Source Code

These source-code files are part of a reconstructed copy of Comanche 44, the initial release (though not the final mission release) of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 44, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 51 (separately previously reconstructed from an Apollo-era listing of Comanche 55, flown on Apollo 11). Comanche 51 source code was then modified by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed Comanche 44 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code match those on the Comanche 55 printout, although the source code would likely have different page numbers in a contemporary Comanche 44 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the explanatory annotations, there is also a step-by-step commentary about the reconstruction process.

Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

045206,000002:                                                                                                  ## Copyright:   Public domain.
045207,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
045208,000004:                                                                                                  ## Purpose:     A section of Comanche revision 044.
045209,000005:                                                                                                  ##              It is part of the reconstructed source code for the
045210,000006:                                                                                                  ##              original release of the flight software for the Command
045211,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
045212,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
045213,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
045214,000010:                                                                                                  ##              exactly match those specified for Comanche 44 in NASA drawing
045215,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
045216,000012:                                                                                                  ##              reconstruction is correct.
045217,000013:                                                                                                  ## Assembler:   yaYUL
045218,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
045219,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
045220,000016:                                                                                                  ## Mod history: 2020-12-03 MAS  Created from Comanche 51.
045221,000017: 

Page 1025

045223,000019: 21,3250                                           BANK     21                                    
045224,000020: 21,2000                                           SETLOC   DAPS3                                 
045225,000021: 21,2000                                           BANK                                           
045226,000022: 
045227,000023: 21,3250                                           COUNT    21/DAPAM                              
045228,000024: 
045229,000025: 21,3250  E6,1510                                  EBANK=   KMPAC                                 
045230,000026: 21,3250           00006        AHFNOROT           EXTEND                                         
045231,000027: 21,3251           00031                           READ     CHAN31                                
045232,000028: 21,3252           75002                           MASK     BIT14                                 
045233,000029: 21,3253           00006                           EXTEND                                         
045234,000030: 21,3254           63272                           BZMF     FREECONT                              
045235,000031: 21,3255           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
045236,000032: 21,3256           75002                           MASK     BIT14                                 
045237,000033: 21,3257           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
045238,000034: 21,3260           12534                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
045239,000035:                                                                                                  #  AUTOMATIC CONTROL YET
045240,000036: 21,3261           00006                           EXTEND                                         
045241,000037: 21,3262           00031                           READ     CHAN31                                
045242,000038: 21,3263           75003                           MASK     BIT13                                 
045243,000039: 21,3264           00006                           EXTEND                                         
045244,000040: 21,3265           63372                           BZMF     HOLDFUNC                              
045245,000041: 
045246,000042: 21,3266           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
045247,000043: 21,3267           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
045248,000044: 21,3270           63322                           BZMF     ATTHOLD                               
045249,000045: 21,3271           13376                           TCF      GRABANG                               
045250,000046: 
045251,000047:                                                                                                  #  MINIMUM IMPULSE CONTROL
045252,000048: 
045253,000049: 21,3272           35017        FREECONT           CAF      ONE                                   
045254,000050: 21,3273           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
045255,000051:                                                                                                  #  INHIBIT AUTOMATIC STEERING
045256,000052: 21,3274           00006                           EXTEND                                         
045257,000053: 21,3275           00032                           READ     CHAN32                                
045258,000054: 21,3276           54001                           TS       L                                     
045259,000055: 21,3277           40000                           COM                                            
045260,000056: 21,3300           73036                           MASK     MANROT                                
045261,000057: 21,3301           71633                           MASK     CHANTEMP                              
045262,000058: 21,3302           23633                           LXCH     CHANTEMP                              
045263,000059: 21,3303           03130                           TC       STICKCHK                              
045264,000060: 21,3304           51656                           INDEX    RMANNDX                               
045265,000061: 21,3305           33316                           CA       MINTAU                                #  MINTAU        +0
045266,000062: 21,3306           55561                           TS       TAU                                   #                +1      +14MS MINIMUM IMPULSE
045267,000063: 21,3307           51657                           INDEX    PMANNDX                               #                +2      -14MS TIME
045268,000064: 21,3310           33316                           CA       MINTAU                                #                +3      +0
045269,000065: 21,3311           55562                           TS       TAU1                                  
045270,000066: 21,3312           51660                           INDEX    YMANNDX                               
045271,000067: 21,3313           33316                           CA       MINTAU                                

Page 1026

045273,000069: 21,3314           55563                           TS       TAU2                                  
045274,000070: 21,3315           13067                           TCF      T6PROGM                               
045275,000071: 
045276,000072: 21,3316           00000        MINTAU             DEC      0          B-14                       
045277,000073: 21,3317           00027                           DEC      23         B-14                       #  = 14MS
045278,000074: 21,3320           77750                           DEC      -23        B-14                       #  = -14MS
045279,000075: 21,3321           00000                           DEC      0          B-14                       
045280,000076: 

Page 1027

045282,000078:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
045283,000079:                                                                                                  #        -    *     -      -          -
045284,000080:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
045285,000081: 
045286,000082:                                                                                                  #  IE    *AK *   * 1        SIN(PSI)        0    ** CDUX - THETADX *    *BIAS *
045287,000083:                                                                                                  #        *   *   *                               **                *    *     *
045288,000084:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
045289,000085:                                                                                                  #        *   *   *                               **                *    *     *
045290,000086:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
045291,000087: 
045292,000088:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045293,000089:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER.  NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045294,000090:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045295,000091:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045296,000092: 
045297,000093: 21,3322           30032        ATTHOLD            CA       CDUX                                  
045298,000094: 21,3323           00006                           EXTEND                                         
045299,000095: 21,3324           21572                           MSU      THETADX                               
045300,000096: 21,3325           55567                           TS       ERRORX                                
045301,000097: 21,3326           30033                           CA       CDUY                                  
045302,000098: 21,3327           00006                           EXTEND                                         
045303,000099: 21,3330           21573                           MSU      THETADY                               
045304,000100: 21,3331           55502                           TS       T5TEMP                                
045305,000101: 21,3332           00006                           EXTEND                                         
045306,000102: 21,3333           71640                           MP       AMGB1                                 
045307,000103: 21,3334           27567                           ADS      ERRORX                                
045308,000104: 21,3335           31502                           CA       T5TEMP                                
045309,000105: 21,3336           00006                           EXTEND                                         
045310,000106: 21,3337           71641                           MP       AMGB4                                 
045311,000107: 21,3340           55570                           TS       ERRORY                                
045312,000108: 21,3341           31502                           CA       T5TEMP                                
045313,000109: 21,3342           00006                           EXTEND                                         
045314,000110: 21,3343           71643                           MP       AMGB7                                 
045315,000111: 21,3344           55571                           TS       ERRORZ                                
045316,000112: 21,3345           30034                           CA       CDUZ                                  
045317,000113: 21,3346           00006                           EXTEND                                         
045318,000114: 21,3347           21574                           MSU      THETADZ                               
045319,000115: 21,3350           55502                           TS       T5TEMP                                
045320,000116: 21,3351           00006                           EXTEND                                         
045321,000117: 21,3352           71642                           MP       AMGB5                                 
045322,000118: 21,3353           27570                           ADS      ERRORY                                
045323,000119: 21,3354           31502                           CA       T5TEMP                                
045324,000120: 21,3355           00006                           EXTEND                                         
045325,000121: 21,3356           71644                           MP       AMGB8                                 
045326,000122: 21,3357           27571                           ADS      ERRORZ                                
045327,000123: 21,3360           41332                           CS       HOLDFLAG                              
045328,000124: 21,3361           00006                           EXTEND                                         

Page 1028

045330,000126: 21,3362           63441                           BZMF     JETS                                  
045331,000127: 21,3363           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
045332,000128: 21,3364           27567                           ADS      ERRORX                                
045333,000129: 21,3365           31565                           CA       BIAS1                                 
045334,000130: 21,3366           27570                           ADS      ERRORY                                
045335,000131: 21,3367           31566                           CA       BIAS2                                 
045336,000132: 21,3370           27571                           ADS      ERRORZ                                
045337,000133: 21,3371           13441                           TCF      JETS                                  
045338,000134: 
045339,000135: 21,3372           11332        HOLDFUNC           CCS      HOLDFLAG                              
045340,000136: 21,3373           13376                           TCF      +3                                    
045341,000137: 21,3374           13322                           TCF      ATTHOLD                               
045342,000138: 21,3375           13376                           TCF      +1                                    
045343,000139: 21,3376           35021        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
045344,000140: 21,3377           55525                           TS       WBODY                                 
045345,000141: 21,3400           55526                           TS       WBODY      +1                         
045346,000142: 21,3401           55527                           TS       WBODY1                                
045347,000143: 21,3402           55530                           TS       WBODY1     +1                         
045348,000144: 21,3403           55531                           TS       WBODY2                                
045349,000145: 21,3404           55532                           TS       WBODY2     +1                         
045350,000146: 21,3405           55564                           TS       BIAS                                  
045351,000147: 21,3406           55565                           TS       BIAS1                                 
045352,000148: 21,3407           55566                           TS       BIAS2                                 
045353,000149: 
045354,000150: 21,3410           31501                           CA       RCSFLAGS                              
045355,000151: 21,3411           73037                           MASK     OCT16000                              
045356,000152: 21,3412           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045357,000153: 21,3413           13421                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
045358,000154: 21,3414           35021                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
045359,000155: 21,3415           55567                           TS       ERRORX                                
045360,000156: 21,3416           55570                           TS       ERRORY                                
045361,000157: 21,3417           55571                           TS       ERRORZ                                
045362,000158: 21,3420           13441                           TCF      JETS                                  
045363,000159: 
045364,000160: 21,3421           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
045365,000161: 21,3422           00006                           EXTEND                                         
045366,000162: 21,3423           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
045367,000163: 21,3424           53573                           DXCH     THETADX                               #  REFERENCES
045368,000164: 21,3425           30034                           CA       CDUZ                                  
045369,000165: 21,3426           55574                           TS       THETADZ                               
045370,000166: 21,3427           13322                           TCF      ATTHOLD                               
045371,000167: 

Page 1029

045373,000169:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045374,000170: 
045375,000171:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045376,000172:                                                                                                  #  PLANE.
045377,000173: 
045378,000174:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045379,000175:                                                                                                  #  APPROPRIATE DEADZONE.
045380,000176: 
045381,000177:                                                                                                  #                                      .
045382,000178:                                                                                                  #    R22                          RATE . ERROR
045383,000179:                                                                                                  #         WL+H                         .
045384,000180:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
045385,000181:                                                                                                  #    R23  WL                        *  .
045386,000182:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
045387,000183:                                                                                                  #    R23  WL-H       -                *.
045388,000184:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC REGIONS IN PHASE
045389,000185:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
045390,000186:                                                                                                  #                     *                . *
045391,000187:                                                                                                  #                      *-              .  *
045392,000188:                                                                                                  #    R22             R24*-    R23      .   *
045393,000189:                                                                                                  #                        *-            .    *
045394,000190:                                                                                                  #                         *            .     *
045395,000191:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
045396,000192:                                                                                                  #  .........................+--+---------------+--+........................
045397,000193:                                                                                                  #                            AF *      .     +ADB  +             ERROR
045398,000194:                                                                                                  #                                *     .            *
045399,000195:                                                                                                  #                                 *    .            -*
045400,000196:                                                                                                  #                                  *   .             -*
045401,000197:                                                                                                  #                                   *  .              -*
045402,000198:                                                                                                  #                                    * .                *
045403,000199:                                                                                                  #                                     *.               - *
045404,000200:                                                                                                  #                                      .                - *****************
045405,000201:                                                                                                  #                                      .*                -
045406,000202:                                                                                                  #                                      . * --------------------------------
045407,000203:                                                                                                  #                                      .  *
045408,000204:                                                                                                  #                                      .   ********************************
045409,000205:                                                                                                  #                                      .
045410,000206:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
045411,000207: 
045412,000208:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
045413,000209: 
045414,000210: 21,3430           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
045415,000211: 21,3431           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG         $180
045416,000212: 21,3432           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
045417,000213: 
045418,000214: 21,3434           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
045419,000215: 
045420,000216: 21,3436           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
045421,000217: 

Page 1030

045423,000219: 21,3440           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
045424,000220: 21,3441           31655        JETS               CA       ADB                                   
045425,000221: 21,3442           65015                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
045426,000222: 21,3443           55502                           TS       T5TEMP                                #  ADB+AF
045427,000223: 21,3444           35016                           CAF      TWO                                   
045428,000224: 21,3445           55506        JLOOP              TS       SPNDX                                 
045429,000225: 21,3446           60000                           DOUBLE                                         
045430,000226: 21,3447           55507                           TS       DPNDX                                 
045431,000227: 21,3450           00006                           EXTEND                                         
045432,000228: 21,3451           50000                           INDEX    A                                     
045433,000229: 21,3452           31534                           DCA      ADOT                                  
045434,000230: 21,3453           53516                           DXCH     EDOT                                  
045435,000231: 21,3454           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
045436,000232: 21,3455           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
045437,000233: 21,3456           13463                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
045438,000234:                                                                                                  #  OF WBODY AND GO TO INHOLD
045439,000235: 21,3457           00006                           EXTEND                                         
045440,000236: 21,3460           51507                           INDEX    DPNDX                                 
045441,000237: 21,3461           41526                           DCS      WBODY                                 
045442,000238: 21,3462           21516                           DAS      EDOT                                  #  = ADOT-WBODY
045443,000239: 21,3463           51506        INHOLD             INDEX    SPNDX                                 
045444,000240: 21,3464           31567                           CA       ERRORX                                
045445,000241: 21,3465           55517                           TS       AERR                                  #  AERR = BIAS + AK
045446,000242: 
045447,000243: 21,3466           11515                           CCS      EDOT                                  
045448,000244: 21,3467           13477                           TCF      POSVEL                                
045449,000245: 21,3470           13472                           TCF      SIGNCK1                               
045450,000246: 21,3471           13507                           TCF      NEGVEL                                
045451,000247: 21,3472           11516        SIGNCK1            CCS      EDOT       +1                         
045452,000248: 21,3473           13477                           TCF      POSVEL                                
045453,000249: 21,3474           13477                           TCF      POSVEL                                
045454,000250: 21,3475           13507                           TCF      NEGVEL                                
045455,000251: 21,3476           13507                           TCF      NEGVEL                                
045456,000252: 21,3477           00006        POSVEL             EXTEND                                         
045457,000253: 21,3500           31516                           DCA      EDOT                                  
045458,000254: 21,3501           53521                           DXCH     EDOTVEL                               
045459,000255: 21,3502           31502                           CA       T5TEMP                                
045460,000256: 21,3503           55523                           TS       ADBVEL                                #  +(ADB+AF)
045461,000257: 21,3504           31517                           CA       AERR                                  
045462,000258: 21,3505           55522                           TS       AERRVEL                               
045463,000259: 21,3506           03516                           TC       J6.                                   
045464,000260: 21,3507           00006        NEGVEL             EXTEND                                         
045465,000261: 21,3510           41516                           DCS      EDOT                                  
045466,000262: 21,3511           53521                           DXCH     EDOTVEL                               
045467,000263: 21,3512           41502                           CS       T5TEMP                                
045468,000264: 21,3513           55523                           TS       ADBVEL                                #  -(ADB+AF)
045469,000265: 21,3514           41517                           CS       AERR                                  
045470,000266: 21,3515           55522                           TS       AERRVEL                               
045471,000267: 
045472,000268: 21,3516           00006        J6.                EXTEND                                         

Page 1031

045474,000270: 21,3517           61655                           SU       ADB                                   
045475,000271: 21,3520           63430                           AD       WLH/SLOP                              
045476,000272: 21,3521           00006                           EXTEND                                         
045477,000273: 21,3522           63551                           BZMF     J8                                    
045478,000274: 
045479,000275: 21,3523           41502                           CS       T5TEMP                                #  (ADB+AF)
045480,000276: 21,3524           61522                           AD       AERRVEL                               
045481,000277: 21,3525           00006                           EXTEND                                         
045482,000278: 21,3526           63530                           BZMF     +2                                    
045483,000279: 21,3527           13542                           TCF      J7                                    
045484,000280: 21,3530           00006                           EXTEND                                         
045485,000281: 21,3531           41521                           DCS      EDOTVEL                               
045486,000282: 21,3532           00006                           EXTEND                                         
045487,000283: 21,3533           11654                           DV       SLOPE                                 
045488,000284: 21,3534           00006                           EXTEND                                         
045489,000285: 21,3535           61522                           SU       AERRVEL                               
045490,000286: 21,3536           61655                           AD       ADB                                   
045491,000287: 21,3537           00006                           EXTEND                                         
045492,000288: 21,3540           63630                           BZMF     J18                                   
045493,000289: 21,3541           13704                           TCF      J23                                   
045494,000290: 
045495,000291: 21,3542           43431        J7                 CS       WL-H/SLP                              
045496,000292: 21,3543           00006                           EXTEND                                         
045497,000293: 21,3544           61502                           SU       T5TEMP                                #  (ADB+AF)
045498,000294: 21,3545           61522                           AD       AERRVEL                               
045499,000295: 21,3546           00006                           EXTEND                                         
045500,000296: 21,3547           63634                           BZMF     J20                                   
045501,000297: 21,3550           13645                           TCF      J21                                   
045502,000298: 
045503,000299: 21,3551           00006        J8                 EXTEND                                         
045504,000300: 21,3552           43433                           DCS      WLH                                   
045505,000301: 21,3553           53514                           DXCH     WTEMP                                 
045506,000302: 21,3554           00006                           EXTEND                                         
045507,000303: 21,3555           31521                           DCA      EDOTVEL                               
045508,000304: 21,3556           21514                           DAS      WTEMP                                 
045509,000305: 21,3557           11513                           CCS      WTEMP                                 
045510,000306: 21,3560           13673                           TCF      J22                                   
045511,000307: 21,3561           13563                           TCF      SIGNCK2                               
045512,000308: 21,3562           13567                           TCF      NJ22                                  
045513,000309: 21,3563           11514        SIGNCK2            CCS      WTEMP      +1                         
045514,000310: 21,3564           13673                           TCF      J22                                   
045515,000311: 21,3565           13673                           TCF      J22                                   
045516,000312: 21,3566           13567                           TCF      NJ22                                  
045517,000313: 
045518,000314: 21,3567           00006        NJ22               EXTEND                                         
045519,000315: 21,3570           31521                           DCA      EDOTVEL                               
045520,000316: 21,3571           00006                           EXTEND                                         
045521,000317: 21,3572           11654                           DV       SLOPE                                 
045522,000318: 21,3573           61502                           AD       T5TEMP                                #  (ADB+AF)
045523,000319: 21,3574           61522                           AD       AERRVEL                               

Page 1032

045525,000321: 21,3575           10000                           CCS      A                                     
045526,000322: 21,3576           13704                           TCF      J23                                   
045527,000323: 21,3577           13704                           TCF      J23                                   
045528,000324: 21,3600           13602                           TCF      +2                                    
045529,000325: 21,3601           13704                           TCF      J23                                   
045530,000326: 
045531,000327: 21,3602           00006                           EXTEND                                         
045532,000328: 21,3603           43435                           DCS      WLMH                                  #  WL - H
045533,000329: 21,3604           53514                           DXCH     WTEMP                                 
045534,000330: 21,3605           00006                           EXTEND                                         
045535,000331: 21,3606           31521                           DCA      EDOTVEL                               
045536,000332: 21,3607           21514                           DAS      WTEMP                                 
045537,000333: 21,3610           11513                           CCS      WTEMP                                 
045538,000334: 21,3611           13704                           TCF      J23                                   
045539,000335: 21,3612           13614                           TCF      SIGNCK3                               
045540,000336: 21,3613           13620                           TCF      NJ23                                  
045541,000337: 21,3614           11514        SIGNCK3            CCS      WTEMP      +1                         
045542,000338: 21,3615           13704                           TCF      J23                                   
045543,000339: 21,3616           13704                           TCF      J23                                   
045544,000340: 21,3617           13620                           TCF      NJ23                                  
045545,000341: 
045546,000342: 21,3620           31522        NJ23               CA       AERRVEL                               
045547,000343: 21,3621           61502                           AD       T5TEMP                                #  (ADB+AF)
045548,000344: 21,3622           63431                           AD       WL-H/SLP                              
045549,000345: 21,3623           10000                           CCS      A                                     
045550,000346: 21,3624           13716                           TCF      J24                                   
045551,000347: 21,3625           13716                           TCF      J24                                   
045552,000348: 21,3626           13673                           TCF      J22                                   
045553,000349: 21,3627           13673                           TCF      J22                                   
045554,000350: 
045555,000351: 21,3630           00006        J18                EXTEND                                         
045556,000352: 21,3631           41516                           DCS      EDOT                                  
045557,000353: 21,3632           53511                           DXCH     KMPAC                                 
045558,000354: 21,3633           13727                           TCF      JTIME                                 
045559,000355: 
045560,000356: 21,3634           41517        J20                CS       AERR                                  
045561,000357: 21,3635           61523                           AD       ADBVEL                                
045562,000358: 21,3636           00006                           EXTEND                                         
045563,000359: 21,3637           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
045564,000360: 21,3640           53511                           DXCH     KMPAC                                 
045565,000361: 21,3641           00006                           EXTEND                                         
045566,000362: 21,3642           41516                           DCS      EDOT                                  
045567,000363: 21,3643           21511                           DAS      KMPAC                                 
045568,000364: 21,3644           13727                           TCF      JTIME                                 
045569,000365: 
045570,000366: 21,3645           11515        J21                CCS      EDOT                                  
045571,000367: 21,3646           13664                           TCF      JP                                    
045572,000368: 21,3647           13651                           TCF      SIGNCK4                               
045573,000369: 21,3650           13655                           TCF      JN                                    
045574,000370: 21,3651           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1033

045576,000372: 21,3652           13664                           TCF      JP                                    
045577,000373: 21,3653           13664                           TCF      JP                                    
045578,000374: 21,3654           13655                           TCF      JN                                    
045579,000375: 21,3655           00006        JN                 EXTEND                                         
045580,000376: 21,3656           41516                           DCS      EDOT                                  
045581,000377: 21,3657           53511                           DXCH     KMPAC                                 
045582,000378: 21,3660           00006                           EXTEND                                         
045583,000379: 21,3661           33437                           DCA      WL                                    
045584,000380: 21,3662           21511                           DAS      KMPAC                                 
045585,000381: 21,3663           13727                           TCF      JTIME                                 
045586,000382: 
045587,000383: 21,3664           00006        JP                 EXTEND                                         
045588,000384: 21,3665           41516                           DCS      EDOT                                  
045589,000385: 21,3666           53511                           DXCH     KMPAC                                 
045590,000386: 21,3667           00006                           EXTEND                                         
045591,000387: 21,3670           43437                           DCS      WL                                    
045592,000388: 21,3671           21511                           DAS      KMPAC                                 
045593,000389: 21,3672           13727                           TCF      JTIME                                 
045594,000390: 
045595,000391: 21,3673           11515        J22                CCS      EDOT                                  
045596,000392: 21,3674           13655                           TCF      JN                                    
045597,000393: 21,3675           13677                           TCF      SIGNCK5                               
045598,000394: 21,3676           13664                           TCF      JP                                    
045599,000395: 21,3677           11516        SIGNCK5            CCS      EDOT       +1                         
045600,000396: 21,3700           13655                           TCF      JN                                    
045601,000397: 21,3701           13655                           TCF      JN                                    
045602,000398: 21,3702           13664                           TCF      JP                                    
045603,000399: 21,3703           13664                           TCF      JP                                    
045604,000400: 
045605,000401: 21,3704           51506        J23                INDEX    SPNDX                                 
045606,000402: 21,3705           45003                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
045607,000403: 21,3706           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
045608,000404: 21,3707           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
045609,000405:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
045610,000406: 
045611,000407: 21,3710           51506                           INDEX    SPNDX                                 
045612,000408: 21,3711           33033                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
045613,000409: 21,3712           71501                           MASK     RCSFLAGS                              #  AXIS
045614,000410: 21,3713           00006                           EXTEND                                         
045615,000411: 21,3714           13750                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
045616,000412: 
045617,000413: 21,3715           13630                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
045618,000414: 
045619,000415: 21,3716           41517        J24                CS       AERR                                  
045620,000416: 21,3717           00006                           EXTEND                                         
045621,000417: 21,3720           61523                           SU       ADBVEL                                
045622,000418: 21,3721           00006                           EXTEND                                         
045623,000419: 21,3722           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
045624,000420: 21,3723           53511                           DXCH     KMPAC                                 
045625,000421: 21,3724           00006                           EXTEND                                         

Page 1034

045627,000423: 21,3725           41516                           DCS      EDOT                                  
045628,000424: 21,3726           21511                           DAS      KMPAC                                 
045629,000425: 

Page 1035

045631,000427:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045632,000428: 
045633,000429:                                                                                                  #             T  = J/M(DELTA W)
045634,000430:                                                                                                  #              J
045635,000431: 
045636,000432:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045637,000433:                                                                                                  #                  SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045638,000434: 
045639,000435:                                                                                                  #            J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045640,000436:                                                                                                  #                        (57.3/450)(B24/1600)(1/.8)
045641,000437:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
045642,000438:                                                                                                  #                  IE J/M = J(SLUG-FTFT) X 0.00000085601606
045643,000439: 
045644,000440:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045645,000441:                                                                                                  #                  KEYBOARD ENTRY ARE
045646,000442:                                                                                                  #                        J/M  (ROLL)
045647,000443:                                                                                                  #                        J/M1 (PITCH)
045648,000444:                                                                                                  #                        J/M2 (YAW)
045649,000445: 
045650,000446:                                                                                                  #             T  = JET ON-TIME    SCALED 16384/1600 SEC
045651,000447:                                                                                                  #              J
045652,000448: 
045653,000449:                                                                                                  #                  THE COMPUTER VARIABLES ARE
045654,000450:                                                                                                  #                        TAU  (ROLL)
045655,000451:                                                                                                  #                        TAU1 (PITCH)
045656,000452:                                                                                                  #                        TAU2 (YAW)
045657,000453: 
045658,000454: 21,3727           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
045659,000455: 21,3730           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
045660,000456: 21,3731           02042                           TC       SMALLMP                               #  FOR 1-JET OPERATION
045661,000457: 21,3732           35005                           CA       BIT11                                 
045662,000458: 21,3733           02042                           TC       SMALLMP                               
045663,000459: 21,3734           11510                           CCS      KMPAC                                 
045664,000460: 21,3735           13741                           TCF      +4                                    
045665,000461: 21,3736           13745                           TCF      TAUNORM                               
045666,000462: 21,3737           13743                           TCF      +4                                    
045667,000463: 21,3740           13745                           TCF      TAUNORM                               
045668,000464: 21,3741           34777                           CA       POSMAX                                
045669,000465: 21,3742           13746                           TCF      DOJET                                 
045670,000466: 21,3743           35001                           CA       NEGMAX                                
045671,000467: 21,3744           13746                           TCF      DOJET                                 
045672,000468: 
045673,000469: 21,3745           31511        TAUNORM            CA       KMPAC      +1                         
045674,000470: 21,3746           51506        DOJET              INDEX    SPNDX                                 
045675,000471: 21,3747           55561                           TS       TAU                                   
045676,000472: 21,3750           11506                           CCS      SPNDX                                 
045677,000473: 21,3751           13445                           TCF      JLOOP                                 
045678,000474: 21,3752           13757                           TCF      T6PROG                                
045679,000475: 

Page 1036

045681,000477: 21,3753           35021        ZEROCMDS           CAF      ZERO                                  
045682,000478: 21,3754           55561                           TS       TAU                                   
045683,000479: 21,3755           55562                           TS       TAU1                                  
045684,000480: 21,3756           55563                           TS       TAU2                                  
045685,000481: 21,3757           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
045686,000482: 21,3760           33764                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
045687,000483: 21,3761           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
045688,000484: 21,3762           15333                           TCF      RESUME                                
045689,000485: 
045690,000486: 21,3763  E6,1510                                  EBANK=   KMPAC                                 
045691,000487: 21,3763           02552 36066  JETADDR            2CADR    JETSLECT                              
045692,000488: 

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