/M (ROLL)
045500,000450:                                                                                                  #                     J/M1 (PITCH)
045501,000451:                                                                                                  #                     J/M2 (YAW)
045502,000452: 
045503,000453:                                                                                                  #            T   = JET ON-TIME     SCALED 16384/1600 SEC
045504,000454:                                                                                                  #             J
045505,000455: 
045506,000456:                                                                                                  #                  THE COMPUTER VARIABLES ARE
045507,000457:                                                                                                  #                        TAU  (ROLL)
045508,000458:                                                                                                  #                        TAU1 (PITCH)
045509,000459:                                                                                                  #                        TAU2 (YAW)
045510,000460: 
045511,000461: 
045512,000462: 21,3740           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
045513,000463: 21,3741           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
045514,000464: 21,3742           02060                           TC       SMALLMP                               #  FOR 1-JET OPERATION
045515,000465: 21,3743           34756                           CA       BIT11                                 
045516,000466: 21,3744           02060                           TC       SMALLMP                               
045517,000467: 21,3745           11510                           CCS      KMPAC                                 
045518,000468: 21,3746           13752                           TCF      +4                                    
045519,000469: 21,3747           13756                           TCF      TAUNORM                               
045520,000470: 21,3750           13754                           TCF      +4                                    
045521,000471: 21,3751           13756                           TCF      TAUNORM                               
045522,000472: 21,3752           34750                           CA       POSMAX                                
045523,000473: 21,3753           13757                           TCF      DOJET                                 
045524,000474: 21,3754           34752                           CA       NEGMAX                                
045525,000475: 21,3755           13757                           TCF      DOJET                                 
045526,000476: 
045527,000477: 21,3756           31511        TAUNORM            CA       KMPAC      +1                         
045528,000478: 21,3757           51506        DOJET              INDEX    SPNDX                                 
045529,000479: 21,3760           55561                           TS       TAU                                   
045530,000480: 21,3761           11506                 +2        CCS      SPNDX                                 
045531,000481: 21,3762           13456                           TCF      JLOOP                                 
045532,000482: 21,3763           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
045533,000483: 21,3764           33770                           DCA      JETADDR                               #  HAVE BEEN DETERMINED

Page 1035

045535,000485: 21,3765           52113                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
045536,000486: 21,3766           15323                           TCF      RESUME                                
045537,000487: 
045538,000488: 21,3767  E6,1510                                  EBANK=   KMPAC                                 
045539,000489: 21,3767           02541 36066  JETADDR            2CADR    JETSLECT                              

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