GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
045749,000002: ## Copyright: Public domain.
045750,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
045751,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
045752,000005: ## It is part of the source code for the Command Module's (CM)
045753,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
045754,000007: ## Assembler: yaYUL
045755,000008: ## Contact: Ron Burkey <info@sandroid.org>.
045756,000009: ## Website: www.ibiblio.org/apollo.
045757,000010: ## Pages: 1025-1036
045758,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
045759,000012: ## same name, using Comanche055 page images.
045760,000013: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
045761,000014: ## and corrected the errors found.
045762,000015: ## 2017-01-07 RSB Fixed comment errors detected in cross-diff vs
045763,000016: ## Colossus 237 and Colossus 249.
045764,000017: ##
045765,000018: ## This source code has been transcribed or otherwise adapted from digitized
045766,000019: ## images of a hardcopy from the MIT Museum. The digitization was performed
045767,000020: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
045768,000021: ## thanks to both. The images (with suitable reduction in storage size and
045769,000022: ## consequent reduction in image quality as well) are available online at
045770,000023: ## www.ibiblio.org/apollo. If for some reason you find that the images are
045771,000024: ## illegible, contact me at info@sandroid.org about getting access to the
045772,000025: ## (much) higher-quality images which Paul actually created.
045773,000026: ##
045774,000027: ## Notations on the hardcopy document read, in part:
045775,000028: ##
045776,000029: ## Assemble revision 055 of AGC program Comanche by NASA
045777,000030: ## 2021113-051. 10:28 APR. 1, 1969
045778,000031: ##
045779,000032: ## This AGC program shall also be referred to as
045780,000033: ## Colossus 2A
045781,000034:
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Page 1025 |
045783,000036: 21,3250 BANK 21
045784,000037: 21,2000 SETLOC DAPS3
045785,000038: 21,2000 BANK
045786,000039:
045787,000040: 21,3250 COUNT 21/DAPAM
045788,000041:
045789,000042: 21,3250 E6,1510 EBANK= KMPAC
045790,000043: 21,3250 00006 AHFNOROT EXTEND
045791,000044: 21,3251 00031 READ CHAN31
045792,000045: 21,3252 75002 MASK BIT14
045793,000046: 21,3253 00006 EXTEND
045794,000047: 21,3254 63272 BZMF FREECONT
045795,000048: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
045796,000049: 21,3256 75002 MASK BIT14
045797,000050: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
045798,000051: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
045799,000052: # AUTOMATIC CONTROL YET
045800,000053: 21,3261 00006 EXTEND
045801,000054: 21,3262 00031 READ CHAN31
045802,000055: 21,3263 75003 MASK BIT13
045803,000056: 21,3264 00006 EXTEND
045804,000057: 21,3265 63372 BZMF HOLDFUNC
045805,000058:
045806,000059: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
045807,000060: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
045808,000061: 21,3270 63322 BZMF ATTHOLD
045809,000062: 21,3271 13376 TCF GRABANG
045810,000063:
045811,000064: # MINIMUM IMPULSE CONTROL
045812,000065:
045813,000066: 21,3272 35017 FREECONT CAF ONE
045814,000067: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
045815,000068: # INHIBIT AUTOMATIC STEERING
045816,000069: 21,3274 00006 EXTEND
045817,000070: 21,3275 00032 READ CHAN32
045818,000071: 21,3276 54001 TS L
045819,000072: 21,3277 40000 COM
045820,000073: 21,3300 73036 MASK MANROT
045821,000074: 21,3301 71633 MASK CHANTEMP
045822,000075: 21,3302 23633 LXCH CHANTEMP
045823,000076: 21,3303 03130 TC STICKCHK
045824,000077: 21,3304 51656 INDEX RMANNDX
045825,000078: 21,3305 33316 CA MINTAU # MINTAU +0
045826,000079: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
045827,000080: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
045828,000081: 21,3310 33316 CA MINTAU # +3 +0
045829,000082: 21,3311 55562 TS TAU1
045830,000083: 21,3312 51660 INDEX YMANNDX
045831,000084: 21,3313 33316 CA MINTAU
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Page 1026 |
045833,000086: 21,3314 55563 TS TAU2
045834,000087: 21,3315 13067 TCF T6PROGM
045835,000088:
045836,000089: 21,3316 00000 MINTAU DEC 0 B-14
045837,000090: 21,3317 00027 DEC 23 B-14 # = 14MS
045838,000091: 21,3320 77750 DEC -23 B-14 # = -14MS
045839,000092: 21,3321 00000 DEC 0 B-14
045840,000093:
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Page 1027 |
045842,000095: # CALCULATION OF ATTITUDE ERRORS-
045843,000096: # - * - - -
045844,000097: # AK = AMGB (CDUX - THETADX) + BIAS
045845,000098:
045846,000099: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
045847,000100: # * * * ** * * *
045848,000101: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
045849,000102: # * * * ** * * *
045850,000103: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
045851,000104:
045852,000105: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045853,000106: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045854,000107: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045855,000108: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045856,000109:
045857,000110: 21,3322 30032 ATTHOLD CA CDUX
045858,000111: 21,3323 00006 EXTEND
045859,000112: 21,3324 21572 MSU THETADX
045860,000113: 21,3325 55567 TS ERRORX
045861,000114: 21,3326 30033 CA CDUY
045862,000115: 21,3327 00006 EXTEND
045863,000116: 21,3330 21573 MSU THETADY
045864,000117: 21,3331 55502 TS T5TEMP
045865,000118: 21,3332 00006 EXTEND
045866,000119: 21,3333 71640 MP AMGB1
045867,000120: 21,3334 27567 ADS ERRORX
045868,000121: 21,3335 31502 CA T5TEMP
045869,000122: 21,3336 00006 EXTEND
045870,000123: 21,3337 71641 MP AMGB4
045871,000124: 21,3340 55570 TS ERRORY
045872,000125: 21,3341 31502 CA T5TEMP
045873,000126: 21,3342 00006 EXTEND
045874,000127: 21,3343 71643 MP AMGB7
045875,000128: 21,3344 55571 TS ERRORZ
045876,000129: 21,3345 30034 CA CDUZ
045877,000130: 21,3346 00006 EXTEND
045878,000131: 21,3347 21574 MSU THETADZ
045879,000132: 21,3350 55502 TS T5TEMP
045880,000133: 21,3351 00006 EXTEND
045881,000134: 21,3352 71642 MP AMGB5
045882,000135: 21,3353 27570 ADS ERRORY
045883,000136: 21,3354 31502 CA T5TEMP
045884,000137: 21,3355 00006 EXTEND
045885,000138: 21,3356 71644 MP AMGB8
045886,000139: 21,3357 27571 ADS ERRORZ
045887,000140: 21,3360 41332 CS HOLDFLAG
045888,000141: 21,3361 00006 EXTEND
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Page 1028 |
045890,000143: 21,3362 63441 BZMF JETS
045891,000144: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
045892,000145: 21,3364 27567 ADS ERRORX
045893,000146: 21,3365 31565 CA BIAS1
045894,000147: 21,3366 27570 ADS ERRORY
045895,000148: 21,3367 31566 CA BIAS2
045896,000149: 21,3370 27571 ADS ERRORZ
045897,000150: 21,3371 13441 TCF JETS
045898,000151:
045899,000152: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
045900,000153: 21,3373 13376 TCF +3
045901,000154: 21,3374 13322 TCF ATTHOLD
045902,000155: 21,3375 13376 TCF +1
045903,000156: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
045904,000157: 21,3377 55525 TS WBODY
045905,000158: 21,3400 55526 TS WBODY +1
045906,000159: 21,3401 55527 TS WBODY1
045907,000160: 21,3402 55530 TS WBODY1 +1
045908,000161: 21,3403 55531 TS WBODY2
045909,000162: 21,3404 55532 TS WBODY2 +1
045910,000163: 21,3405 55564 TS BIAS
045911,000164: 21,3406 55565 TS BIAS1
045912,000165: 21,3407 55566 TS BIAS2
045913,000166:
045914,000167: 21,3410 31501 CA RCSFLAGS
045915,000168: 21,3411 73037 MASK OCT16000
045916,000169: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
045917,000170: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
045918,000171: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
045919,000172: 21,3415 55567 TS ERRORX
045920,000173: 21,3416 55570 TS ERRORY
045921,000174: 21,3417 55571 TS ERRORZ
045922,000175: 21,3420 13441 TCF JETS
045923,000176:
045924,000177: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
045925,000178: 21,3422 00006 EXTEND
045926,000179: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
045927,000180: 21,3424 53573 DXCH THETADX # REFERENCES
045928,000181: 21,3425 30034 CA CDUZ
045929,000182: 21,3426 55574 TS THETADZ
045930,000183: 21,3427 13322 TCF ATTHOLD
045931,000184:
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Page 1029 |
045933,000186: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045934,000187:
045935,000188: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045936,000189: # PLANE.
045937,000190:
045938,000191: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045939,000192: # APPROPRIATE DEADZONE.
045940,000193:
045941,000194: # .
045942,000195: # R22 RATE . ERROR
045943,000196: # WL+H .
045944,000197: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
045945,000198: # R23 WL * .
045946,000199: # --------------------------------- * . ----- DESIRED RATE LINES
045947,000200: # R23 WL-H - *.
045948,000201: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
045949,000202: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
045950,000203: # * . *
045951,000204: # *- . *
045952,000205: # R22 R24*- R23 . *
045953,000206: # *- . *
045954,000207: # * . *
045955,000208: # + -ADB . * AF ATTITUDE
045956,000209: # .........................+--+---------------+--+........................
045957,000210: # AF * . +ADB + ERROR
045958,000211: # * . *
045959,000212: # * . -*
045960,000213: # * . -*
045961,000214: # * . -*
045962,000215: # * . *
045963,000216: # *. - *
045964,000217: # . - *****************
045965,000218: # .* -
045966,000219: # . * --------------------------------
045967,000220: # . *
045968,000221: # . ********************************
045969,000222: # .
045970,000223: # FIG. 1 PHASE PLANE SWITCHING LOGIC
045971,000224:
045972,000225: # CONSTANTS FOR JET SWITCHING LOGIC
045973,000226:
045974,000227: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
045975,000228: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
045976,000229: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
045977,000230:
045978,000231: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
045979,000232:
045980,000233: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
045981,000234:
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Page 1030 |
045983,000236: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
045984,000237: 21,3441 31655 JETS CA ADB
045985,000238: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
045986,000239: 21,3443 55502 TS T5TEMP # ADB+AF
045987,000240: 21,3444 35016 CAF TWO
045988,000241: 21,3445 55506 JLOOP TS SPNDX
045989,000242: 21,3446 60000 DOUBLE
045990,000243: 21,3447 55507 TS DPNDX
045991,000244: 21,3450 00006 EXTEND
045992,000245: 21,3451 50000 INDEX A
045993,000246: 21,3452 31534 DCA ADOT
045994,000247: 21,3453 53516 DXCH EDOT
045995,000248: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
045996,000249: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
045997,000250: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
045998,000251: # OF WBODY AND GO TO INHOLD
045999,000252: 21,3457 00006 EXTEND
046000,000253: 21,3460 51507 INDEX DPNDX
046001,000254: 21,3461 41526 DCS WBODY
046002,000255: 21,3462 21516 DAS EDOT # = ADOT-WBODY
046003,000256: 21,3463 51506 INHOLD INDEX SPNDX
046004,000257: 21,3464 31567 CA ERRORX
046005,000258: 21,3465 55517 TS AERR # AERR = BIAS + AK
046006,000259:
046007,000260: 21,3466 11515 CCS EDOT
046008,000261: 21,3467 13477 TCF POSVEL
046009,000262: 21,3470 13472 TCF SIGNCK1
046010,000263: 21,3471 13507 TCF NEGVEL
046011,000264: 21,3472 11516 SIGNCK1 CCS EDOT +1
046012,000265: 21,3473 13477 TCF POSVEL
046013,000266: 21,3474 13477 TCF POSVEL
046014,000267: 21,3475 13507 TCF NEGVEL
046015,000268: 21,3476 13507 TCF NEGVEL
046016,000269: 21,3477 00006 POSVEL EXTEND
046017,000270: 21,3500 31516 DCA EDOT
046018,000271: 21,3501 53521 DXCH EDOTVEL
046019,000272: 21,3502 31502 CA T5TEMP
046020,000273: 21,3503 55523 TS ADBVEL # +(ADB+AF)
046021,000274: 21,3504 31517 CA AERR
046022,000275: 21,3505 55522 TS AERRVEL
046023,000276: 21,3506 03516 TC J6.
046024,000277: 21,3507 00006 NEGVEL EXTEND
046025,000278: 21,3510 41516 DCS EDOT
046026,000279: 21,3511 53521 DXCH EDOTVEL
046027,000280: 21,3512 41502 CS T5TEMP
046028,000281: 21,3513 55523 TS ADBVEL # -(ADB+AF)
046029,000282: 21,3514 41517 CS AERR
046030,000283: 21,3515 55522 TS AERRVEL
046031,000284:
046032,000285: 21,3516 00006 J6. EXTEND
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Page 1031 |
046034,000287: 21,3517 61655 SU ADB
046035,000288: 21,3520 63430 AD WLH/SLOP
046036,000289: 21,3521 00006 EXTEND
046037,000290: 21,3522 63551 BZMF J8
046038,000291:
046039,000292: 21,3523 41502 CS T5TEMP # (ADB+AF)
046040,000293: 21,3524 61522 AD AERRVEL
046041,000294: 21,3525 00006 EXTEND
046042,000295: 21,3526 63530 BZMF +2
046043,000296: 21,3527 13542 TCF J7
046044,000297: 21,3530 00006 EXTEND
046045,000298: 21,3531 41521 DCS EDOTVEL
046046,000299: 21,3532 00006 EXTEND
046047,000300: 21,3533 11654 DV SLOPE
046048,000301: 21,3534 00006 EXTEND
046049,000302: 21,3535 61522 SU AERRVEL
046050,000303: 21,3536 61655 AD ADB
046051,000304: 21,3537 00006 EXTEND
046052,000305: 21,3540 63630 BZMF J18
046053,000306: 21,3541 13704 TCF J23
046054,000307:
046055,000308: 21,3542 43431 J7 CS WL-H/SLP
046056,000309: 21,3543 00006 EXTEND
046057,000310: 21,3544 61502 SU T5TEMP # (ADB+AF)
046058,000311: 21,3545 61522 AD AERRVEL
046059,000312: 21,3546 00006 EXTEND
046060,000313: 21,3547 63634 BZMF J20
046061,000314: 21,3550 13645 TCF J21
046062,000315:
046063,000316: 21,3551 00006 J8 EXTEND
046064,000317: 21,3552 43433 DCS WLH
046065,000318: 21,3553 53514 DXCH WTEMP
046066,000319: 21,3554 00006 EXTEND
046067,000320: 21,3555 31521 DCA EDOTVEL
046068,000321: 21,3556 21514 DAS WTEMP
046069,000322: 21,3557 11513 CCS WTEMP
046070,000323: 21,3560 13673 TCF J22
046071,000324: 21,3561 13563 TCF SIGNCK2
046072,000325: 21,3562 13567 TCF NJ22
046073,000326: 21,3563 11514 SIGNCK2 CCS WTEMP +1
046074,000327: 21,3564 13673 TCF J22
046075,000328: 21,3565 13673 TCF J22
046076,000329: 21,3566 13567 TCF NJ22
046077,000330:
046078,000331: 21,3567 00006 NJ22 EXTEND
046079,000332: 21,3570 31521 DCA EDOTVEL
046080,000333: 21,3571 00006 EXTEND
046081,000334: 21,3572 11654 DV SLOPE
046082,000335: 21,3573 61502 AD T5TEMP # (ADB+AF)
046083,000336: 21,3574 61522 AD AERRVEL
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Page 1032 |
046085,000338: 21,3575 10000 CCS A
046086,000339: 21,3576 13704 TCF J23
046087,000340: 21,3577 13704 TCF J23
046088,000341: 21,3600 13602 TCF +2
046089,000342: 21,3601 13704 TCF J23
046090,000343:
046091,000344: 21,3602 00006 EXTEND
046092,000345: 21,3603 43435 DCS WLMH # WL - H
046093,000346: 21,3604 53514 DXCH WTEMP
046094,000347: 21,3605 00006 EXTEND
046095,000348: 21,3606 31521 DCA EDOTVEL
046096,000349: 21,3607 21514 DAS WTEMP
046097,000350: 21,3610 11513 CCS WTEMP
046098,000351: 21,3611 13704 TCF J23
046099,000352: 21,3612 13614 TCF SIGNCK3
046100,000353: 21,3613 13620 TCF NJ23
046101,000354: 21,3614 11514 SIGNCK3 CCS WTEMP +1
046102,000355: 21,3615 13704 TCF J23
046103,000356: 21,3616 13704 TCF J23
046104,000357: 21,3617 13620 TCF NJ23
046105,000358:
046106,000359: 21,3620 31522 NJ23 CA AERRVEL
046107,000360: 21,3621 61502 AD T5TEMP # (ADB+AF)
046108,000361: 21,3622 63431 AD WL-H/SLP
046109,000362: 21,3623 10000 CCS A
046110,000363: 21,3624 13716 TCF J24
046111,000364: 21,3625 13716 TCF J24
046112,000365: 21,3626 13673 TCF J22
046113,000366: 21,3627 13673 TCF J22
046114,000367:
046115,000368: 21,3630 00006 J18 EXTEND
046116,000369: 21,3631 41516 DCS EDOT
046117,000370: 21,3632 53511 DXCH KMPAC
046118,000371: 21,3633 13727 TCF JTIME
046119,000372:
046120,000373: 21,3634 41517 J20 CS AERR
046121,000374: 21,3635 61523 AD ADBVEL
046122,000375: 21,3636 00006 EXTEND
046123,000376: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
046124,000377: 21,3640 53511 DXCH KMPAC
046125,000378: 21,3641 00006 EXTEND
046126,000379: 21,3642 41516 DCS EDOT
046127,000380: 21,3643 21511 DAS KMPAC
046128,000381: 21,3644 13727 TCF JTIME
046129,000382:
046130,000383: 21,3645 11515 J21 CCS EDOT
046131,000384: 21,3646 13664 TCF JP
046132,000385: 21,3647 13651 TCF SIGNCK4
046133,000386: 21,3650 13655 TCF JN
046134,000387: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033 |
046136,000389: 21,3652 13664 TCF JP
046137,000390: 21,3653 13664 TCF JP
046138,000391: 21,3654 13655 TCF JN
046139,000392: 21,3655 00006 JN EXTEND
046140,000393: 21,3656 41516 DCS EDOT
046141,000394: 21,3657 53511 DXCH KMPAC
046142,000395: 21,3660 00006 EXTEND
046143,000396: 21,3661 33437 DCA WL
046144,000397: 21,3662 21511 DAS KMPAC
046145,000398: 21,3663 13727 TCF JTIME
046146,000399:
046147,000400: 21,3664 00006 JP EXTEND
046148,000401: 21,3665 41516 DCS EDOT
046149,000402: 21,3666 53511 DXCH KMPAC
046150,000403: 21,3667 00006 EXTEND
046151,000404: 21,3670 43437 DCS WL
046152,000405: 21,3671 21511 DAS KMPAC
046153,000406: 21,3672 13727 TCF JTIME
046154,000407:
046155,000408: 21,3673 11515 J22 CCS EDOT
046156,000409: 21,3674 13655 TCF JN
046157,000410: 21,3675 13677 TCF SIGNCK5
046158,000411: 21,3676 13664 TCF JP
046159,000412: 21,3677 11516 SIGNCK5 CCS EDOT +1
046160,000413: 21,3700 13655 TCF JN
046161,000414: 21,3701 13655 TCF JN
046162,000415: 21,3702 13664 TCF JP
046163,000416: 21,3703 13664 TCF JP
046164,000417:
046165,000418: 21,3704 51506 J23 INDEX SPNDX
046166,000419: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
046167,000420: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
046168,000421: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
046169,000422: # BIT11 FOR YAW (SPNDX = 2)
046170,000423:
046171,000424: 21,3710 51506 INDEX SPNDX
046172,000425: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
046173,000426: 21,3712 71501 MASK RCSFLAGS # AXIS
046174,000427: 21,3713 00006 EXTEND
046175,000428: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
046176,000429:
046177,000430: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
046178,000431:
046179,000432: 21,3716 41517 J24 CS AERR
046180,000433: 21,3717 00006 EXTEND
046181,000434: 21,3720 61523 SU ADBVEL
046182,000435: 21,3721 00006 EXTEND
046183,000436: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
046184,000437: 21,3723 53511 DXCH KMPAC
046185,000438: 21,3724 00006 EXTEND
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Page 1034 |
046187,000440: 21,3725 41516 DCS EDOT
046188,000441: 21,3726 21511 DAS KMPAC
046189,000442:
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|
Page 1035 |
046191,000444: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
046192,000445:
046193,000446: # T = J/M(DELTA W)
046194,000447: # J
046195,000448:
046196,000449: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
046197,000450: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
046198,000451:
046199,000452: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
046200,000453: # (57.3/450)(B24/1600)(1/.8)
046201,000454: # FOR 1 JET OPERATION (M = 700 FT-LB).
046202,000455: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
046203,000456:
046204,000457: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
046205,000458: # KEYBOARD ENTRY ARE
046206,000459: # J/M (ROLL)
046207,000460: # J/M1 (PITCH)
046208,000461: # J/M2 (YAW)
046209,000462:
046210,000463: # T = JET ON-TIME SCALED 16384/1600 SEC
046211,000464: # J
046212,000465:
046213,000466: # THE COMPUTER VARIABLES ARE
046214,000467: # TAU (ROLL)
046215,000468: # TAU1 (PITCH)
046216,000469: # TAU2 (YAW)
046217,000470:
046218,000471: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
046219,000472: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
046220,000473: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
046221,000474: 21,3732 35005 CA BIT11
046222,000475: 21,3733 02042 TC SMALLMP
046223,000476: 21,3734 11510 CCS KMPAC
046224,000477: 21,3735 13741 TCF +4
046225,000478: 21,3736 13745 TCF TAUNORM
046226,000479: 21,3737 13743 TCF +4
046227,000480: 21,3740 13745 TCF TAUNORM
046228,000481: 21,3741 34777 CA POSMAX
046229,000482: 21,3742 13746 TCF DOJET
046230,000483: 21,3743 35001 CA NEGMAX
046231,000484: 21,3744 13746 TCF DOJET
046232,000485:
046233,000486: 21,3745 31511 TAUNORM CA KMPAC +1
046234,000487: 21,3746 51506 DOJET INDEX SPNDX
046235,000488: 21,3747 55561 TS TAU
046236,000489: 21,3750 11506 CCS SPNDX
046237,000490: 21,3751 13445 TCF JLOOP
046238,000491: 21,3752 13757 TCF T6PROG
046239,000492:
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Page 1036 |
046241,000494: 21,3753 35021 ZEROCMDS CAF ZERO
046242,000495: 21,3754 55561 TS TAU
046243,000496: 21,3755 55562 TS TAU1
046244,000497: 21,3756 55563 TS TAU2
046245,000498: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
046246,000499: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
046247,000500: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
046248,000501: 21,3762 15333 TCF RESUME
046249,000502:
046250,000503: 21,3763 E6,1510 EBANK= KMPAC
046251,000504: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
046252,000505:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc