Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. 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:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

045734,000002:                                                                                                  ## Copyright:   Public domain.
045735,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
045736,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
045737,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
045738,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
045739,000007:                                                                                                  ## Assembler:   yaYUL
045740,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
045741,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
045742,000010:                                                                                                  ## Pages:       1025-1036
045743,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
045744,000012:                                                                                                  ##                              same name, using Comanche055 page images.
045745,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
045746,000014:                                                                                                  ##                              and corrected the errors found.
045747,000015:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
045748,000016:                                                                                                  ##                              Colossus 237 and Colossus 249.
045749,000017:                                                                                                  ##
045750,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
045751,000019:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
045752,000020:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
045753,000021:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
045754,000022:                                                                                                  ## consequent reduction in image quality as well) are available online at
045755,000023:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
045756,000024:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
045757,000025:                                                                                                  ## (much) higher-quality images which Paul actually created.
045758,000026:                                                                                                  ##
045759,000027:                                                                                                  ## Notations on the hardcopy document read, in part:
045760,000028:                                                                                                  ##
045761,000029:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
045762,000030:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
045763,000031:                                                                                                  ##
045764,000032:                                                                                                  ##      This AGC program shall also be referred to as
045765,000033:                                                                                                  ##                      Colossus 2A
045766,000034: 

Page 1025

045768,000036: 21,3250                                           BANK     21                                    
045769,000037: 21,2000                                           SETLOC   DAPS3                                 
045770,000038: 21,2000                                           BANK                                           
045771,000039: 
045772,000040: 21,3250                                           COUNT    21/DAPAM                              
045773,000041: 
045774,000042: 21,3250  E6,1510                                  EBANK=   KMPAC                                 
045775,000043: 21,3250           00006        AHFNOROT           EXTEND                                         
045776,000044: 21,3251           00031                           READ     CHAN31                                
045777,000045: 21,3252           75002                           MASK     BIT14                                 
045778,000046: 21,3253           00006                           EXTEND                                         
045779,000047: 21,3254           63272                           BZMF     FREECONT                              
045780,000048: 21,3255           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
045781,000049: 21,3256           75002                           MASK     BIT14                                 
045782,000050: 21,3257           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
045783,000051: 21,3260           12534                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
045784,000052:                                                                                                  #  AUTOMATIC CONTROL YET
045785,000053: 21,3261           00006                           EXTEND                                         
045786,000054: 21,3262           00031                           READ     CHAN31                                
045787,000055: 21,3263           75003                           MASK     BIT13                                 
045788,000056: 21,3264           00006                           EXTEND                                         
045789,000057: 21,3265           63372                           BZMF     HOLDFUNC                              
045790,000058: 
045791,000059: 21,3266           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
045792,000060: 21,3267           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
045793,000061: 21,3270           63322                           BZMF     ATTHOLD                               
045794,000062: 21,3271           13376                           TCF      GRABANG                               
045795,000063: 
045796,000064:                                                                                                  #  MINIMUM IMPULSE CONTROL
045797,000065: 
045798,000066: 21,3272           35017        FREECONT           CAF      ONE                                   
045799,000067: 21,3273           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
045800,000068:                                                                                                  #  INHIBIT AUTOMATIC STEERING
045801,000069: 21,3274           00006                           EXTEND                                         
045802,000070: 21,3275           00032                           READ     CHAN32                                
045803,000071: 21,3276           54001                           TS       L                                     
045804,000072: 21,3277           40000                           COM                                            
045805,000073: 21,3300           73036                           MASK     MANROT                                
045806,000074: 21,3301           71633                           MASK     CHANTEMP                              
045807,000075: 21,3302           23633                           LXCH     CHANTEMP                              
045808,000076: 21,3303           03130                           TC       STICKCHK                              
045809,000077: 21,3304           51656                           INDEX    RMANNDX                               
045810,000078: 21,3305           33316                           CA       MINTAU                                #  MINTAU        +0
045811,000079: 21,3306           55561                           TS       TAU                                   #                +1      +14MS MINIMUM IMPULSE
045812,000080: 21,3307           51657                           INDEX    PMANNDX                               #                +2      -14MS TIME
045813,000081: 21,3310           33316                           CA       MINTAU                                #                +3      +0
045814,000082: 21,3311           55562                           TS       TAU1                                  
045815,000083: 21,3312           51660                           INDEX    YMANNDX                               
045816,000084: 21,3313           33316                           CA       MINTAU                                

Page 1026

045818,000086: 21,3314           55563                           TS       TAU2                                  
045819,000087: 21,3315           13067                           TCF      T6PROGM                               
045820,000088: 
045821,000089: 21,3316           00000        MINTAU             DEC      0          B-14                       
045822,000090: 21,3317           00027                           DEC      23         B-14                       #  = 14MS
045823,000091: 21,3320           77750                           DEC      -23        B-14                       #  = -14MS
045824,000092: 21,3321           00000                           DEC      0          B-14                       
045825,000093: 

Page 1027

045827,000095:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
045828,000096:                                                                                                  #        -    *     -      -          -
045829,000097:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
045830,000098: 
045831,000099:                                                                                                  #  IE    *AK *   * 1        SIN(PSI)        0    ** CDUX - THETADX *    *BIAS *
045832,000100:                                                                                                  #        *   *   *                               **                *    *     *
045833,000101:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
045834,000102:                                                                                                  #        *   *   *                               **                *    *     *
045835,000103:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
045836,000104: 
045837,000105:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045838,000106:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER.  NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045839,000107:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045840,000108:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045841,000109: 
045842,000110: 21,3322           30032        ATTHOLD            CA       CDUX                                  
045843,000111: 21,3323           00006                           EXTEND                                         
045844,000112: 21,3324           21572                           MSU      THETADX                               
045845,000113: 21,3325           55567                           TS       ERRORX                                
045846,000114: 21,3326           30033                           CA       CDUY                                  
045847,000115: 21,3327           00006                           EXTEND                                         
045848,000116: 21,3330           21573                           MSU      THETADY                               
045849,000117: 21,3331           55502                           TS       T5TEMP                                
045850,000118: 21,3332           00006                           EXTEND                                         
045851,000119: 21,3333           71640                           MP       AMGB1                                 
045852,000120: 21,3334           27567                           ADS      ERRORX                                
045853,000121: 21,3335           31502                           CA       T5TEMP                                
045854,000122: 21,3336           00006                           EXTEND                                         
045855,000123: 21,3337           71641                           MP       AMGB4                                 
045856,000124: 21,3340           55570                           TS       ERRORY                                
045857,000125: 21,3341           31502                           CA       T5TEMP                                
045858,000126: 21,3342           00006                           EXTEND                                         
045859,000127: 21,3343           71643                           MP       AMGB7                                 
045860,000128: 21,3344           55571                           TS       ERRORZ                                
045861,000129: 21,3345           30034                           CA       CDUZ                                  
045862,000130: 21,3346           00006                           EXTEND                                         
045863,000131: 21,3347           21574                           MSU      THETADZ                               
045864,000132: 21,3350           55502                           TS       T5TEMP                                
045865,000133: 21,3351           00006                           EXTEND                                         
045866,000134: 21,3352           71642                           MP       AMGB5                                 
045867,000135: 21,3353           27570                           ADS      ERRORY                                
045868,000136: 21,3354           31502                           CA       T5TEMP                                
045869,000137: 21,3355           00006                           EXTEND                                         
045870,000138: 21,3356           71644                           MP       AMGB8                                 
045871,000139: 21,3357           27571                           ADS      ERRORZ                                
045872,000140: 21,3360           41332                           CS       HOLDFLAG                              
045873,000141: 21,3361           00006                           EXTEND                                         

Page 1028

045875,000143: 21,3362           63441                           BZMF     JETS                                  
045876,000144: 21,3363           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
045877,000145: 21,3364           27567                           ADS      ERRORX                                
045878,000146: 21,3365           31565                           CA       BIAS1                                 
045879,000147: 21,3366           27570                           ADS      ERRORY                                
045880,000148: 21,3367           31566                           CA       BIAS2                                 
045881,000149: 21,3370           27571                           ADS      ERRORZ                                
045882,000150: 21,3371           13441                           TCF      JETS                                  
045883,000151: 
045884,000152: 21,3372           11332        HOLDFUNC           CCS      HOLDFLAG                              
045885,000153: 21,3373           13376                           TCF      +3                                    
045886,000154: 21,3374           13322                           TCF      ATTHOLD                               
045887,000155: 21,3375           13376                           TCF      +1                                    
045888,000156: 21,3376           35021        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
045889,000157: 21,3377           55525                           TS       WBODY                                 
045890,000158: 21,3400           55526                           TS       WBODY      +1                         
045891,000159: 21,3401           55527                           TS       WBODY1                                
045892,000160: 21,3402           55530                           TS       WBODY1     +1                         
045893,000161: 21,3403           55531                           TS       WBODY2                                
045894,000162: 21,3404           55532                           TS       WBODY2     +1                         
045895,000163: 21,3405           55564                           TS       BIAS                                  
045896,000164: 21,3406           55565                           TS       BIAS1                                 
045897,000165: 21,3407           55566                           TS       BIAS2                                 
045898,000166: 
045899,000167: 21,3410           31501                           CA       RCSFLAGS                              
045900,000168: 21,3411           73037                           MASK     OCT16000                              
045901,000169: 21,3412           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045902,000170: 21,3413           13421                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
045903,000171: 21,3414           35021                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
045904,000172: 21,3415           55567                           TS       ERRORX                                
045905,000173: 21,3416           55570                           TS       ERRORY                                
045906,000174: 21,3417           55571                           TS       ERRORZ                                
045907,000175: 21,3420           13441                           TCF      JETS                                  
045908,000176: 
045909,000177: 21,3421           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
045910,000178: 21,3422           00006                           EXTEND                                         
045911,000179: 21,3423           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
045912,000180: 21,3424           53573                           DXCH     THETADX                               #  REFERENCES
045913,000181: 21,3425           30034                           CA       CDUZ                                  
045914,000182: 21,3426           55574                           TS       THETADZ                               
045915,000183: 21,3427           13322                           TCF      ATTHOLD                               
045916,000184: 

Page 1029

045918,000186:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045919,000187: 
045920,000188:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045921,000189:                                                                                                  #  PLANE.
045922,000190: 
045923,000191:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045924,000192:                                                                                                  #  APPROPRIATE DEADZONE.
045925,000193: 
045926,000194:                                                                                                  #                                      .
045927,000195:                                                                                                  #    R22                          RATE . ERROR
045928,000196:                                                                                                  #         WL+H                         .
045929,000197:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
045930,000198:                                                                                                  #    R23  WL                        *  .
045931,000199:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
045932,000200:                                                                                                  #    R23  WL-H       -                *.
045933,000201:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC REGIONS IN PHASE
045934,000202:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
045935,000203:                                                                                                  #                     *                . *
045936,000204:                                                                                                  #                      *-              .  *
045937,000205:                                                                                                  #    R22             R24*-    R23      .   *
045938,000206:                                                                                                  #                        *-            .    *
045939,000207:                                                                                                  #                         *            .     *
045940,000208:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
045941,000209:                                                                                                  #  .........................+--+---------------+--+........................
045942,000210:                                                                                                  #                            AF *      .     +ADB  +             ERROR
045943,000211:                                                                                                  #                                *     .            *
045944,000212:                                                                                                  #                                 *    .            -*
045945,000213:                                                                                                  #                                  *   .             -*
045946,000214:                                                                                                  #                                   *  .              -*
045947,000215:                                                                                                  #                                    * .                *
045948,000216:                                                                                                  #                                     *.               - *
045949,000217:                                                                                                  #                                      .                - *****************
045950,000218:                                                                                                  #                                      .*                -
045951,000219:                                                                                                  #                                      . * --------------------------------
045952,000220:                                                                                                  #                                      .  *
045953,000221:                                                                                                  #                                      .   ********************************
045954,000222:                                                                                                  #                                      .
045955,000223:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
045956,000224: 
045957,000225:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
045958,000226: 
045959,000227: 21,3430           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
045960,000228: 21,3431           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG         $180
045961,000229: 21,3432           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
045962,000230: 
045963,000231: 21,3434           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
045964,000232: 
045965,000233: 21,3436           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
045966,000234: 

Page 1030

045968,000236: 21,3440           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
045969,000237: 21,3441           31655        JETS               CA       ADB                                   
045970,000238: 21,3442           65015                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
045971,000239: 21,3443           55502                           TS       T5TEMP                                #  ADB+AF
045972,000240: 21,3444           35016                           CAF      TWO                                   
045973,000241: 21,3445           55506        JLOOP              TS       SPNDX                                 
045974,000242: 21,3446           60000                           DOUBLE                                         
045975,000243: 21,3447           55507                           TS       DPNDX                                 
045976,000244: 21,3450           00006                           EXTEND                                         
045977,000245: 21,3451           50000                           INDEX    A                                     
045978,000246: 21,3452           31534                           DCA      ADOT                                  
045979,000247: 21,3453           53516                           DXCH     EDOT                                  
045980,000248: 21,3454           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
045981,000249: 21,3455           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
045982,000250: 21,3456           13463                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
045983,000251:                                                                                                  #  OF WBODY AND GO TO INHOLD
045984,000252: 21,3457           00006                           EXTEND                                         
045985,000253: 21,3460           51507                           INDEX    DPNDX                                 
045986,000254: 21,3461           41526                           DCS      WBODY                                 
045987,000255: 21,3462           21516                           DAS      EDOT                                  #  = ADOT-WBODY
045988,000256: 21,3463           51506        INHOLD             INDEX    SPNDX                                 
045989,000257: 21,3464           31567                           CA       ERRORX                                
045990,000258: 21,3465           55517                           TS       AERR                                  #  AERR = BIAS + AK
045991,000259: 
045992,000260: 21,3466           11515                           CCS      EDOT                                  
045993,000261: 21,3467           13477                           TCF      POSVEL                                
045994,000262: 21,3470           13472                           TCF      SIGNCK1                               
045995,000263: 21,3471           13507                           TCF      NEGVEL                                
045996,000264: 21,3472           11516        SIGNCK1            CCS      EDOT       +1                         
045997,000265: 21,3473           13477                           TCF      POSVEL                                
045998,000266: 21,3474           13477                           TCF      POSVEL                                
045999,000267: 21,3475           13507                           TCF      NEGVEL                                
046000,000268: 21,3476           13507                           TCF      NEGVEL                                
046001,000269: 21,3477           00006        POSVEL             EXTEND                                         
046002,000270: 21,3500           31516                           DCA      EDOT                                  
046003,000271: 21,3501           53521                           DXCH     EDOTVEL                               
046004,000272: 21,3502           31502                           CA       T5TEMP                                
046005,000273: 21,3503           55523                           TS       ADBVEL                                #  +(ADB+AF)
046006,000274: 21,3504           31517                           CA       AERR                                  
046007,000275: 21,3505           55522                           TS       AERRVEL                               
046008,000276: 21,3506           03516                           TC       J6.                                   
046009,000277: 21,3507           00006        NEGVEL             EXTEND                                         
046010,000278: 21,3510           41516                           DCS      EDOT                                  
046011,000279: 21,3511           53521                           DXCH     EDOTVEL                               
046012,000280: 21,3512           41502                           CS       T5TEMP                                
046013,000281: 21,3513           55523                           TS       ADBVEL                                #  -(ADB+AF)
046014,000282: 21,3514           41517                           CS       AERR                                  
046015,000283: 21,3515           55522                           TS       AERRVEL                               
046016,000284: 
046017,000285: 21,3516           00006        J6.                EXTEND                                         

Page 1031

046019,000287: 21,3517           61655                           SU       ADB                                   
046020,000288: 21,3520           63430                           AD       WLH/SLOP                              
046021,000289: 21,3521           00006                           EXTEND                                         
046022,000290: 21,3522           63551                           BZMF     J8                                    
046023,000291: 
046024,000292: 21,3523           41502                           CS       T5TEMP                                #  (ADB+AF)
046025,000293: 21,3524           61522                           AD       AERRVEL                               
046026,000294: 21,3525           00006                           EXTEND                                         
046027,000295: 21,3526           63530                           BZMF     +2                                    
046028,000296: 21,3527           13542                           TCF      J7                                    
046029,000297: 21,3530           00006                           EXTEND                                         
046030,000298: 21,3531           41521                           DCS      EDOTVEL                               
046031,000299: 21,3532           00006                           EXTEND                                         
046032,000300: 21,3533           11654                           DV       SLOPE                                 
046033,000301: 21,3534           00006                           EXTEND                                         
046034,000302: 21,3535           61522                           SU       AERRVEL                               
046035,000303: 21,3536           61655                           AD       ADB                                   
046036,000304: 21,3537           00006                           EXTEND                                         
046037,000305: 21,3540           63630                           BZMF     J18                                   
046038,000306: 21,3541           13704                           TCF      J23                                   
046039,000307: 
046040,000308: 21,3542           43431        J7                 CS       WL-H/SLP                              
046041,000309: 21,3543           00006                           EXTEND                                         
046042,000310: 21,3544           61502                           SU       T5TEMP                                #  (ADB+AF)
046043,000311: 21,3545           61522                           AD       AERRVEL                               
046044,000312: 21,3546           00006                           EXTEND                                         
046045,000313: 21,3547           63634                           BZMF     J20                                   
046046,000314: 21,3550           13645                           TCF      J21                                   
046047,000315: 
046048,000316: 21,3551           00006        J8                 EXTEND                                         
046049,000317: 21,3552           43433                           DCS      WLH                                   
046050,000318: 21,3553           53514                           DXCH     WTEMP                                 
046051,000319: 21,3554           00006                           EXTEND                                         
046052,000320: 21,3555           31521                           DCA      EDOTVEL                               
046053,000321: 21,3556           21514                           DAS      WTEMP                                 
046054,000322: 21,3557           11513                           CCS      WTEMP                                 
046055,000323: 21,3560           13673                           TCF      J22                                   
046056,000324: 21,3561           13563                           TCF      SIGNCK2                               
046057,000325: 21,3562           13567                           TCF      NJ22                                  
046058,000326: 21,3563           11514        SIGNCK2            CCS      WTEMP      +1                         
046059,000327: 21,3564           13673                           TCF      J22                                   
046060,000328: 21,3565           13673                           TCF      J22                                   
046061,000329: 21,3566           13567                           TCF      NJ22                                  
046062,000330: 
046063,000331: 21,3567           00006        NJ22               EXTEND                                         
046064,000332: 21,3570           31521                           DCA      EDOTVEL                               
046065,000333: 21,3571           00006                           EXTEND                                         
046066,000334: 21,3572           11654                           DV       SLOPE                                 
046067,000335: 21,3573           61502                           AD       T5TEMP                                #  (ADB+AF)
046068,000336: 21,3574           61522                           AD       AERRVEL                               

Page 1032

046070,000338: 21,3575           10000                           CCS      A                                     
046071,000339: 21,3576           13704                           TCF      J23                                   
046072,000340: 21,3577           13704                           TCF      J23                                   
046073,000341: 21,3600           13602                           TCF      +2                                    
046074,000342: 21,3601           13704                           TCF      J23                                   
046075,000343: 
046076,000344: 21,3602           00006                           EXTEND                                         
046077,000345: 21,3603           43435                           DCS      WLMH                                  #  WL - H
046078,000346: 21,3604           53514                           DXCH     WTEMP                                 
046079,000347: 21,3605           00006                           EXTEND                                         
046080,000348: 21,3606           31521                           DCA      EDOTVEL                               
046081,000349: 21,3607           21514                           DAS      WTEMP                                 
046082,000350: 21,3610           11513                           CCS      WTEMP                                 
046083,000351: 21,3611           13704                           TCF      J23                                   
046084,000352: 21,3612           13614                           TCF      SIGNCK3                               
046085,000353: 21,3613           13620                           TCF      NJ23                                  
046086,000354: 21,3614           11514        SIGNCK3            CCS      WTEMP      +1                         
046087,000355: 21,3615           13704                           TCF      J23                                   
046088,000356: 21,3616           13704                           TCF      J23                                   
046089,000357: 21,3617           13620                           TCF      NJ23                                  
046090,000358: 
046091,000359: 21,3620           31522        NJ23               CA       AERRVEL                               
046092,000360: 21,3621           61502                           AD       T5TEMP                                #  (ADB+AF)
046093,000361: 21,3622           63431                           AD       WL-H/SLP                              
046094,000362: 21,3623           10000                           CCS      A                                     
046095,000363: 21,3624           13716                           TCF      J24                                   
046096,000364: 21,3625           13716                           TCF      J24                                   
046097,000365: 21,3626           13673                           TCF      J22                                   
046098,000366: 21,3627           13673                           TCF      J22                                   
046099,000367: 
046100,000368: 21,3630           00006        J18                EXTEND                                         
046101,000369: 21,3631           41516                           DCS      EDOT                                  
046102,000370: 21,3632           53511                           DXCH     KMPAC                                 
046103,000371: 21,3633           13727                           TCF      JTIME                                 
046104,000372: 
046105,000373: 21,3634           41517        J20                CS       AERR                                  
046106,000374: 21,3635           61523                           AD       ADBVEL                                
046107,000375: 21,3636           00006                           EXTEND                                         
046108,000376: 21,3637           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
046109,000377: 21,3640           53511                           DXCH     KMPAC                                 
046110,000378: 21,3641           00006                           EXTEND                                         
046111,000379: 21,3642           41516                           DCS      EDOT                                  
046112,000380: 21,3643           21511                           DAS      KMPAC                                 
046113,000381: 21,3644           13727                           TCF      JTIME                                 
046114,000382: 
046115,000383: 21,3645           11515        J21                CCS      EDOT                                  
046116,000384: 21,3646           13664                           TCF      JP                                    
046117,000385: 21,3647           13651                           TCF      SIGNCK4                               
046118,000386: 21,3650           13655                           TCF      JN                                    
046119,000387: 21,3651           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1033

046121,000389: 21,3652           13664                           TCF      JP                                    
046122,000390: 21,3653           13664                           TCF      JP                                    
046123,000391: 21,3654           13655                           TCF      JN                                    
046124,000392: 21,3655           00006        JN                 EXTEND                                         
046125,000393: 21,3656           41516                           DCS      EDOT                                  
046126,000394: 21,3657           53511                           DXCH     KMPAC                                 
046127,000395: 21,3660           00006                           EXTEND                                         
046128,000396: 21,3661           33437                           DCA      WL                                    
046129,000397: 21,3662           21511                           DAS      KMPAC                                 
046130,000398: 21,3663           13727                           TCF      JTIME                                 
046131,000399: 
046132,000400: 21,3664           00006        JP                 EXTEND                                         
046133,000401: 21,3665           41516                           DCS      EDOT                                  
046134,000402: 21,3666           53511                           DXCH     KMPAC                                 
046135,000403: 21,3667           00006                           EXTEND                                         
046136,000404: 21,3670           43437                           DCS      WL                                    
046137,000405: 21,3671           21511                           DAS      KMPAC                                 
046138,000406: 21,3672           13727                           TCF      JTIME                                 
046139,000407: 
046140,000408: 21,3673           11515        J22                CCS      EDOT                                  
046141,000409: 21,3674           13655                           TCF      JN                                    
046142,000410: 21,3675           13677                           TCF      SIGNCK5                               
046143,000411: 21,3676           13664                           TCF      JP                                    
046144,000412: 21,3677           11516        SIGNCK5            CCS      EDOT       +1                         
046145,000413: 21,3700           13655                           TCF      JN                                    
046146,000414: 21,3701           13655                           TCF      JN                                    
046147,000415: 21,3702           13664                           TCF      JP                                    
046148,000416: 21,3703           13664                           TCF      JP                                    
046149,000417: 
046150,000418: 21,3704           51506        J23                INDEX    SPNDX                                 
046151,000419: 21,3705           45003                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
046152,000420: 21,3706           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
046153,000421: 21,3707           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
046154,000422:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
046155,000423: 
046156,000424: 21,3710           51506                           INDEX    SPNDX                                 
046157,000425: 21,3711           33033                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
046158,000426: 21,3712           71501                           MASK     RCSFLAGS                              #  AXIS
046159,000427: 21,3713           00006                           EXTEND                                         
046160,000428: 21,3714           13750                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
046161,000429: 
046162,000430: 21,3715           13630                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
046163,000431: 
046164,000432: 21,3716           41517        J24                CS       AERR                                  
046165,000433: 21,3717           00006                           EXTEND                                         
046166,000434: 21,3720           61523                           SU       ADBVEL                                
046167,000435: 21,3721           00006                           EXTEND                                         
046168,000436: 21,3722           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
046169,000437: 21,3723           53511                           DXCH     KMPAC                                 
046170,000438: 21,3724           00006                           EXTEND                                         

Page 1034

046172,000440: 21,3725           41516                           DCS      EDOT                                  
046173,000441: 21,3726           21511                           DAS      KMPAC                                 
046174,000442: 

Page 1035

046176,000444:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
046177,000445: 
046178,000446:                                                                                                  #             T  = J/M(DELTA W)
046179,000447:                                                                                                  #              J
046180,000448: 
046181,000449:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
046182,000450:                                                                                                  #                  SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
046183,000451: 
046184,000452:                                                                                                  #            J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
046185,000453:                                                                                                  #                        (57.3/450)(B24/1600)(1/.8)
046186,000454:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
046187,000455:                                                                                                  #                  IE J/M = J(SLUG-FTFT) X 0.00000085601606
046188,000456: 
046189,000457:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
046190,000458:                                                                                                  #                  KEYBOARD ENTRY ARE
046191,000459:                                                                                                  #                        J/M  (ROLL)
046192,000460:                                                                                                  #                        J/M1 (PITCH)
046193,000461:                                                                                                  #                        J/M2 (YAW)
046194,000462: 
046195,000463:                                                                                                  #             T  = JET ON-TIME    SCALED 16384/1600 SEC
046196,000464:                                                                                                  #              J
046197,000465: 
046198,000466:                                                                                                  #                  THE COMPUTER VARIABLES ARE
046199,000467:                                                                                                  #                        TAU  (ROLL)
046200,000468:                                                                                                  #                        TAU1 (PITCH)
046201,000469:                                                                                                  #                        TAU2 (YAW)
046202,000470: 
046203,000471: 21,3727           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
046204,000472: 21,3730           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
046205,000473: 21,3731           02042                           TC       SMALLMP                               #  FOR 1-JET OPERATION
046206,000474: 21,3732           35005                           CA       BIT11                                 
046207,000475: 21,3733           02042                           TC       SMALLMP                               
046208,000476: 21,3734           11510                           CCS      KMPAC                                 
046209,000477: 21,3735           13741                           TCF      +4                                    
046210,000478: 21,3736           13745                           TCF      TAUNORM                               
046211,000479: 21,3737           13743                           TCF      +4                                    
046212,000480: 21,3740           13745                           TCF      TAUNORM                               
046213,000481: 21,3741           34777                           CA       POSMAX                                
046214,000482: 21,3742           13746                           TCF      DOJET                                 
046215,000483: 21,3743           35001                           CA       NEGMAX                                
046216,000484: 21,3744           13746                           TCF      DOJET                                 
046217,000485: 
046218,000486: 21,3745           31511        TAUNORM            CA       KMPAC      +1                         
046219,000487: 21,3746           51506        DOJET              INDEX    SPNDX                                 
046220,000488: 21,3747           55561                           TS       TAU                                   
046221,000489: 21,3750           11506                           CCS      SPNDX                                 
046222,000490: 21,3751           13445                           TCF      JLOOP                                 
046223,000491: 21,3752           13757                           TCF      T6PROG                                
046224,000492: 

Page 1036

046226,000494: 21,3753           35021        ZEROCMDS           CAF      ZERO                                  
046227,000495: 21,3754           55561                           TS       TAU                                   
046228,000496: 21,3755           55562                           TS       TAU1                                  
046229,000497: 21,3756           55563                           TS       TAU2                                  
046230,000498: 21,3757           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
046231,000499: 21,3760           33764                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
046232,000500: 21,3761           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
046233,000501: 21,3762           15333                           TCF      RESUME                                
046234,000502: 
046235,000503: 21,3763  E6,1510                                  EBANK=   KMPAC                                 
046236,000504: 21,3763           02552 36066  JETADDR            2CADR    JETSLECT                              
046237,000505: 

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