Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

044544,000002:                                                                                                  ## Copyright:   Public domain.
044545,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
044546,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
044547,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
044548,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
044549,000007:                                                                                                  ## Assembler:   yaYUL
044550,000008:                                                                                                  ## Reference:   Starts on p. 996
044551,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
044552,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
044553,000011:                                                                                                  ## Mod history: 08/25/04 RSB.   Began transcribing.
044554,000012:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
044555,000013:                                                                                                  ##                              original harcopy, as opposed to the PDF page
044556,000014:                                                                                                  ##                              numbers in 1701.pdf.
044557,000015:                                                                                                  ##              2017-01-07 RSB  Cross-diff'd comment text (not whitespace)
044558,000016:                                                                                                  ##                              vs the already-proofed corresponding Colossus
044559,000017:                                                                                                  ##                              237 and Comanche 55 source-code files
044560,000018:                                                                                                  ##                              and corrected errors found.
044561,000019:                                                                                                  ##
044562,000020:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
044563,000021:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
044564,000022:                                                                                                  ## document read, in part:
044565,000023:                                                                                                  ##
044566,000024:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
044567,000025:                                                                                                  ##      2021111-041.  October 28, 1968.  
044568,000026:                                                                                                  ##
044569,000027:                                                                                                  ##      This AGC program shall also be referred to as
044570,000028:                                                                                                  ##                              Colossus 1A
044571,000029:                                                                                                  ##
044572,000030:                                                                                                  ##      Prepared by
044573,000031:                                                                                                  ##                      Massachusetts Institute of Technology
044574,000032:                                                                                                  ##                      75 Cambridge Parkway
044575,000033:                                                                                                  ##                      Cambridge, Massachusetts
044576,000034:                                                                                                  ##      under NASA contract NAS 9-4065.
044577,000035:                                                                                                  ##
044578,000036:                                                                                                  ## Refer directly to the online document mentioned above for further information.
044579,000037:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
044580,000038:                                                                                                  ##
044581,000039:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
044582,000040:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
044583,000041:                                                                                                  ## source file, and then is proofed to incorporate any changes.
044584,000042: 

Page 996

044586,000044: 21,3234                                           BANK     21                                    
044587,000045: 21,2000                                           SETLOC   DAPS3                                 
044588,000046: 21,2000                                           BANK                                           
044589,000047: 
044590,000048: 21,3234                                           COUNT    21/DAPAM                              
044591,000049: 
044592,000050: 21,3234  E6,1510                                  EBANK=   KMPAC                                 
044593,000051: 21,3234           00006        AHFNOROT           EXTEND                                         
044594,000052: 21,3235           00031                           READ     CHAN31                                
044595,000053: 21,3236           74675                           MASK     BIT14                                 
044596,000054: 21,3237           00006                           EXTEND                                         
044597,000055: 21,3240           63256                           BZMF     FREECONT                              
044598,000056: 21,3241           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
044599,000057: 21,3242           74675                           MASK     BIT14                                 
044600,000058: 21,3243           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
044601,000059: 21,3244           12520                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
044602,000060:                                                                                                  #  AUTOMATIC CONTROL YET
044603,000061: 21,3245           00006                           EXTEND                                         
044604,000062: 21,3246           00031                           READ     CHAN31                                
044605,000063: 21,3247           74676                           MASK     BIT13                                 
044606,000064: 21,3250           00006                           EXTEND                                         
044607,000065: 21,3251           63356                           BZMF     HOLDFUNC                              
044608,000066: 21,3252           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
044609,000067: 21,3253           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
044610,000068: 21,3254           63306                           BZMF     ATTHOLD                               
044611,000069: 21,3255           13362                           TCF      GRABANG                               
044612,000070: 
044613,000071:                                                                                                  #  MINIMUM IMPULSE CONTROL
044614,000072: 
044615,000073: 21,3256           34712        FREECONT           CAF      ONE                                   
044616,000074: 21,3257           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
044617,000075:                                                                                                  #  INHIBIT AUTOMATIC STEERING
044618,000076: 21,3260           00006                           EXTEND                                         
044619,000077: 21,3261           00032                           READ     CHAN32                                
044620,000078: 21,3262           54001                           TS       L                                     
044621,000079: 21,3263           40000                           COM                                            
044622,000080: 21,3264           73022                           MASK     MANROT                                
044623,000081: 21,3265           71633                           MASK     CHANTEMP                              
044624,000082: 21,3266           23633                           LXCH     CHANTEMP                              
044625,000083: 21,3267           03114                           TC       STICKCHK                              
044626,000084: 21,3270           51656                           INDEX    RMANNDX                               
044627,000085: 21,3271           33302                           CA       MINTAU                                #  MINTAU        +0
044628,000086: 21,3272           55561                           TS       TAU                                   #                +1      +14MS MINIMUM IMPULSE
044629,000087: 21,3273           51657                           INDEX    PMANNDX                               #                +2      -14MS TIME
044630,000088: 21,3274           33302                           CA       MINTAU                                #                +3      +0
044631,000089: 21,3275           55562                           TS       TAU1                                  
044632,000090: 21,3276           51660                           INDEX    YMANNDX                               
044633,000091: 21,3277           33302                           CA       MINTAU                                

Page 997

044635,000093: 21,3300           55563                           TS       TAU2                                  
044636,000094: 21,3301           13053                           TCF      T6PROGM                               
044637,000095: 21,3302           00000        MINTAU             DEC      0          B-14                       
044638,000096: 21,3303           00027                           DEC      23         B-14                       #  = 14MS
044639,000097: 21,3304           77750                           DEC      -23        B-14                       #  = -14MS
044640,000098: 21,3305           00000                           DEC      0          B-14                       
044641,000099: 

Page 998

044643,000101:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
044644,000102:                                                                                                  #        -    *     -      -          -
044645,000103:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
044646,000104: 
044647,000105:                                                                                                  #  IE    *AK *   * 1        SIN(PSI)        0    ** CDUX - THETADX *    *BIAS *
044648,000106:                                                                                                  #        *   *   *                               **                *    *     *
044649,000107:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
044650,000108:                                                                                                  #        *   *   *                               **                *    *     *
044651,000109:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
044652,000110: 
044653,000111:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044654,000112:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER.  NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044655,000113:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044656,000114:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044657,000115: 
044658,000116: 21,3306           30032        ATTHOLD            CA       CDUX                                  
044659,000117: 21,3307           00006                           EXTEND                                         
044660,000118: 21,3310           21572                           MSU      THETADX                               
044661,000119: 21,3311           55567                           TS       ERRORX                                
044662,000120: 21,3312           30033                           CA       CDUY                                  
044663,000121: 21,3313           00006                           EXTEND                                         
044664,000122: 21,3314           21573                           MSU      THETADY                               
044665,000123: 21,3315           55502                           TS       T5TEMP                                
044666,000124: 21,3316           00006                           EXTEND                                         
044667,000125: 21,3317           71640                           MP       AMGB1                                 
044668,000126: 21,3320           27567                           ADS      ERRORX                                
044669,000127: 21,3321           31502                           CA       T5TEMP                                
044670,000128: 21,3322           00006                           EXTEND                                         
044671,000129: 21,3323           71641                           MP       AMGB4                                 
044672,000130: 21,3324           55570                           TS       ERRORY                                
044673,000131: 21,3325           31502                           CA       T5TEMP                                
044674,000132: 21,3326           00006                           EXTEND                                         
044675,000133: 21,3327           71643                           MP       AMGB7                                 
044676,000134: 21,3330           55571                           TS       ERRORZ                                
044677,000135: 21,3331           30034                           CA       CDUZ                                  
044678,000136: 21,3332           00006                           EXTEND                                         
044679,000137: 21,3333           21574                           MSU      THETADZ                               
044680,000138: 21,3334           55502                           TS       T5TEMP                                
044681,000139: 21,3335           00006                           EXTEND                                         
044682,000140: 21,3336           71642                           MP       AMGB5                                 
044683,000141: 21,3337           27570                           ADS      ERRORY                                
044684,000142: 21,3340           31502                           CA       T5TEMP                                
044685,000143: 21,3341           00006                           EXTEND                                         
044686,000144: 21,3342           71644                           MP       AMGB8                                 
044687,000145: 21,3343           27571                           ADS      ERRORZ                                
044688,000146: 21,3344           41332                           CS       HOLDFLAG                              
044689,000147: 21,3345           00006                           EXTEND                                         

Page 999

044691,000149: 21,3346           63425                           BZMF     JETS                                  
044692,000150: 21,3347           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
044693,000151: 21,3350           27567                           ADS      ERRORX                                
044694,000152: 21,3351           31565                           CA       BIAS1                                 
044695,000153: 21,3352           27570                           ADS      ERRORY                                
044696,000154: 21,3353           31566                           CA       BIAS2                                 
044697,000155: 21,3354           27571                           ADS      ERRORZ                                
044698,000156: 21,3355           13425                           TCF      JETS                                  
044699,000157: 21,3356           11332        HOLDFUNC           CCS      HOLDFLAG                              
044700,000158: 21,3357           13362                           TCF      +3                                    
044701,000159: 21,3360           13306                           TCF      ATTHOLD                               
044702,000160: 21,3361           13362                           TCF      +1                                    
044703,000161: 21,3362           34714        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
044704,000162: 21,3363           55525                           TS       WBODY                                 
044705,000163: 21,3364           55526                           TS       WBODY      +1                         
044706,000164: 21,3365           55527                           TS       WBODY1                                
044707,000165: 21,3366           55530                           TS       WBODY1     +1                         
044708,000166: 21,3367           55531                           TS       WBODY2                                
044709,000167: 21,3370           55532                           TS       WBODY2     +1                         
044710,000168: 21,3371           55564                           TS       BIAS                                  
044711,000169: 21,3372           55565                           TS       BIAS1                                 
044712,000170: 21,3373           55566                           TS       BIAS2                                 
044713,000171: 
044714,000172: 21,3374           31501                           CA       RCSFLAGS                              
044715,000173: 21,3375           73023                           MASK     OCT16000                              
044716,000174: 21,3376           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044717,000175: 21,3377           13405                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
044718,000176: 21,3400           34714                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
044719,000177: 21,3401           55567                           TS       ERRORX                                
044720,000178: 21,3402           55570                           TS       ERRORY                                
044721,000179: 21,3403           55571                           TS       ERRORZ                                
044722,000180: 21,3404           13425                           TCF      JETS                                  
044723,000181: 
044724,000182: 21,3405           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
044725,000183: 21,3406           00006                           EXTEND                                         
044726,000184: 21,3407           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
044727,000185: 21,3410           53573                           DXCH     THETADX                               #  REFERENCES
044728,000186: 21,3411           30034                           CA       CDUZ                                  
044729,000187: 21,3412           55574                           TS       THETADZ                               
044730,000188: 21,3413           13306                           TCF      ATTHOLD                               
044731,000189: 

Page 1000

044733,000191:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044734,000192: 
044735,000193:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044736,000194:                                                                                                  #  PLANE.
044737,000195: 
044738,000196:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044739,000197:                                                                                                  #  APPROPRIATE DEADZONE.
044740,000198: 
044741,000199:                                                                                                  #                                      .
044742,000200:                                                                                                  #    R22                          RATE . ERROR
044743,000201:                                                                                                  #         WL+H                         .
044744,000202:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
044745,000203:                                                                                                  #    R23  WL                        *  .
044746,000204:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
044747,000205:                                                                                                  #    R23  WL-H       -                *.
044748,000206:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC REGIONS IN PHASE
044749,000207:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
044750,000208:                                                                                                  #                     *                . *
044751,000209:                                                                                                  #                      *-              .  *
044752,000210:                                                                                                  #    R22             R24*-     R23     .   *
044753,000211:                                                                                                  #                        *-            .    *
044754,000212:                                                                                                  #                         *            .     *
044755,000213:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
044756,000214:                                                                                                  #  .........................+--+---------------+--+........................
044757,000215:                                                                                                  #                            AF *      .     +ADB  +             ERROR
044758,000216:                                                                                                  #                                *     .            *
044759,000217:                                                                                                  #                                 *    .            -*
044760,000218:                                                                                                  #                                  *   .             -*
044761,000219:                                                                                                  #                                   *  .              -*
044762,000220:                                                                                                  #                                    * .                *
044763,000221:                                                                                                  #                                     *.               - *
044764,000222:                                                                                                  #                                      .                - *****************
044765,000223:                                                                                                  #                                      .*                -
044766,000224:                                                                                                  #                                      . * --------------------------------
044767,000225:                                                                                                  #                                      .  *
044768,000226:                                                                                                  #                                      .   ********************************
044769,000227:                                                                                                  #                                      .
044770,000228:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
044771,000229: 
044772,000230:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
044773,000231: 
044774,000232: 21,3414           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
044775,000233: 21,3415           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG         $180
044776,000234: 21,3416           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
044777,000235: 21,3420           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
044778,000236: 21,3422           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
044779,000237: 

Page 1001

044781,000239: 21,3424           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
044782,000240: 21,3425           31655        JETS               CA       ADB                                   
044783,000241: 21,3426           64710                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
044784,000242: 21,3427           55502                           TS       T5TEMP                                #  ADB+AF
044785,000243: 21,3430           34711                           CAF      TWO                                   
044786,000244: 21,3431           55506        JLOOP              TS       SPNDX                                 
044787,000245: 21,3432           60000                           DOUBLE                                         
044788,000246: 21,3433           55507                           TS       DPNDX                                 
044789,000247: 21,3434           00006                           EXTEND                                         
044790,000248: 21,3435           50000                           INDEX    A                                     
044791,000249: 21,3436           31534                           DCA      ADOT                                  
044792,000250: 21,3437           53516                           DXCH     EDOT                                  
044793,000251: 21,3440           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
044794,000252: 21,3441           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
044795,000253: 21,3442           13447                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
044796,000254:                                                                                                  #  OF WBODY AND GO TO INHOLD
044797,000255: 21,3443           00006                           EXTEND                                         
044798,000256: 21,3444           51507                           INDEX    DPNDX                                 
044799,000257: 21,3445           41526                           DCS      WBODY                                 
044800,000258: 21,3446           21516                           DAS      EDOT                                  #  = ADOT-WBODY
044801,000259: 21,3447           51506        INHOLD             INDEX    SPNDX                                 
044802,000260: 21,3450           31567                           CA       ERRORX                                
044803,000261: 21,3451           55517                           TS       AERR                                  #  AERR = BIAS + AK
044804,000262: 
044805,000263: 21,3452           11515                           CCS      EDOT                                  
044806,000264: 21,3453           13463                           TCF      POSVEL                                
044807,000265: 21,3454           13456                           TCF      SIGNCK1                               
044808,000266: 21,3455           13473                           TCF      NEGVEL                                
044809,000267: 21,3456           11516        SIGNCK1            CCS      EDOT       +1                         
044810,000268: 21,3457           13463                           TCF      POSVEL                                
044811,000269: 21,3460           13463                           TCF      POSVEL                                
044812,000270: 21,3461           13473                           TCF      NEGVEL                                
044813,000271: 21,3462           13473                           TCF      NEGVEL                                
044814,000272: 21,3463           00006        POSVEL             EXTEND                                         
044815,000273: 21,3464           31516                           DCA      EDOT                                  
044816,000274: 21,3465           53521                           DXCH     EDOTVEL                               
044817,000275: 21,3466           31502                           CA       T5TEMP                                
044818,000276: 21,3467           55523                           TS       ADBVEL                                #  +(ADB+AF)
044819,000277: 21,3470           31517                           CA       AERR                                  
044820,000278: 21,3471           55522                           TS       AERRVEL                               
044821,000279: 21,3472           03502                           TC       J6.                                   
044822,000280: 21,3473           00006        NEGVEL             EXTEND                                         
044823,000281: 21,3474           41516                           DCS      EDOT                                  
044824,000282: 21,3475           53521                           DXCH     EDOTVEL                               
044825,000283: 21,3476           41502                           CS       T5TEMP                                
044826,000284: 21,3477           55523                           TS       ADBVEL                                #  -(ADB+AF)
044827,000285: 21,3500           41517                           CS       AERR                                  
044828,000286: 21,3501           55522                           TS       AERRVEL                               
044829,000287: 
044830,000288: 21,3502           00006        J6.                EXTEND                                         

Page 1002

044832,000290: 21,3503           61655                           SU       ADB                                   
044833,000291: 21,3504           63414                           AD       WLH/SLOP                              
044834,000292: 21,3505           00006                           EXTEND                                         
044835,000293: 21,3506           63535                           BZMF     J8                                    
044836,000294: 
044837,000295: 21,3507           41502                           CS       T5TEMP                                #  (ADB+AF)
044838,000296: 21,3510           61522                           AD       AERRVEL                               
044839,000297: 21,3511           00006                           EXTEND                                         
044840,000298: 21,3512           63514                           BZMF     +2                                    
044841,000299: 21,3513           13526                           TCF      J7                                    
044842,000300: 21,3514           00006                           EXTEND                                         
044843,000301: 21,3515           41521                           DCS      EDOTVEL                               
044844,000302: 21,3516           00006                           EXTEND                                         
044845,000303: 21,3517           11654                           DV       SLOPE                                 
044846,000304: 21,3520           00006                           EXTEND                                         
044847,000305: 21,3521           61522                           SU       AERRVEL                               
044848,000306: 21,3522           61655                           AD       ADB                                   
044849,000307: 21,3523           00006                           EXTEND                                         
044850,000308: 21,3524           63614                           BZMF     J18                                   
044851,000309: 21,3525           13670                           TCF      J23                                   
044852,000310: 
044853,000311: 21,3526           43415        J7                 CS       WL-H/SLP                              
044854,000312: 21,3527           00006                           EXTEND                                         
044855,000313: 21,3530           61502                           SU       T5TEMP                                #  (ADB+AF)
044856,000314: 21,3531           61522                           AD       AERRVEL                               
044857,000315: 21,3532           00006                           EXTEND                                         
044858,000316: 21,3533           63620                           BZMF     J20                                   
044859,000317: 21,3534           13631                           TCF      J21                                   
044860,000318: 
044861,000319: 21,3535           00006        J8                 EXTEND                                         
044862,000320: 21,3536           43417                           DCS      WLH                                   
044863,000321: 21,3537           53514                           DXCH     WTEMP                                 
044864,000322: 21,3540           00006                           EXTEND                                         
044865,000323: 21,3541           31521                           DCA      EDOTVEL                               
044866,000324: 21,3542           21514                           DAS      WTEMP                                 
044867,000325: 21,3543           11513                           CCS      WTEMP                                 
044868,000326: 21,3544           13657                           TCF      J22                                   
044869,000327: 21,3545           13547                           TCF      SIGNCK2                               
044870,000328: 21,3546           13553                           TCF      NJ22                                  
044871,000329: 21,3547           11514        SIGNCK2            CCS      WTEMP      +1                         
044872,000330: 21,3550           13657                           TCF      J22                                   
044873,000331: 21,3551           13657                           TCF      J22                                   
044874,000332: 21,3552           13553                           TCF      NJ22                                  
044875,000333: 
044876,000334: 21,3553           00006        NJ22               EXTEND                                         
044877,000335: 21,3554           31521                           DCA      EDOTVEL                               
044878,000336: 21,3555           00006                           EXTEND                                         
044879,000337: 21,3556           11654                           DV       SLOPE                                 
044880,000338: 21,3557           61502                           AD       T5TEMP                                #  (ADB+AF)
044881,000339: 21,3560           61522                           AD       AERRVEL                               

Page 1003

044883,000341: 21,3561           10000                           CCS      A                                     
044884,000342: 21,3562           13670                           TCF      J23                                   
044885,000343: 21,3563           13670                           TCF      J23                                   
044886,000344: 21,3564           13566                           TCF      +2                                    
044887,000345: 21,3565           13670                           TCF      J23                                   
044888,000346: 
044889,000347: 21,3566           00006                           EXTEND                                         
044890,000348: 21,3567           43421                           DCS      WLMH                                  #  WL - H
044891,000349: 21,3570           53514                           DXCH     WTEMP                                 
044892,000350: 21,3571           00006                           EXTEND                                         
044893,000351: 21,3572           31521                           DCA      EDOTVEL                               
044894,000352: 21,3573           21514                           DAS      WTEMP                                 
044895,000353: 21,3574           11513                           CCS      WTEMP                                 
044896,000354: 21,3575           13670                           TCF      J23                                   
044897,000355: 21,3576           13600                           TCF      SIGNCK3                               
044898,000356: 21,3577           13604                           TCF      NJ23                                  
044899,000357: 21,3600           11514        SIGNCK3            CCS      WTEMP      +1                         
044900,000358: 21,3601           13670                           TCF      J23                                   
044901,000359: 21,3602           13670                           TCF      J23                                   
044902,000360: 21,3603           13604                           TCF      NJ23                                  
044903,000361: 
044904,000362: 21,3604           31522        NJ23               CA       AERRVEL                               
044905,000363: 21,3605           61502                           AD       T5TEMP                                #  (ADB+AF)
044906,000364: 21,3606           63415                           AD       WL-H/SLP                              
044907,000365: 21,3607           10000                           CCS      A                                     
044908,000366: 21,3610           13702                           TCF      J24                                   
044909,000367: 21,3611           13702                           TCF      J24                                   
044910,000368: 21,3612           13657                           TCF      J22                                   
044911,000369: 21,3613           13657                           TCF      J22                                   
044912,000370: 
044913,000371: 21,3614           00006        J18                EXTEND                                         
044914,000372: 21,3615           41516                           DCS      EDOT                                  
044915,000373: 21,3616           53511                           DXCH     KMPAC                                 
044916,000374: 21,3617           13713                           TCF      JTIME                                 
044917,000375: 
044918,000376: 21,3620           41517        J20                CS       AERR                                  
044919,000377: 21,3621           61523                           AD       ADBVEL                                
044920,000378: 21,3622           00006                           EXTEND                                         
044921,000379: 21,3623           73424                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
044922,000380: 21,3624           53511                           DXCH     KMPAC                                 
044923,000381: 21,3625           00006                           EXTEND                                         
044924,000382: 21,3626           41516                           DCS      EDOT                                  
044925,000383: 21,3627           21511                           DAS      KMPAC                                 
044926,000384: 21,3630           13713                           TCF      JTIME                                 
044927,000385: 
044928,000386: 21,3631           11515        J21                CCS      EDOT                                  
044929,000387: 21,3632           13650                           TCF      JP                                    
044930,000388: 21,3633           13635                           TCF      SIGNCK4                               
044931,000389: 21,3634           13641                           TCF      JN                                    
044932,000390: 21,3635           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1004

044934,000392: 21,3636           13650                           TCF      JP                                    
044935,000393: 21,3637           13650                           TCF      JP                                    
044936,000394: 21,3640           13641                           TCF      JN                                    
044937,000395: 21,3641           00006        JN                 EXTEND                                         
044938,000396: 21,3642           41516                           DCS      EDOT                                  
044939,000397: 21,3643           53511                           DXCH     KMPAC                                 
044940,000398: 21,3644           00006                           EXTEND                                         
044941,000399: 21,3645           33423                           DCA      WL                                    
044942,000400: 21,3646           21511                           DAS      KMPAC                                 
044943,000401: 21,3647           13713                           TCF      JTIME                                 
044944,000402: 
044945,000403: 21,3650           00006        JP                 EXTEND                                         
044946,000404: 21,3651           41516                           DCS      EDOT                                  
044947,000405: 21,3652           53511                           DXCH     KMPAC                                 
044948,000406: 21,3653           00006                           EXTEND                                         
044949,000407: 21,3654           43423                           DCS      WL                                    
044950,000408: 21,3655           21511                           DAS      KMPAC                                 
044951,000409: 21,3656           13713                           TCF      JTIME                                 
044952,000410: 
044953,000411: 21,3657           11515        J22                CCS      EDOT                                  
044954,000412: 21,3660           13641                           TCF      JN                                    
044955,000413: 21,3661           13663                           TCF      SIGNCK5                               
044956,000414: 21,3662           13650                           TCF      JP                                    
044957,000415: 21,3663           11516        SIGNCK5            CCS      EDOT       +1                         
044958,000416: 21,3664           13641                           TCF      JN                                    
044959,000417: 21,3665           13641                           TCF      JN                                    
044960,000418: 21,3666           13650                           TCF      JP                                    
044961,000419: 21,3667           13650                           TCF      JP                                    
044962,000420: 
044963,000421: 21,3670           51506        J23                INDEX    SPNDX                                 
044964,000422: 21,3671           44676                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
044965,000423: 21,3672           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
044966,000424: 21,3673           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
044967,000425:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
044968,000426: 
044969,000427: 21,3674           51506                           INDEX    SPNDX                                 
044970,000428: 21,3675           33017                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
044971,000429: 21,3676           71501                           MASK     RCSFLAGS                              #  AXIS
044972,000430: 21,3677           00006                           EXTEND                                         
044973,000431: 21,3700           13734                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
044974,000432: 
044975,000433: 21,3701           13614                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
044976,000434: 
044977,000435: 21,3702           41517        J24                CS       AERR                                  
044978,000436: 21,3703           00006                           EXTEND                                         
044979,000437: 21,3704           61523                           SU       ADBVEL                                
044980,000438: 21,3705           00006                           EXTEND                                         
044981,000439: 21,3706           73424                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
044982,000440: 21,3707           53511                           DXCH     KMPAC                                 
044983,000441: 21,3710           00006                           EXTEND                                         

Page 1005

044985,000443: 21,3711           41516                           DCS      EDOT                                  
044986,000444: 21,3712           21511                           DAS      KMPAC                                 
044987,000445: 

Page 1006

044989,000447:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
044990,000448: 
044991,000449:                                                                                                  #             T  = J/M(DELTA W)
044992,000450:                                                                                                  #              J
044993,000451: 
044994,000452:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
044995,000453:                                                                                                  #                  SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
044996,000454: 
044997,000455:                                                                                                  #            J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
044998,000456:                                                                                                  #                        (57.3/450)(B24/1600)(1/.8)
044999,000457:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
045000,000458:                                                                                                  #                  IE  J/M = J(SLUG-FTFT) X 0.00000085601606
045001,000459: 
045002,000460:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045003,000461:                                                                                                  #                  KEYBOARD ENTRY ARE
045004,000462:                                                                                                  #                        J/M  (ROLL)
045005,000463:                                                                                                  #                        J/M1 (PITCH)
045006,000464:                                                                                                  #                        J/M2 (YAW)
045007,000465: 
045008,000466:                                                                                                  #             T  = JET ON-TIME    SCALED 16384/1600 SEC
045009,000467:                                                                                                  #              J
045010,000468: 
045011,000469:                                                                                                  #                  THE COMPUTER VARIABLES ARE
045012,000470:                                                                                                  #                        TAU  (ROLL)
045013,000471:                                                                                                  #                        TAU1 (PITCH)
045014,000472:                                                                                                  #                        TAU2 (YAW)
045015,000473: 
045016,000474: 21,3713           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
045017,000475: 21,3714           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
045018,000476: 21,3715           02026                           TC       SMALLMP                               #  FOR 1-JET OPERATION
045019,000477: 21,3716           34700                           CA       BIT11                                 
045020,000478: 21,3717           02026                           TC       SMALLMP                               
045021,000479: 21,3720           11510                           CCS      KMPAC                                 
045022,000480: 21,3721           13725                           TCF      +4                                    
045023,000481: 21,3722           13731                           TCF      TAUNORM                               
045024,000482: 21,3723           13727                           TCF      +4                                    
045025,000483: 21,3724           13731                           TCF      TAUNORM                               
045026,000484: 21,3725           34672                           CA       POSMAX                                
045027,000485: 21,3726           13732                           TCF      DOJET                                 
045028,000486: 21,3727           34674                           CA       NEGMAX                                
045029,000487: 21,3730           13732                           TCF      DOJET                                 
045030,000488: 
045031,000489: 21,3731           31511        TAUNORM            CA       KMPAC      +1                         
045032,000490: 21,3732           51506        DOJET              INDEX    SPNDX                                 
045033,000491: 21,3733           55561                           TS       TAU                                   
045034,000492: 21,3734           11506                           CCS      SPNDX                                 
045035,000493: 21,3735           13431                           TCF      JLOOP                                 
045036,000494: 21,3736           13743                           TCF      T6PROG                                
045037,000495: 

Page 1007

045039,000497: 21,3737           34714        ZEROCMDS           CAF      ZERO                                  
045040,000498: 21,3740           55561                           TS       TAU                                   
045041,000499: 21,3741           55562                           TS       TAU1                                  
045042,000500: 21,3742           55563                           TS       TAU2                                  
045043,000501: 21,3743           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
045044,000502: 21,3744           33750                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
045045,000503: 21,3745           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
045046,000504: 21,3746           15222                           TCF      RESUME                                
045047,000505: 
045048,000506: 21,3747  E6,1510                                  EBANK=   KMPAC                                 
045049,000507: 21,3747           02577 36066  JETADDR            2CADR    JETSLECT                              
045050,000508: 

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