Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional 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 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

043228,000002:                                                                                                  ## Copyright:   Public domain.
043229,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
043230,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.  
043231,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
043232,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
043233,000007:                                                                                                  ## Assembler:   yaYUL
043234,000008:                                                                                                  ## Contact:     Onno Hommes <ohommes@alumni.cmu.edu>
043235,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043236,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
043237,000011:                                                                                                  ## Mod history: 2010-06-01 OH   Adapted from corresponding Colossus 249 file.
043238,000012:                                                                                                  ##              2010-12-04 JL   Remove Colossus 249 header comments. Change to double-has page numbers.
043239,000013:                                                                                                  ##              2011-02-11 JL   Minor fixes.
043240,000014:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
043241,000015:                                                                                                  ##                              and fixed errors found.
043242,000016: 

Page 993

043244,000018: 21,3234                                           BANK     21                                    
043245,000019: 21,2000                                           SETLOC   DAPS3                                 
043246,000020: 21,2000                                           BANK                                           
043247,000021: 
043248,000022: 21,3234                                           COUNT    21/DAPAM                              
043249,000023: 
043250,000024: 21,3234  E6,1510                                  EBANK=   KMPAC                                 
043251,000025: 21,3234           00006        AHFNOROT           EXTEND                                         
043252,000026: 21,3235           00031                           READ     CHAN31                                
043253,000027: 21,3236           74675                           MASK     BIT14                                 
043254,000028: 21,3237           00006                           EXTEND                                         
043255,000029: 21,3240           63256                           BZMF     FREECONT                              
043256,000030: 21,3241           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
043257,000031: 21,3242           74675                           MASK     BIT14                                 
043258,000032: 21,3243           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
043259,000033: 21,3244           12520                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
043260,000034:                                                                                                  #                                          AUTOMATIC CONTROL YET
043261,000035: 21,3245           00006                           EXTEND                                         
043262,000036: 21,3246           00031                           READ     CHAN31                                
043263,000037: 21,3247           74676                           MASK     BIT13                                 
043264,000038: 21,3250           00006                           EXTEND                                         
043265,000039: 21,3251           63356                           BZMF     HOLDFUNC                              
043266,000040: 
043267,000041: 
043268,000042: 21,3252           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
043269,000043: 21,3253           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
043270,000044: 21,3254           63306                           BZMF     ATTHOLD                               
043271,000045: 21,3255           13362                           TCF      GRABANG                               
043272,000046: 
043273,000047:                                                                                                  #          MINIMUM IMPULSE CONTROL
043274,000048: 
043275,000049: 21,3256           34712        FREECONT           CAF      ONE                                   
043276,000050: 21,3257           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
043277,000051:                                                                                                  #                                          INHIBIT AUTOMATIC STEERING
043278,000052: 21,3260           00006                           EXTEND                                         
043279,000053: 21,3261           00032                           READ     CHAN32                                
043280,000054: 21,3262           54001                           TS       L                                     
043281,000055: 21,3263           40000                           COM                                            
043282,000056: 21,3264           73022                           MASK     MANROT                                
043283,000057: 21,3265           71633                           MASK     CHANTEMP                              
043284,000058: 21,3266           23633                           LXCH     CHANTEMP                              
043285,000059: 21,3267           03114                           TC       STICKCHK                              
043286,000060: 21,3270           51656                           INDEX    RMANNDX                               
043287,000061: 21,3271           33302                           CA       MINTAU                                #  MINTAU  +0
043288,000062: 21,3272           55561                           TS       TAU                                   #             +1   +14MS MINIMUM IMPULSE
043289,000063: 21,3273           51657                           INDEX    PMANNDX                               #             +2   -14MS TIME
043290,000064: 21,3274           33302                           CA       MINTAU                                #             +3   +0
043291,000065: 21,3275           55562                           TS       TAU1                                  
043292,000066: 21,3276           51660                           INDEX    YMANNDX                               
043293,000067: 21,3277           33302                           CA       MINTAU                                

Page 994

043295,000069: 21,3300           55563                           TS       TAU2                                  
043296,000070: 21,3301           13053                           TCF      T6PROGM                               
043297,000071: 
043298,000072: 
043299,000073: 21,3302           00000        MINTAU             DEC      0          B-14                       
043300,000074: 21,3303           00027                           DEC      23         B-14                       #  = 14MS
043301,000075: 21,3304           77750                           DEC      -23        B-14                       #  = -14MS
043302,000076: 21,3305           00000                           DEC      0          B-14                       
043303,000077: 

Page 995

043305,000079:                                                                                                  #        CALCULATION OF ATTITUDE ERRORS-
043306,000080: 
043307,000081:                                                                                                  #           -    *     -      -          -
043308,000082:                                                                                                  #           AK = AMGB (CDUX - THETADX) + BIAS
043309,000083: 
043310,000084:                                                                                                  #  IE       *AK *   * 1   SIN(PSI)            0     ** CDUX - THETADX *    *BIAS *
043311,000085:                                                                                                  #           *   *   *                               **                *    *     *
043312,000086:                                                                                                  #           *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
043313,000087:                                                                                                  #           *   *   *                               **                *    *     *
043314,000088:                                                                                                  #           *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
043315,000089: 
043316,000090: 
043317,000091:                                                                                                  #        THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
043318,000092:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
043319,000093:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
043320,000094:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
043321,000095: 
043322,000096: 21,3306           30032        ATTHOLD            CA       CDUX                                  
043323,000097: 21,3307           00006                           EXTEND                                         
043324,000098: 21,3310           21572                           MSU      THETADX                               
043325,000099: 21,3311           55567                           TS       ERRORX                                
043326,000100: 21,3312           30033                           CA       CDUY                                  
043327,000101: 21,3313           00006                           EXTEND                                         
043328,000102: 21,3314           21573                           MSU      THETADY                               
043329,000103: 21,3315           55502                           TS       T5TEMP                                
043330,000104: 21,3316           00006                           EXTEND                                         
043331,000105: 21,3317           71640                           MP       AMGB1                                 
043332,000106: 21,3320           27567                           ADS      ERRORX                                
043333,000107: 21,3321           31502                           CA       T5TEMP                                
043334,000108: 21,3322           00006                           EXTEND                                         
043335,000109: 21,3323           71641                           MP       AMGB4                                 
043336,000110: 21,3324           55570                           TS       ERRORY                                
043337,000111: 21,3325           31502                           CA       T5TEMP                                
043338,000112: 21,3326           00006                           EXTEND                                         
043339,000113: 21,3327           71643                           MP       AMGB7                                 
043340,000114: 21,3330           55571                           TS       ERRORZ                                
043341,000115: 21,3331           30034                           CA       CDUZ                                  
043342,000116: 21,3332           00006                           EXTEND                                         
043343,000117: 21,3333           21574                           MSU      THETADZ                               
043344,000118: 21,3334           55502                           TS       T5TEMP                                
043345,000119: 21,3335           00006                           EXTEND                                         
043346,000120: 21,3336           71642                           MP       AMGB5                                 
043347,000121: 21,3337           27570                           ADS      ERRORY                                
043348,000122: 21,3340           31502                           CA       T5TEMP                                
043349,000123: 21,3341           00006                           EXTEND                                         
043350,000124: 21,3342           71644                           MP       AMGB8                                 
043351,000125: 21,3343           27571                           ADS      ERRORZ                                
043352,000126: 21,3344           41332                           CS       HOLDFLAG                              
043353,000127: 21,3345           00006                           EXTEND                                         

Page 996

043355,000129: 21,3346           63425                           BZMF     JETS                                  
043356,000130: 21,3347           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
043357,000131: 21,3350           27567                           ADS      ERRORX                                
043358,000132: 21,3351           31565                           CA       BIAS1                                 
043359,000133: 21,3352           27570                           ADS      ERRORY                                
043360,000134: 21,3353           31566                           CA       BIAS2                                 
043361,000135: 21,3354           27571                           ADS      ERRORZ                                
043362,000136: 21,3355           13425                           TCF      JETS                                  
043363,000137: 
043364,000138: 
043365,000139: 21,3356           11332        HOLDFUNC           CCS      HOLDFLAG                              
043366,000140: 21,3357           13362                           TCF      +3                                    
043367,000141: 21,3360           13306                           TCF      ATTHOLD                               
043368,000142: 21,3361           13362                           TCF      +1                                    
043369,000143: 21,3362           34714        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
043370,000144: 21,3363           55525                           TS       WBODY                                 
043371,000145: 21,3364           55526                           TS       WBODY      +1                         
043372,000146: 21,3365           55527                           TS       WBODY1                                
043373,000147: 21,3366           55530                           TS       WBODY1     +1                         
043374,000148: 21,3367           55531                           TS       WBODY2                                
043375,000149: 21,3370           55532                           TS       WBODY2     +1                         
043376,000150: 21,3371           55564                           TS       BIAS                                  
043377,000151: 21,3372           55565                           TS       BIAS1                                 
043378,000152: 21,3373           55566                           TS       BIAS2                                 
043379,000153: 
043380,000154: 21,3374           31501                           CA       RCSFLAGS                              
043381,000155: 21,3375           73023                           MASK     OCT16000                              
043382,000156: 21,3376           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043383,000157: 21,3377           13405                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
043384,000158: 21,3400           34714                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
043385,000159: 21,3401           55567                           TS       ERRORX                                
043386,000160: 21,3402           55570                           TS       ERRORY                                
043387,000161: 21,3403           55571                           TS       ERRORZ                                
043388,000162: 21,3404           13425                           TCF      JETS                                  
043389,000163: 
043390,000164: 21,3405           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
043391,000165: 21,3406           00006                           EXTEND                                         
043392,000166: 21,3407           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
043393,000167: 21,3410           53573                           DXCH     THETADX                               #  REFERENCES
043394,000168: 21,3411           30034                           CA       CDUZ                                  
043395,000169: 21,3412           55574                           TS       THETADZ                               
043396,000170: 21,3413           13306                           TCF      ATTHOLD                               
043397,000171: 

Page 997

043399,000173:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
043400,000174: 
043401,000175:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
043402,000176:                                                                                                  #  PLANE.
043403,000177:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
043404,000178:                                                                                                  #  APPROPRIATE DEADZONE.
043405,000179: 
043406,000180: 
043407,000181:                                                                                                  #                                      .
043408,000182:                                                                                                  #    R22                          RATE . ERROR
043409,000183:                                                                                                  #         WL+H                         .
043410,000184:                                                                                                  #  *********************************   .                                   ***** SWITCH LINES ENCLOSING DEADZONES
043411,000185:                                                                                                  #    R23  WL                        *  .
043412,000186:                                                                                                  #  --------------------------------- * .                                   ----- DESIRED RATE LINES
043413,000187:                                                                                                  #    R23  WL-H       -                *.
043414,000188:                                                                                                  #  ****************** -                .                                   R20, R21, R22, ETC  REGIONS IN PHASE
043415,000189:                                                                                                  #                    * -               .* R18      R20       R21           PLANE FOF COMPUTING DESIRED RESPONSE
043416,000190:                                                                                                  #                     *                . *
043417,000191:                                                                                                  #                      *-              .  *
043418,000192:                                                                                                  #    R22             R24*-     R23     .   *
043419,000193:                                                                                                  #                        *-            .    *
043420,000194:                                                                                                  #                         *            .     *
043421,000195:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
043422,000196:                                                                                                  #  .........................+--+---------------+--+........................
043423,000197:                                                                                                  #                            AF *      .     +ADB  +             ERROR
043424,000198:                                                                                                  #                                *     .            *
043425,000199:                                                                                                  #                                 *    .            -*
043426,000200:                                                                                                  #                                  *   .             -*
043427,000201:                                                                                                  #                                   *  .              -*
043428,000202:                                                                                                  #                                    * .                *
043429,000203:                                                                                                  #                                     *.               - *
043430,000204:                                                                                                  #                                      .                - *****************
043431,000205:                                                                                                  #                                      .*                -
043432,000206:                                                                                                  #                                      . * --------------------------------
043433,000207:                                                                                                  #                                      .  *
043434,000208:                                                                                                  #                                      .   ********************************
043435,000209:                                                                                                  #                                      .
043436,000210: 
043437,000211:                                                                                                  #                      FIG. 1   PHASE PLANE SWITCHING LOGIC
043438,000212: 
043439,000213: 
043440,000214:                                                                                                  #          CONSTANTS FOR JET SWITCHING LOGIC
043441,000215: 
043442,000216: 21,3414           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG       $180
043443,000217: 21,3415           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG           $180
043444,000218: 21,3416           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC            $450
043445,000219: 21,3420           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC            $450
043446,000220: 21,3422           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC            $450
043447,000221: 

Page 998

043449,000223: 21,3424           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG               $450/180
043450,000224: 21,3425           31655        JETS               CA       ADB                                   
043451,000225: 21,3426           64710                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
043452,000226: 21,3427           55502                           TS       T5TEMP                                #  ADB+AF
043453,000227: 21,3430           34711                           CAF      TWO                                   
043454,000228: 21,3431           55506        JLOOP              TS       SPNDX                                 
043455,000229: 21,3432           60000                           DOUBLE                                         
043456,000230: 21,3433           55507                           TS       DPNDX                                 
043457,000231: 21,3434           00006                           EXTEND                                         
043458,000232: 21,3435           50000                           INDEX    A                                     
043459,000233: 21,3436           31534                           DCA      ADOT                                  
043460,000234: 21,3437           53516                           DXCH     EDOT                                  
043461,000235: 21,3440           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
043462,000236: 21,3441           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
043463,000237: 21,3442           13447                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
043464,000238:                                                                                                  #                                          OF WBODY AND GO TO INHOLD
043465,000239: 21,3443           00006                           EXTEND                                         
043466,000240: 21,3444           51507                           INDEX    DPNDX                                 
043467,000241: 21,3445           41526                           DCS      WBODY                                 
043468,000242: 21,3446           21516                           DAS      EDOT                                  #  = ADOT-WBODY
043469,000243: 21,3447           51506        INHOLD             INDEX    SPNDX                                 
043470,000244: 21,3450           31567                           CA       ERRORX                                
043471,000245: 21,3451           55517                           TS       AERR                                  #  AERR = BIAS + AK
043472,000246: 
043473,000247: 21,3452           11515                           CCS      EDOT                                  
043474,000248: 21,3453           13463                           TCF      POSVEL                                
043475,000249: 21,3454           13456                           TCF      SIGNCK1                               
043476,000250: 21,3455           13473                           TCF      NEGVEL                                
043477,000251: 21,3456           11516        SIGNCK1            CCS      EDOT       +1                         
043478,000252: 21,3457           13463                           TCF      POSVEL                                
043479,000253: 21,3460           13463                           TCF      POSVEL                                
043480,000254: 21,3461           13473                           TCF      NEGVEL                                
043481,000255: 21,3462           13473                           TCF      NEGVEL                                
043482,000256: 21,3463           00006        POSVEL             EXTEND                                         
043483,000257: 21,3464           31516                           DCA      EDOT                                  
043484,000258: 21,3465           53521                           DXCH     EDOTVEL                               
043485,000259: 21,3466           31502                           CA       T5TEMP                                
043486,000260: 21,3467           55523                           TS       ADBVEL                                #  +(ADB+AF)
043487,000261: 21,3470           31517                           CA       AERR                                  
043488,000262: 21,3471           55522                           TS       AERRVEL                               
043489,000263: 21,3472           03502                           TC       J6.                                   
043490,000264: 21,3473           00006        NEGVEL             EXTEND                                         
043491,000265: 21,3474           41516                           DCS      EDOT                                  
043492,000266: 21,3475           53521                           DXCH     EDOTVEL                               
043493,000267: 21,3476           41502                           CS       T5TEMP                                
043494,000268: 21,3477           55523                           TS       ADBVEL                                #  -(ADB+AF)
043495,000269: 21,3500           41517                           CS       AERR                                  
043496,000270: 21,3501           55522                           TS       AERRVEL                               
043497,000271: 
043498,000272: 21,3502           00006        J6.                EXTEND                                         

Page 999

043500,000274: 21,3503           61655                           SU       ADB                                   
043501,000275: 21,3504           63414                           AD       WLH/SLOP                              
043502,000276: 21,3505           00006                           EXTEND                                         
043503,000277: 21,3506           63535                           BZMF     J8                                    
043504,000278: 
043505,000279: 21,3507           41502                           CS       T5TEMP                                #  (ADB+AF)
043506,000280: 21,3510           61522                           AD       AERRVEL                               
043507,000281: 21,3511           00006                           EXTEND                                         
043508,000282: 21,3512           63514                           BZMF     +2                                    
043509,000283: 21,3513           13526                           TCF      J7                                    
043510,000284: 21,3514           00006                           EXTEND                                         
043511,000285: 21,3515           41521                           DCS      EDOTVEL                               
043512,000286: 21,3516           00006                           EXTEND                                         
043513,000287: 21,3517           11654                           DV       SLOPE                                 
043514,000288: 21,3520           00006                           EXTEND                                         
043515,000289: 21,3521           61522                           SU       AERRVEL                               
043516,000290: 21,3522           61655                           AD       ADB                                   
043517,000291: 21,3523           00006                           EXTEND                                         
043518,000292: 21,3524           63614                           BZMF     J18                                   
043519,000293: 21,3525           13670                           TCF      J23                                   
043520,000294: 
043521,000295: 21,3526           43415        J7                 CS       WL-H/SLP                              
043522,000296: 21,3527           00006                           EXTEND                                         
043523,000297: 21,3530           61502                           SU       T5TEMP                                #  (ADB+AF)
043524,000298: 21,3531           61522                           AD       AERRVEL                               
043525,000299: 21,3532           00006                           EXTEND                                         
043526,000300: 21,3533           63620                           BZMF     J20                                   
043527,000301: 21,3534           13631                           TCF      J21                                   
043528,000302: 
043529,000303: 21,3535           00006        J8                 EXTEND                                         
043530,000304: 21,3536           43417                           DCS      WLH                                   
043531,000305: 21,3537           53514                           DXCH     WTEMP                                 
043532,000306: 21,3540           00006                           EXTEND                                         
043533,000307: 21,3541           31521                           DCA      EDOTVEL                               
043534,000308: 21,3542           21514                           DAS      WTEMP                                 
043535,000309: 21,3543           11513                           CCS      WTEMP                                 
043536,000310: 21,3544           13657                           TCF      J22                                   
043537,000311: 21,3545           13547                           TCF      SIGNCK2                               
043538,000312: 21,3546           13553                           TCF      NJ22                                  
043539,000313: 21,3547           11514        SIGNCK2            CCS      WTEMP      +1                         
043540,000314: 21,3550           13657                           TCF      J22                                   
043541,000315: 21,3551           13657                           TCF      J22                                   
043542,000316: 21,3552           13553                           TCF      NJ22                                  
043543,000317: 
043544,000318: 21,3553           00006        NJ22               EXTEND                                         
043545,000319: 21,3554           31521                           DCA      EDOTVEL                               
043546,000320: 21,3555           00006                           EXTEND                                         
043547,000321: 21,3556           11654                           DV       SLOPE                                 
043548,000322: 21,3557           61502                           AD       T5TEMP                                #  (ADB+AF)
043549,000323: 21,3560           61522                           AD       AERRVEL                               

Page 1000

043551,000325: 21,3561           10000                           CCS      A                                     
043552,000326: 21,3562           13670                           TCF      J23                                   
043553,000327: 21,3563           13670                           TCF      J23                                   
043554,000328: 21,3564           13566                           TCF      +2                                    
043555,000329: 21,3565           13670                           TCF      J23                                   
043556,000330: 
043557,000331: 21,3566           00006                           EXTEND                                         
043558,000332: 21,3567           43421                           DCS      WLMH                                  #  WL - H
043559,000333: 21,3570           53514                           DXCH     WTEMP                                 
043560,000334: 21,3571           00006                           EXTEND                                         
043561,000335: 21,3572           31521                           DCA      EDOTVEL                               
043562,000336: 21,3573           21514                           DAS      WTEMP                                 
043563,000337: 21,3574           11513                           CCS      WTEMP                                 
043564,000338: 21,3575           13670                           TCF      J23                                   
043565,000339: 21,3576           13600                           TCF      SIGNCK3                               
043566,000340: 21,3577           13604                           TCF      NJ23                                  
043567,000341: 21,3600           11514        SIGNCK3            CCS      WTEMP      +1                         
043568,000342: 21,3601           13670                           TCF      J23                                   
043569,000343: 21,3602           13670                           TCF      J23                                   
043570,000344: 21,3603           13604                           TCF      NJ23                                  
043571,000345: 
043572,000346: 21,3604           31522        NJ23               CA       AERRVEL                               
043573,000347: 21,3605           61502                           AD       T5TEMP                                #  (ADB+AF)
043574,000348: 21,3606           63415                           AD       WL-H/SLP                              
043575,000349: 21,3607           10000                           CCS      A                                     
043576,000350: 21,3610           13702                           TCF      J24                                   
043577,000351: 21,3611           13702                           TCF      J24                                   
043578,000352: 21,3612           13657                           TCF      J22                                   
043579,000353: 21,3613           13657                           TCF      J22                                   
043580,000354: 
043581,000355: 21,3614           00006        J18                EXTEND                                         
043582,000356: 21,3615           41516                           DCS      EDOT                                  
043583,000357: 21,3616           53511                           DXCH     KMPAC                                 
043584,000358: 21,3617           13713                           TCF      JTIME                                 
043585,000359: 
043586,000360: 21,3620           41517        J20                CS       AERR                                  
043587,000361: 21,3621           61523                           AD       ADBVEL                                
043588,000362: 21,3622           00006                           EXTEND                                         
043589,000363: 21,3623           73424                           MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043590,000364: 21,3624           53511                           DXCH     KMPAC                                 
043591,000365: 21,3625           00006                           EXTEND                                         
043592,000366: 21,3626           41516                           DCS      EDOT                                  
043593,000367: 21,3627           21511                           DAS      KMPAC                                 
043594,000368: 21,3630           13713                           TCF      JTIME                                 
043595,000369: 
043596,000370: 21,3631           11515        J21                CCS      EDOT                                  
043597,000371: 21,3632           13650                           TCF      JP                                    
043598,000372: 21,3633           13635                           TCF      SIGNCK4                               
043599,000373: 21,3634           13641                           TCF      JN                                    
043600,000374: 21,3635           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1001

043602,000376: 21,3636           13650                           TCF      JP                                    
043603,000377: 21,3637           13650                           TCF      JP                                    
043604,000378: 21,3640           13641                           TCF      JN                                    
043605,000379: 21,3641           00006        JN                 EXTEND                                         
043606,000380: 21,3642           41516                           DCS      EDOT                                  
043607,000381: 21,3643           53511                           DXCH     KMPAC                                 
043608,000382: 21,3644           00006                           EXTEND                                         
043609,000383: 21,3645           33423                           DCA      WL                                    
043610,000384: 21,3646           21511                           DAS      KMPAC                                 
043611,000385: 21,3647           13713                           TCF      JTIME                                 
043612,000386: 
043613,000387: 21,3650           00006        JP                 EXTEND                                         
043614,000388: 21,3651           41516                           DCS      EDOT                                  
043615,000389: 21,3652           53511                           DXCH     KMPAC                                 
043616,000390: 21,3653           00006                           EXTEND                                         
043617,000391: 21,3654           43423                           DCS      WL                                    
043618,000392: 21,3655           21511                           DAS      KMPAC                                 
043619,000393: 21,3656           13713                           TCF      JTIME                                 
043620,000394: 
043621,000395: 21,3657           11515        J22                CCS      EDOT                                  
043622,000396: 21,3660           13641                           TCF      JN                                    
043623,000397: 21,3661           13663                           TCF      SIGNCK5                               
043624,000398: 21,3662           13650                           TCF      JP                                    
043625,000399: 21,3663           11516        SIGNCK5            CCS      EDOT       +1                         
043626,000400: 21,3664           13641                           TCF      JN                                    
043627,000401: 21,3665           13641                           TCF      JN                                    
043628,000402: 21,3666           13650                           TCF      JP                                    
043629,000403: 21,3667           13650                           TCF      JP                                    
043630,000404: 
043631,000405: 21,3670           51506        J23                INDEX    SPNDX                                 
043632,000406: 21,3671           44676                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
043633,000407: 21,3672           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
043634,000408: 21,3673           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
043635,000409:                                                                                                  #                                          BIT11 FOR YAW   (SPNDX = 2)
043636,000410: 
043637,000411: 21,3674           51506                           INDEX    SPNDX                                 
043638,000412: 21,3675           33017                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
043639,000413: 21,3676           71501                           MASK     RCSFLAGS                              #  AXIS
043640,000414: 21,3677           00006                           EXTEND                                         
043641,000415: 21,3700           13734                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
043642,000416: 
043643,000417: 21,3701           13614                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
043644,000418: 
043645,000419: 21,3702           41517        J24                CS       AERR                                  
043646,000420: 21,3703           00006                           EXTEND                                         
043647,000421: 21,3704           61523                           SU       ADBVEL                                
043648,000422: 21,3705           00006                           EXTEND                                         
043649,000423: 21,3706           73424                           MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043650,000424: 21,3707           53511                           DXCH     KMPAC                                 
043651,000425: 21,3710           00006                           EXTEND                                         

Page 1002

043653,000427: 21,3711           41516                           DCS      EDOT                                  
043654,000428: 21,3712           21511                           DAS      KMPAC                                 
043655,000429: 

Page 1003

043657,000431:                                                                                                  #       COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
043658,000432: 
043659,000433:                                                                                                  #           T  = J/M(DELTA W)
043660,000434:                                                                                                  #            J
043661,000435: 
043662,000436:                                                                                                  #     DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
043663,000437:                                                                                                  #               SWITCHING LOGIC,  AT THIS POINT STORED IN KMPAC.
043664,000438: 
043665,000439:                                                                                                  #         J/M = S/C INERTIA TO TORQUE 9ATIO  SCALED BY
043666,000440:                                                                                                  #                 (57.3/450)(B24/1600)(1/.8)
043667,000441:                                                                                                  #               FOR 1 JET OPERATION  (M = 700 FT-LB).
043668,000442:                                                                                                  #               IE  J/M = J(SLUG-FTFT) X 0.00000085601606
043669,000443: 
043670,000444:                                                                                                  #               THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
043671,000445:                                                                                                  #               KEYBOARD ENTRY ARE
043672,000446:                                                                                                  #                  J/M (ROLL)
043673,000447:                                                                                                  #                  J/M1 (PITCH)
043674,000448:                                                                                                  #                  J/M2 (YAW)
043675,000449: 
043676,000450:                                                                                                  #          T  = JET ON-TIME     SCALED 16384/1600 SEC
043677,000451:                                                                                                  #           J
043678,000452: 
043679,000453:                                                                                                  #               THE COMPUTER VARIABLES ARE
043680,000454:                                                                                                  #                  TAU  (ROLL)
043681,000455:                                                                                                  #                  TAU1 (PITCH)
043682,000456:                                                                                                  #                  TAU2 (YAW)
043683,000457: 
043684,000458: 
043685,000459: 21,3713           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
043686,000460: 21,3714           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
043687,000461: 21,3715           02026                           TC       SMALLMP                               #  FOR 1-JET OPERATION
043688,000462: 21,3716           34700                           CA       BIT11                                 
043689,000463: 21,3717           02026                           TC       SMALLMP                               
043690,000464: 21,3720           11510                           CCS      KMPAC                                 
043691,000465: 21,3721           13725                           TCF      +4                                    
043692,000466: 21,3722           13731                           TCF      TAUNORM                               
043693,000467: 21,3723           13727                           TCF      +4                                    
043694,000468: 21,3724           13731                           TCF      TAUNORM                               
043695,000469: 21,3725           34672                           CA       POSMAX                                
043696,000470: 21,3726           13732                           TCF      DOJET                                 
043697,000471: 21,3727           34674                           CA       NEGMAX                                
043698,000472: 21,3730           13732                           TCF      DOJET                                 
043699,000473: 
043700,000474: 21,3731           31511        TAUNORM            CA       KMPAC      +1                         
043701,000475: 21,3732           51506        DOJET              INDEX    SPNDX                                 
043702,000476: 21,3733           55561                           TS       TAU                                   
043703,000477: 21,3734           11506                           CCS      SPNDX                                 
043704,000478: 21,3735           13431                           TCF      JLOOP                                 
043705,000479: 21,3736           13743                           TCF      T6PROG                                
043706,000480: 

Page 1004

043708,000482: 21,3737           34714        ZEROCMDS           CAF      ZERO                                  
043709,000483: 21,3740           55561                           TS       TAU                                   
043710,000484: 21,3741           55562                           TS       TAU1                                  
043711,000485: 21,3742           55563                           TS       TAU2                                  
043712,000486: 21,3743           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
043713,000487: 21,3744           33750                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
043714,000488: 21,3745           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
043715,000489: 21,3746           15222                           TCF      RESUME                                
043716,000490: 
043717,000491: 21,3747  E6,1510                                  EBANK=   KMPAC                                 
043718,000492: 21,3747           02601 36066  JETADDR            2CADR    JETSLECT                              

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