ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original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. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
044558,000002: ## Copyright: Public domain.
044559,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044560,000004: ## Purpose: Part of the source code for Colossus, build 249.
044561,000005: ## It is part of the source code for the Command Module's (CM)
044562,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
044563,000007: ## Assembler: yaYUL
044564,000008: ## Reference: Starts on p. 996
044565,000009: ## Contact: Ron Burkey <info@sandroid.org>.
044566,000010: ## Website: www.ibiblio.org/apollo.
044567,000011: ## Mod history: 08/25/04 RSB. Began transcribing.
044568,000012: ## 2017-01-06 RSB Page numbers now agree with those on the
044569,000013: ## original harcopy, as opposed to the PDF page
044570,000014: ## numbers in 1701.pdf.
044571,000015: ## 2017-01-07 RSB Cross-diff'd comment text (not whitespace)
044572,000016: ## vs the already-proofed corresponding Colossus
044573,000017: ## 237 and Comanche 55 source-code files
044574,000018: ## and corrected errors found.
044575,000019: ##
044576,000020: ## The contents of the "Colossus249" files, in general, are transcribed
044577,000021: ## from a scanned copy of the program listing. Notations on this
044578,000022: ## document read, in part:
044579,000023: ##
044580,000024: ## Assemble revision 249 of AGC program Colossus by NASA
044581,000025: ## 2021111-041. October 28, 1968.
044582,000026: ##
044583,000027: ## This AGC program shall also be referred to as
044584,000028: ## Colossus 1A
044585,000029: ##
044586,000030: ## Prepared by
044587,000031: ## Massachusetts Institute of Technology
044588,000032: ## 75 Cambridge Parkway
044589,000033: ## Cambridge, Massachusetts
044590,000034: ## under NASA contract NAS 9-4065.
044591,000035: ##
044592,000036: ## Refer directly to the online document mentioned above for further information.
044593,000037: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
044594,000038: ##
044595,000039: ## In some cases, where the source code for Luminary 131 overlaps that of
044596,000040: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
044597,000041: ## source file, and then is proofed to incorporate any changes.
044598,000042:
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Page 996 |
044600,000044: 21,3234 BANK 21
044601,000045: 21,2000 SETLOC DAPS3
044602,000046: 21,2000 BANK
044603,000047:
044604,000048: 21,3234 COUNT 21/DAPAM
044605,000049:
044606,000050: 21,3234 E6,1510 EBANK= KMPAC
044607,000051: 21,3234 00006 AHFNOROT EXTEND
044608,000052: 21,3235 00031 READ CHAN31
044609,000053: 21,3236 74675 MASK BIT14
044610,000054: 21,3237 00006 EXTEND
044611,000055: 21,3240 63256 BZMF FREECONT
044612,000056: 21,3241 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044613,000057: 21,3242 74675 MASK BIT14
044614,000058: 21,3243 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044615,000059: 21,3244 12520 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044616,000060: # AUTOMATIC CONTROL YET
044617,000061: 21,3245 00006 EXTEND
044618,000062: 21,3246 00031 READ CHAN31
044619,000063: 21,3247 74676 MASK BIT13
044620,000064: 21,3250 00006 EXTEND
044621,000065: 21,3251 63356 BZMF HOLDFUNC
044622,000066: 21,3252 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044623,000067: 21,3253 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044624,000068: 21,3254 63306 BZMF ATTHOLD
044625,000069: 21,3255 13362 TCF GRABANG
044626,000070:
044627,000071: # MINIMUM IMPULSE CONTROL
044628,000072:
044629,000073: 21,3256 34712 FREECONT CAF ONE
044630,000074: 21,3257 55332 TS HOLDFLAG # RESET HOLDFLAG
044631,000075: # INHIBIT AUTOMATIC STEERING
044632,000076: 21,3260 00006 EXTEND
044633,000077: 21,3261 00032 READ CHAN32
044634,000078: 21,3262 54001 TS L
044635,000079: 21,3263 40000 COM
044636,000080: 21,3264 73022 MASK MANROT
044637,000081: 21,3265 71633 MASK CHANTEMP
044638,000082: 21,3266 23633 LXCH CHANTEMP
044639,000083: 21,3267 03114 TC STICKCHK
044640,000084: 21,3270 51656 INDEX RMANNDX
044641,000085: 21,3271 33302 CA MINTAU # MINTAU +0
044642,000086: 21,3272 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044643,000087: 21,3273 51657 INDEX PMANNDX # +2 -14MS TIME
044644,000088: 21,3274 33302 CA MINTAU # +3 +0
044645,000089: 21,3275 55562 TS TAU1
044646,000090: 21,3276 51660 INDEX YMANNDX
044647,000091: 21,3277 33302 CA MINTAU
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Page 997 |
044649,000093: 21,3300 55563 TS TAU2
044650,000094: 21,3301 13053 TCF T6PROGM
044651,000095: 21,3302 00000 MINTAU DEC 0 B-14
044652,000096: 21,3303 00027 DEC 23 B-14 # = 14MS
044653,000097: 21,3304 77750 DEC -23 B-14 # = -14MS
044654,000098: 21,3305 00000 DEC 0 B-14
044655,000099:
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Page 998 |
044657,000101: # CALCULATION OF ATTITUDE ERRORS-
044658,000102: # - * - - -
044659,000103: # AK = AMGB (CDUX - THETADX) + BIAS
044660,000104:
044661,000105: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044662,000106: # * * * ** * * *
044663,000107: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044664,000108: # * * * ** * * *
044665,000109: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044666,000110:
044667,000111: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044668,000112: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044669,000113: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044670,000114: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044671,000115:
044672,000116: 21,3306 30032 ATTHOLD CA CDUX
044673,000117: 21,3307 00006 EXTEND
044674,000118: 21,3310 21572 MSU THETADX
044675,000119: 21,3311 55567 TS ERRORX
044676,000120: 21,3312 30033 CA CDUY
044677,000121: 21,3313 00006 EXTEND
044678,000122: 21,3314 21573 MSU THETADY
044679,000123: 21,3315 55502 TS T5TEMP
044680,000124: 21,3316 00006 EXTEND
044681,000125: 21,3317 71640 MP AMGB1
044682,000126: 21,3320 27567 ADS ERRORX
044683,000127: 21,3321 31502 CA T5TEMP
044684,000128: 21,3322 00006 EXTEND
044685,000129: 21,3323 71641 MP AMGB4
044686,000130: 21,3324 55570 TS ERRORY
044687,000131: 21,3325 31502 CA T5TEMP
044688,000132: 21,3326 00006 EXTEND
044689,000133: 21,3327 71643 MP AMGB7
044690,000134: 21,3330 55571 TS ERRORZ
044691,000135: 21,3331 30034 CA CDUZ
044692,000136: 21,3332 00006 EXTEND
044693,000137: 21,3333 21574 MSU THETADZ
044694,000138: 21,3334 55502 TS T5TEMP
044695,000139: 21,3335 00006 EXTEND
044696,000140: 21,3336 71642 MP AMGB5
044697,000141: 21,3337 27570 ADS ERRORY
044698,000142: 21,3340 31502 CA T5TEMP
044699,000143: 21,3341 00006 EXTEND
044700,000144: 21,3342 71644 MP AMGB8
044701,000145: 21,3343 27571 ADS ERRORZ
044702,000146: 21,3344 41332 CS HOLDFLAG
044703,000147: 21,3345 00006 EXTEND
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Page 999 |
044705,000149: 21,3346 63425 BZMF JETS
044706,000150: 21,3347 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044707,000151: 21,3350 27567 ADS ERRORX
044708,000152: 21,3351 31565 CA BIAS1
044709,000153: 21,3352 27570 ADS ERRORY
044710,000154: 21,3353 31566 CA BIAS2
044711,000155: 21,3354 27571 ADS ERRORZ
044712,000156: 21,3355 13425 TCF JETS
044713,000157: 21,3356 11332 HOLDFUNC CCS HOLDFLAG
044714,000158: 21,3357 13362 TCF +3
044715,000159: 21,3360 13306 TCF ATTHOLD
044716,000160: 21,3361 13362 TCF +1
044717,000161: 21,3362 34714 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044718,000162: 21,3363 55525 TS WBODY
044719,000163: 21,3364 55526 TS WBODY +1
044720,000164: 21,3365 55527 TS WBODY1
044721,000165: 21,3366 55530 TS WBODY1 +1
044722,000166: 21,3367 55531 TS WBODY2
044723,000167: 21,3370 55532 TS WBODY2 +1
044724,000168: 21,3371 55564 TS BIAS
044725,000169: 21,3372 55565 TS BIAS1
044726,000170: 21,3373 55566 TS BIAS2
044727,000171:
044728,000172: 21,3374 31501 CA RCSFLAGS
044729,000173: 21,3375 73023 MASK OCT16000
044730,000174: 21,3376 00006 EXTEND # IS RATE DAMPING COMPLETED
044731,000175: 21,3377 13405 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044732,000176: 21,3400 34714 CAF ZERO # OTHERWISE, ZERO ERRORS
044733,000177: 21,3401 55567 TS ERRORX
044734,000178: 21,3402 55570 TS ERRORY
044735,000179: 21,3403 55571 TS ERRORZ
044736,000180: 21,3404 13425 TCF JETS
044737,000181:
044738,000182: 21,3405 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044739,000183: 21,3406 00006 EXTEND
044740,000184: 21,3407 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044741,000185: 21,3410 53573 DXCH THETADX # REFERENCES
044742,000186: 21,3411 30034 CA CDUZ
044743,000187: 21,3412 55574 TS THETADZ
044744,000188: 21,3413 13306 TCF ATTHOLD
044745,000189:
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Page 1000 |
044747,000191: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044748,000192:
044749,000193: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044750,000194: # PLANE.
044751,000195:
044752,000196: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044753,000197: # APPROPRIATE DEADZONE.
044754,000198:
044755,000199: # .
044756,000200: # R22 RATE . ERROR
044757,000201: # WL+H .
044758,000202: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044759,000203: # R23 WL * .
044760,000204: # --------------------------------- * . ----- DESIRED RATE LINES
044761,000205: # R23 WL-H - *.
044762,000206: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044763,000207: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044764,000208: # * . *
044765,000209: # *- . *
044766,000210: # R22 R24*- R23 . *
044767,000211: # *- . *
044768,000212: # * . *
044769,000213: # + -ADB . * AF ATTITUDE
044770,000214: # .........................+--+---------------+--+........................
044771,000215: # AF * . +ADB + ERROR
044772,000216: # * . *
044773,000217: # * . -*
044774,000218: # * . -*
044775,000219: # * . -*
044776,000220: # * . *
044777,000221: # *. - *
044778,000222: # . - *****************
044779,000223: # .* -
044780,000224: # . * --------------------------------
044781,000225: # . *
044782,000226: # . ********************************
044783,000227: # .
044784,000228: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044785,000229:
044786,000230: # CONSTANTS FOR JET SWITCHING LOGIC
044787,000231:
044788,000232: 21,3414 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044789,000233: 21,3415 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044790,000234: 21,3416 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044791,000235: 21,3420 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044792,000236: 21,3422 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044793,000237:
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Page 1001 |
044795,000239: 21,3424 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044796,000240: 21,3425 31655 JETS CA ADB
044797,000241: 21,3426 64710 AD FOUR # AF = FLAT REGION = .044 DEG
044798,000242: 21,3427 55502 TS T5TEMP # ADB+AF
044799,000243: 21,3430 34711 CAF TWO
044800,000244: 21,3431 55506 JLOOP TS SPNDX
044801,000245: 21,3432 60000 DOUBLE
044802,000246: 21,3433 55507 TS DPNDX
044803,000247: 21,3434 00006 EXTEND
044804,000248: 21,3435 50000 INDEX A
044805,000249: 21,3436 31534 DCA ADOT
044806,000250: 21,3437 53516 DXCH EDOT
044807,000251: 21,3440 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044808,000252: 21,3441 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044809,000253: 21,3442 13447 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044810,000254: # OF WBODY AND GO TO INHOLD
044811,000255: 21,3443 00006 EXTEND
044812,000256: 21,3444 51507 INDEX DPNDX
044813,000257: 21,3445 41526 DCS WBODY
044814,000258: 21,3446 21516 DAS EDOT # = ADOT-WBODY
044815,000259: 21,3447 51506 INHOLD INDEX SPNDX
044816,000260: 21,3450 31567 CA ERRORX
044817,000261: 21,3451 55517 TS AERR # AERR = BIAS + AK
044818,000262:
044819,000263: 21,3452 11515 CCS EDOT
044820,000264: 21,3453 13463 TCF POSVEL
044821,000265: 21,3454 13456 TCF SIGNCK1
044822,000266: 21,3455 13473 TCF NEGVEL
044823,000267: 21,3456 11516 SIGNCK1 CCS EDOT +1
044824,000268: 21,3457 13463 TCF POSVEL
044825,000269: 21,3460 13463 TCF POSVEL
044826,000270: 21,3461 13473 TCF NEGVEL
044827,000271: 21,3462 13473 TCF NEGVEL
044828,000272: 21,3463 00006 POSVEL EXTEND
044829,000273: 21,3464 31516 DCA EDOT
044830,000274: 21,3465 53521 DXCH EDOTVEL
044831,000275: 21,3466 31502 CA T5TEMP
044832,000276: 21,3467 55523 TS ADBVEL # +(ADB+AF)
044833,000277: 21,3470 31517 CA AERR
044834,000278: 21,3471 55522 TS AERRVEL
044835,000279: 21,3472 03502 TC J6.
044836,000280: 21,3473 00006 NEGVEL EXTEND
044837,000281: 21,3474 41516 DCS EDOT
044838,000282: 21,3475 53521 DXCH EDOTVEL
044839,000283: 21,3476 41502 CS T5TEMP
044840,000284: 21,3477 55523 TS ADBVEL # -(ADB+AF)
044841,000285: 21,3500 41517 CS AERR
044842,000286: 21,3501 55522 TS AERRVEL
044843,000287:
044844,000288: 21,3502 00006 J6. EXTEND
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Page 1002 |
044846,000290: 21,3503 61655 SU ADB
044847,000291: 21,3504 63414 AD WLH/SLOP
044848,000292: 21,3505 00006 EXTEND
044849,000293: 21,3506 63535 BZMF J8
044850,000294:
044851,000295: 21,3507 41502 CS T5TEMP # (ADB+AF)
044852,000296: 21,3510 61522 AD AERRVEL
044853,000297: 21,3511 00006 EXTEND
044854,000298: 21,3512 63514 BZMF +2
044855,000299: 21,3513 13526 TCF J7
044856,000300: 21,3514 00006 EXTEND
044857,000301: 21,3515 41521 DCS EDOTVEL
044858,000302: 21,3516 00006 EXTEND
044859,000303: 21,3517 11654 DV SLOPE
044860,000304: 21,3520 00006 EXTEND
044861,000305: 21,3521 61522 SU AERRVEL
044862,000306: 21,3522 61655 AD ADB
044863,000307: 21,3523 00006 EXTEND
044864,000308: 21,3524 63614 BZMF J18
044865,000309: 21,3525 13670 TCF J23
044866,000310:
044867,000311: 21,3526 43415 J7 CS WL-H/SLP
044868,000312: 21,3527 00006 EXTEND
044869,000313: 21,3530 61502 SU T5TEMP # (ADB+AF)
044870,000314: 21,3531 61522 AD AERRVEL
044871,000315: 21,3532 00006 EXTEND
044872,000316: 21,3533 63620 BZMF J20
044873,000317: 21,3534 13631 TCF J21
044874,000318:
044875,000319: 21,3535 00006 J8 EXTEND
044876,000320: 21,3536 43417 DCS WLH
044877,000321: 21,3537 53514 DXCH WTEMP
044878,000322: 21,3540 00006 EXTEND
044879,000323: 21,3541 31521 DCA EDOTVEL
044880,000324: 21,3542 21514 DAS WTEMP
044881,000325: 21,3543 11513 CCS WTEMP
044882,000326: 21,3544 13657 TCF J22
044883,000327: 21,3545 13547 TCF SIGNCK2
044884,000328: 21,3546 13553 TCF NJ22
044885,000329: 21,3547 11514 SIGNCK2 CCS WTEMP +1
044886,000330: 21,3550 13657 TCF J22
044887,000331: 21,3551 13657 TCF J22
044888,000332: 21,3552 13553 TCF NJ22
044889,000333:
044890,000334: 21,3553 00006 NJ22 EXTEND
044891,000335: 21,3554 31521 DCA EDOTVEL
044892,000336: 21,3555 00006 EXTEND
044893,000337: 21,3556 11654 DV SLOPE
044894,000338: 21,3557 61502 AD T5TEMP # (ADB+AF)
044895,000339: 21,3560 61522 AD AERRVEL
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Page 1003 |
044897,000341: 21,3561 10000 CCS A
044898,000342: 21,3562 13670 TCF J23
044899,000343: 21,3563 13670 TCF J23
044900,000344: 21,3564 13566 TCF +2
044901,000345: 21,3565 13670 TCF J23
044902,000346:
044903,000347: 21,3566 00006 EXTEND
044904,000348: 21,3567 43421 DCS WLMH # WL - H
044905,000349: 21,3570 53514 DXCH WTEMP
044906,000350: 21,3571 00006 EXTEND
044907,000351: 21,3572 31521 DCA EDOTVEL
044908,000352: 21,3573 21514 DAS WTEMP
044909,000353: 21,3574 11513 CCS WTEMP
044910,000354: 21,3575 13670 TCF J23
044911,000355: 21,3576 13600 TCF SIGNCK3
044912,000356: 21,3577 13604 TCF NJ23
044913,000357: 21,3600 11514 SIGNCK3 CCS WTEMP +1
044914,000358: 21,3601 13670 TCF J23
044915,000359: 21,3602 13670 TCF J23
044916,000360: 21,3603 13604 TCF NJ23
044917,000361:
044918,000362: 21,3604 31522 NJ23 CA AERRVEL
044919,000363: 21,3605 61502 AD T5TEMP # (ADB+AF)
044920,000364: 21,3606 63415 AD WL-H/SLP
044921,000365: 21,3607 10000 CCS A
044922,000366: 21,3610 13702 TCF J24
044923,000367: 21,3611 13702 TCF J24
044924,000368: 21,3612 13657 TCF J22
044925,000369: 21,3613 13657 TCF J22
044926,000370:
044927,000371: 21,3614 00006 J18 EXTEND
044928,000372: 21,3615 41516 DCS EDOT
044929,000373: 21,3616 53511 DXCH KMPAC
044930,000374: 21,3617 13713 TCF JTIME
044931,000375:
044932,000376: 21,3620 41517 J20 CS AERR
044933,000377: 21,3621 61523 AD ADBVEL
044934,000378: 21,3622 00006 EXTEND
044935,000379: 21,3623 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
044936,000380: 21,3624 53511 DXCH KMPAC
044937,000381: 21,3625 00006 EXTEND
044938,000382: 21,3626 41516 DCS EDOT
044939,000383: 21,3627 21511 DAS KMPAC
044940,000384: 21,3630 13713 TCF JTIME
044941,000385:
044942,000386: 21,3631 11515 J21 CCS EDOT
044943,000387: 21,3632 13650 TCF JP
044944,000388: 21,3633 13635 TCF SIGNCK4
044945,000389: 21,3634 13641 TCF JN
044946,000390: 21,3635 11516 SIGNCK4 CCS EDOT +1
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Page 1004 |
044948,000392: 21,3636 13650 TCF JP
044949,000393: 21,3637 13650 TCF JP
044950,000394: 21,3640 13641 TCF JN
044951,000395: 21,3641 00006 JN EXTEND
044952,000396: 21,3642 41516 DCS EDOT
044953,000397: 21,3643 53511 DXCH KMPAC
044954,000398: 21,3644 00006 EXTEND
044955,000399: 21,3645 33423 DCA WL
044956,000400: 21,3646 21511 DAS KMPAC
044957,000401: 21,3647 13713 TCF JTIME
044958,000402:
044959,000403: 21,3650 00006 JP EXTEND
044960,000404: 21,3651 41516 DCS EDOT
044961,000405: 21,3652 53511 DXCH KMPAC
044962,000406: 21,3653 00006 EXTEND
044963,000407: 21,3654 43423 DCS WL
044964,000408: 21,3655 21511 DAS KMPAC
044965,000409: 21,3656 13713 TCF JTIME
044966,000410:
044967,000411: 21,3657 11515 J22 CCS EDOT
044968,000412: 21,3660 13641 TCF JN
044969,000413: 21,3661 13663 TCF SIGNCK5
044970,000414: 21,3662 13650 TCF JP
044971,000415: 21,3663 11516 SIGNCK5 CCS EDOT +1
044972,000416: 21,3664 13641 TCF JN
044973,000417: 21,3665 13641 TCF JN
044974,000418: 21,3666 13650 TCF JP
044975,000419: 21,3667 13650 TCF JP
044976,000420:
044977,000421: 21,3670 51506 J23 INDEX SPNDX
044978,000422: 21,3671 44676 CS BIT13 # RESET RATE DAMPING FLAG
044979,000423: 21,3672 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
044980,000424: 21,3673 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
044981,000425: # BIT11 FOR YAW (SPNDX = 2)
044982,000426:
044983,000427: 21,3674 51506 INDEX SPNDX
044984,000428: 21,3675 33017 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
044985,000429: 21,3676 71501 MASK RCSFLAGS # AXIS
044986,000430: 21,3677 00006 EXTEND
044987,000431: 21,3700 13734 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
044988,000432:
044989,000433: 21,3701 13614 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
044990,000434:
044991,000435: 21,3702 41517 J24 CS AERR
044992,000436: 21,3703 00006 EXTEND
044993,000437: 21,3704 61523 SU ADBVEL
044994,000438: 21,3705 00006 EXTEND
044995,000439: 21,3706 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
044996,000440: 21,3707 53511 DXCH KMPAC
044997,000441: 21,3710 00006 EXTEND
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Page 1005 |
044999,000443: 21,3711 41516 DCS EDOT
045000,000444: 21,3712 21511 DAS KMPAC
045001,000445:
|
|
Page 1006 |
045003,000447: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045004,000448:
045005,000449: # T = J/M(DELTA W)
045006,000450: # J
045007,000451:
045008,000452: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045009,000453: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045010,000454:
045011,000455: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045012,000456: # (57.3/450)(B24/1600)(1/.8)
045013,000457: # FOR 1 JET OPERATION (M = 700 FT-LB).
045014,000458: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045015,000459:
045016,000460: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045017,000461: # KEYBOARD ENTRY ARE
045018,000462: # J/M (ROLL)
045019,000463: # J/M1 (PITCH)
045020,000464: # J/M2 (YAW)
045021,000465:
045022,000466: # T = JET ON-TIME SCALED 16384/1600 SEC
045023,000467: # J
045024,000468:
045025,000469: # THE COMPUTER VARIABLES ARE
045026,000470: # TAU (ROLL)
045027,000471: # TAU1 (PITCH)
045028,000472: # TAU2 (YAW)
045029,000473:
045030,000474: 21,3713 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045031,000475: 21,3714 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045032,000476: 21,3715 02026 TC SMALLMP # FOR 1-JET OPERATION
045033,000477: 21,3716 34700 CA BIT11
045034,000478: 21,3717 02026 TC SMALLMP
045035,000479: 21,3720 11510 CCS KMPAC
045036,000480: 21,3721 13725 TCF +4
045037,000481: 21,3722 13731 TCF TAUNORM
045038,000482: 21,3723 13727 TCF +4
045039,000483: 21,3724 13731 TCF TAUNORM
045040,000484: 21,3725 34672 CA POSMAX
045041,000485: 21,3726 13732 TCF DOJET
045042,000486: 21,3727 34674 CA NEGMAX
045043,000487: 21,3730 13732 TCF DOJET
045044,000488:
045045,000489: 21,3731 31511 TAUNORM CA KMPAC +1
045046,000490: 21,3732 51506 DOJET INDEX SPNDX
045047,000491: 21,3733 55561 TS TAU
045048,000492: 21,3734 11506 CCS SPNDX
045049,000493: 21,3735 13431 TCF JLOOP
045050,000494: 21,3736 13743 TCF T6PROG
045051,000495:
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Page 1007 |
045053,000497: 21,3737 34714 ZEROCMDS CAF ZERO
045054,000498: 21,3740 55561 TS TAU
045055,000499: 21,3741 55562 TS TAU1
045056,000500: 21,3742 55563 TS TAU2
045057,000501: 21,3743 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045058,000502: 21,3744 33750 DCA JETADDR # HAVE BEEN DETERMINED
045059,000503: 21,3745 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045060,000504: 21,3746 15222 TCF RESUME
045061,000505:
045062,000506: 21,3747 E6,1510 EBANK= KMPAC
045063,000507: 21,3747 02577 36066 JETADDR 2CADR JETSLECT
045064,000508:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc