Source Code
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These source-code files are part of a reconstructed copy of Comanche 72, the
first release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
They have been adapted from sources files created from a listing of Comanche 55.
These source files were updated to match binary dumps of a set of Comanche 67 rope modules.
They were then further modified by applying known changes between Comanche 67 and Comanche 72.
A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used
to validate changes made to banks 05-13. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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043991,000002: ## Copyright: Public domain.
043992,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
043993,000004: ## Purpose: A section of Comanche revision 072.
043994,000005: ## It is part of the reconstructed source code for the first
043995,000006: ## release of the software for the Command Module's (CM) Apollo
043996,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
043997,000008: ## of this program are available; instead, this file was recreated
043998,000009: ## from a printout of Comanche 055, binary dumps of a set of
043999,000010: ## Comanche 067 rope modules, and changelogs between Comanche 067
044000,000011: ## and 072. It has been adapted such that the resulting bugger words
044001,000012: ## exactly match those specified for Comanche 072 in NASA drawing
044002,000013: ## 2021153G, which gives relatively high confidence that the
044003,000014: ## reconstruction is correct.
044004,000015: ## Assembler: yaYUL
044005,000016: ## Contact: Ron Burkey <info@sandroid.org>.
044006,000017: ## Website: www.ibiblio.org/apollo/index.html
044007,000018: ## Mod history: 2024-05-13 MAS Created from Comanche 067.
044008,000019:
044009,000020: 21,3262 BANK 21
044010,000021: 21,2000 SETLOC DAPS3
044011,000022: 21,2000 BANK
044012,000023:
044013,000024: 21,3262 COUNT 21/DAPAM
044014,000025:
044015,000026: 21,3262 E6,1510 EBANK= KMPAC
044016,000027: 21,3262 00006 AHFNOROT EXTEND
044017,000028: 21,3263 00031 READ CHAN31
044018,000029: 21,3264 75016 MASK BIT14
044019,000030: 21,3265 00006 EXTEND
044020,000031: 21,3266 63304 BZMF FREECONT
044021,000032: 21,3267 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044022,000033: 21,3270 75016 MASK BIT14
044023,000034: 21,3271 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044024,000035: 21,3272 12546 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044025,000036: # AUTOMATIC CONTROL YET
044026,000037: 21,3273 00006 EXTEND
044027,000038: 21,3274 00031 READ CHAN31
044028,000039: 21,3275 75017 MASK BIT13
044029,000040: 21,3276 00006 EXTEND
044030,000041: 21,3277 63404 BZMF HOLDFUNC
044031,000042:
044032,000043: 21,3300 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044033,000044: 21,3301 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044034,000045: 21,3302 63334 BZMF ATTHOLD
044035,000046: 21,3303 13410 TCF GRABANG
044036,000047:
044037,000048: # MINIMUM IMPULSE CONTROL
044038,000049:
044039,000050: 21,3304 35033 FREECONT CAF ONE
044040,000051: 21,3305 55332 TS HOLDFLAG # RESET HOLDFLAG
044041,000052: # INHIBIT AUTOMATIC STEERING
044042,000053: 21,3306 00006 EXTEND
044043,000054: 21,3307 00032 READ CHAN32
044044,000055: 21,3310 54001 TS L
044045,000056: 21,3311 40000 COM
044046,000057: 21,3312 73050 MASK MANROT
044047,000058: 21,3313 71633 MASK CHANTEMP
044048,000059: 21,3314 23633 LXCH CHANTEMP
044049,000060: 21,3315 03142 TC STICKCHK
044050,000061: 21,3316 51656 INDEX RMANNDX
044051,000062: 21,3317 33330 CA MINTAU # MINTAU +0
044052,000063: 21,3320 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044053,000064: 21,3321 51657 INDEX PMANNDX # +2 -14MS TIME
044054,000065: 21,3322 33330 CA MINTAU # +3 +0
044055,000066: 21,3323 55562 TS TAU1
044056,000067: 21,3324 51660 INDEX YMANNDX
044057,000068: 21,3325 33330 CA MINTAU
044058,000069: 21,3326 55563 TS TAU2
044059,000070: 21,3327 13101 TCF T6PROGM
044060,000071:
044061,000072: 21,3330 00000 MINTAU DEC 0 B-14
044062,000073: 21,3331 00027 DEC 23 B-14 # = 14MS
044063,000074: 21,3332 77750 DEC -23 B-14 # = -14MS
044064,000075: 21,3333 00000 DEC 0 B-14
044065,000076:
044066,000077: # CALCULATION OF ATTITUDE ERRORS-
044067,000078: # - * - - -
044068,000079: # AK = AMGB (CDUX - THETADX) + BIAS
044069,000080:
044070,000081: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044071,000082: # * * * ** * * *
044072,000083: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044073,000084: # * * * ** * * *
044074,000085: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044075,000086:
044076,000087: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044077,000088: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044078,000089: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044079,000090: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044080,000091:
044081,000092: 21,3334 30032 ATTHOLD CA CDUX
044082,000093: 21,3335 00006 EXTEND
044083,000094: 21,3336 21572 MSU THETADX
044084,000095: 21,3337 55567 TS ERRORX
044085,000096: 21,3340 30033 CA CDUY
044086,000097: 21,3341 00006 EXTEND
044087,000098: 21,3342 21573 MSU THETADY
044088,000099: 21,3343 55502 TS T5TEMP
044089,000100: 21,3344 00006 EXTEND
044090,000101: 21,3345 71640 MP AMGB1
044091,000102: 21,3346 27567 ADS ERRORX
044092,000103: 21,3347 31502 CA T5TEMP
044093,000104: 21,3350 00006 EXTEND
044094,000105: 21,3351 71641 MP AMGB4
044095,000106: 21,3352 55570 TS ERRORY
044096,000107: 21,3353 31502 CA T5TEMP
044097,000108: 21,3354 00006 EXTEND
044098,000109: 21,3355 71643 MP AMGB7
044099,000110: 21,3356 55571 TS ERRORZ
044100,000111: 21,3357 30034 CA CDUZ
044101,000112: 21,3360 00006 EXTEND
044102,000113: 21,3361 21574 MSU THETADZ
044103,000114: 21,3362 55502 TS T5TEMP
044104,000115: 21,3363 00006 EXTEND
044105,000116: 21,3364 71642 MP AMGB5
044106,000117: 21,3365 27570 ADS ERRORY
044107,000118: 21,3366 31502 CA T5TEMP
044108,000119: 21,3367 00006 EXTEND
044109,000120: 21,3370 71644 MP AMGB8
044110,000121: 21,3371 27571 ADS ERRORZ
044111,000122: 21,3372 41332 CS HOLDFLAG
044112,000123: 21,3373 00006 EXTEND
044113,000124: 21,3374 63453 BZMF JETS
044114,000125: 21,3375 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044115,000126: 21,3376 27567 ADS ERRORX
044116,000127: 21,3377 31565 CA BIAS1
044117,000128: 21,3400 27570 ADS ERRORY
044118,000129: 21,3401 31566 CA BIAS2
044119,000130: 21,3402 27571 ADS ERRORZ
044120,000131: 21,3403 13453 TCF JETS
044121,000132:
044122,000133: 21,3404 11332 HOLDFUNC CCS HOLDFLAG
044123,000134: 21,3405 13410 TCF +3
044124,000135: 21,3406 13334 TCF ATTHOLD
044125,000136: 21,3407 13410 TCF +1
044126,000137: 21,3410 35035 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044127,000138: 21,3411 55525 TS WBODY
044128,000139: 21,3412 55526 TS WBODY +1
044129,000140: 21,3413 55527 TS WBODY1
044130,000141: 21,3414 55530 TS WBODY1 +1
044131,000142: 21,3415 55531 TS WBODY2
044132,000143: 21,3416 55532 TS WBODY2 +1
044133,000144: 21,3417 55564 TS BIAS
044134,000145: 21,3420 55565 TS BIAS1
044135,000146: 21,3421 55566 TS BIAS2
044136,000147:
044137,000148: 21,3422 31501 CA RCSFLAGS
044138,000149: 21,3423 73051 MASK OCT16000
044139,000150: 21,3424 00006 EXTEND # IS RATE DAMPING COMPLETED
044140,000151: 21,3425 13433 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044141,000152: 21,3426 35035 CAF ZERO # OTHERWISE, ZERO ERRORS
044142,000153: 21,3427 55567 TS ERRORX
044143,000154: 21,3430 55570 TS ERRORY
044144,000155: 21,3431 55571 TS ERRORZ
044145,000156: 21,3432 13453 TCF JETS
044146,000157:
044147,000158: 21,3433 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044148,000159: 21,3434 00006 EXTEND
044149,000160: 21,3435 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044150,000161: 21,3436 53573 DXCH THETADX # REFERENCES
044151,000162: 21,3437 30034 CA CDUZ
044152,000163: 21,3440 55574 TS THETADZ
044153,000164: 21,3441 13334 TCF ATTHOLD
044154,000165:
044155,000166: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044156,000167:
044157,000168: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044158,000169: # PLANE.
044159,000170:
044160,000171: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044161,000172: # APPROPRIATE DEADZONE.
044162,000173:
044163,000174: # .
044164,000175: # R22 RATE . ERROR
044165,000176: # WL+H .
044166,000177: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044167,000178: # R23 WL * .
044168,000179: # --------------------------------- * . ----- DESIRED RATE LINES
044169,000180: # R23 WL-H - *.
044170,000181: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044171,000182: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044172,000183: # * . *
044173,000184: # *- . *
044174,000185: # R22 R24*- R23 . *
044175,000186: # *- . *
044176,000187: # * . *
044177,000188: # + -ADB . * AF ATTITUDE
044178,000189: # .........................+--+---------------+--+........................
044179,000190: # AF * . +ADB + ERROR
044180,000191: # * . *
044181,000192: # * . -*
044182,000193: # * . -*
044183,000194: # * . -*
044184,000195: # * . *
044185,000196: # *. - *
044186,000197: # . - *****************
044187,000198: # .* -
044188,000199: # . * --------------------------------
044189,000200: # . *
044190,000201: # . ********************************
044191,000202: # .
044192,000203: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044193,000204:
044194,000205: # CONSTANTS FOR JET SWITCHING LOGIC
044195,000206:
044196,000207: 21,3442 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044197,000208: 21,3443 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044198,000209: 21,3444 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044199,000210:
044200,000211: 21,3446 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044201,000212:
044202,000213: 21,3450 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044203,000214:
044204,000215: 21,3452 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044205,000216: 21,3453 31655 JETS CA ADB
044206,000217: 21,3454 65031 AD FOUR # AF = FLAT REGION = .044 DEG
044207,000218: 21,3455 55502 TS T5TEMP # ADB+AF
044208,000219: 21,3456 35032 CAF TWO
044209,000220: 21,3457 55506 JLOOP TS SPNDX
044210,000221: 21,3460 60000 DOUBLE
044211,000222: 21,3461 55507 TS DPNDX
044212,000223: 21,3462 00006 EXTEND
044213,000224: 21,3463 50000 INDEX A
044214,000225: 21,3464 31534 DCA ADOT
044215,000226: 21,3465 53516 DXCH EDOT
044216,000227: 21,3466 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044217,000228: 21,3467 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044218,000229: 21,3470 13475 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044219,000230: # OF WBODY AND GO TO INHOLD
044220,000231: 21,3471 00006 EXTEND
044221,000232: 21,3472 51507 INDEX DPNDX
044222,000233: 21,3473 41526 DCS WBODY
044223,000234: 21,3474 21516 DAS EDOT # = ADOT-WBODY
044224,000235: 21,3475 51506 INHOLD INDEX SPNDX
044225,000236: 21,3476 31567 CA ERRORX
044226,000237: 21,3477 55517 TS AERR # AERR = BIAS + AK
044227,000238:
044228,000239: 21,3500 11515 CCS EDOT
044229,000240: 21,3501 13511 TCF POSVEL
044230,000241: 21,3502 13504 TCF SIGNCK1
044231,000242: 21,3503 13521 TCF NEGVEL
044232,000243: 21,3504 11516 SIGNCK1 CCS EDOT +1
044233,000244: 21,3505 13511 TCF POSVEL
044234,000245: 21,3506 13511 TCF POSVEL
044235,000246: 21,3507 13521 TCF NEGVEL
044236,000247: 21,3510 13521 TCF NEGVEL
044237,000248: 21,3511 00006 POSVEL EXTEND
044238,000249: 21,3512 31516 DCA EDOT
044239,000250: 21,3513 53521 DXCH EDOTVEL
044240,000251: 21,3514 31502 CA T5TEMP
044241,000252: 21,3515 55523 TS ADBVEL # +(ADB+AF)
044242,000253: 21,3516 31517 CA AERR
044243,000254: 21,3517 55522 TS AERRVEL
044244,000255: 21,3520 03530 TC J6.
044245,000256: 21,3521 00006 NEGVEL EXTEND
044246,000257: 21,3522 41516 DCS EDOT
044247,000258: 21,3523 53521 DXCH EDOTVEL
044248,000259: 21,3524 41502 CS T5TEMP
044249,000260: 21,3525 55523 TS ADBVEL # -(ADB+AF)
044250,000261: 21,3526 41517 CS AERR
044251,000262: 21,3527 55522 TS AERRVEL
044252,000263:
044253,000264: 21,3530 00006 J6. EXTEND
044254,000265: 21,3531 61655 SU ADB
044255,000266: 21,3532 63442 AD WLH/SLOP
044256,000267: 21,3533 00006 EXTEND
044257,000268: 21,3534 63563 BZMF J8
044258,000269:
044259,000270: 21,3535 41502 CS T5TEMP # (ADB+AF)
044260,000271: 21,3536 61522 AD AERRVEL
044261,000272: 21,3537 00006 EXTEND
044262,000273: 21,3540 63542 BZMF +2
044263,000274: 21,3541 13554 TCF J7
044264,000275: 21,3542 00006 EXTEND
044265,000276: 21,3543 41521 DCS EDOTVEL
044266,000277: 21,3544 00006 EXTEND
044267,000278: 21,3545 11654 DV SLOPE
044268,000279: 21,3546 00006 EXTEND
044269,000280: 21,3547 61522 SU AERRVEL
044270,000281: 21,3550 61655 AD ADB
044271,000282: 21,3551 00006 EXTEND
044272,000283: 21,3552 63642 BZMF J18
044273,000284: 21,3553 13716 TCF J23
044274,000285:
044275,000286: 21,3554 43443 J7 CS WL-H/SLP
044276,000287: 21,3555 00006 EXTEND
044277,000288: 21,3556 61502 SU T5TEMP # (ADB+AF)
044278,000289: 21,3557 61522 AD AERRVEL
044279,000290: 21,3560 00006 EXTEND
044280,000291: 21,3561 63646 BZMF J20
044281,000292: 21,3562 13657 TCF J21
044282,000293:
044283,000294: 21,3563 00006 J8 EXTEND
044284,000295: 21,3564 43445 DCS WLH
044285,000296: 21,3565 53514 DXCH WTEMP
044286,000297: 21,3566 00006 EXTEND
044287,000298: 21,3567 31521 DCA EDOTVEL
044288,000299: 21,3570 21514 DAS WTEMP
044289,000300: 21,3571 11513 CCS WTEMP
044290,000301: 21,3572 13705 TCF J22
044291,000302: 21,3573 13575 TCF SIGNCK2
044292,000303: 21,3574 13601 TCF NJ22
044293,000304: 21,3575 11514 SIGNCK2 CCS WTEMP +1
044294,000305: 21,3576 13705 TCF J22
044295,000306: 21,3577 13705 TCF J22
044296,000307: 21,3600 13601 TCF NJ22
044297,000308:
044298,000309: 21,3601 00006 NJ22 EXTEND
044299,000310: 21,3602 31521 DCA EDOTVEL
044300,000311: 21,3603 00006 EXTEND
044301,000312: 21,3604 11654 DV SLOPE
044302,000313: 21,3605 61502 AD T5TEMP # (ADB+AF)
044303,000314: 21,3606 61522 AD AERRVEL
044304,000315: 21,3607 10000 CCS A
044305,000316: 21,3610 13716 TCF J23
044306,000317: 21,3611 13716 TCF J23
044307,000318: 21,3612 13614 TCF +2
044308,000319: 21,3613 13716 TCF J23
044309,000320:
044310,000321: 21,3614 00006 EXTEND
044311,000322: 21,3615 43447 DCS WLMH # WL - H
044312,000323: 21,3616 53514 DXCH WTEMP
044313,000324: 21,3617 00006 EXTEND
044314,000325: 21,3620 31521 DCA EDOTVEL
044315,000326: 21,3621 21514 DAS WTEMP
044316,000327: 21,3622 11513 CCS WTEMP
044317,000328: 21,3623 13716 TCF J23
044318,000329: 21,3624 13626 TCF SIGNCK3
044319,000330: 21,3625 13632 TCF NJ23
044320,000331: 21,3626 11514 SIGNCK3 CCS WTEMP +1
044321,000332: 21,3627 13716 TCF J23
044322,000333: 21,3630 13716 TCF J23
044323,000334: 21,3631 13632 TCF NJ23
044324,000335:
044325,000336: 21,3632 31522 NJ23 CA AERRVEL
044326,000337: 21,3633 61502 AD T5TEMP # (ADB+AF)
044327,000338: 21,3634 63443 AD WL-H/SLP
044328,000339: 21,3635 10000 CCS A
044329,000340: 21,3636 13730 TCF J24
044330,000341: 21,3637 13730 TCF J24
044331,000342: 21,3640 13705 TCF J22
044332,000343: 21,3641 13705 TCF J22
044333,000344:
044334,000345: 21,3642 00006 J18 EXTEND
044335,000346: 21,3643 41516 DCS EDOT
044336,000347: 21,3644 53511 DXCH KMPAC
044337,000348: 21,3645 13741 TCF JTIME
044338,000349:
044339,000350: 21,3646 41517 J20 CS AERR
044340,000351: 21,3647 61523 AD ADBVEL
044341,000352: 21,3650 00006 EXTEND
044342,000353: 21,3651 73452 MP SLOPE2 # (HYSTERESIS SLOPE)
044343,000354: 21,3652 53511 DXCH KMPAC
044344,000355: 21,3653 00006 EXTEND
044345,000356: 21,3654 41516 DCS EDOT
044346,000357: 21,3655 21511 DAS KMPAC
044347,000358: 21,3656 13741 TCF JTIME
044348,000359:
044349,000360: 21,3657 11515 J21 CCS EDOT
044350,000361: 21,3660 13676 TCF JP
044351,000362: 21,3661 13663 TCF SIGNCK4
044352,000363: 21,3662 13667 TCF JN
044353,000364: 21,3663 11516 SIGNCK4 CCS EDOT +1
044354,000365: 21,3664 13676 TCF JP
044355,000366: 21,3665 13676 TCF JP
044356,000367: 21,3666 13667 TCF JN
044357,000368: 21,3667 00006 JN EXTEND
044358,000369: 21,3670 41516 DCS EDOT
044359,000370: 21,3671 53511 DXCH KMPAC
044360,000371: 21,3672 00006 EXTEND
044361,000372: 21,3673 33451 DCA WL
044362,000373: 21,3674 21511 DAS KMPAC
044363,000374: 21,3675 13741 TCF JTIME
044364,000375:
044365,000376: 21,3676 00006 JP EXTEND
044366,000377: 21,3677 41516 DCS EDOT
044367,000378: 21,3700 53511 DXCH KMPAC
044368,000379: 21,3701 00006 EXTEND
044369,000380: 21,3702 43451 DCS WL
044370,000381: 21,3703 21511 DAS KMPAC
044371,000382: 21,3704 13741 TCF JTIME
044372,000383:
044373,000384: 21,3705 11515 J22 CCS EDOT
044374,000385: 21,3706 13667 TCF JN
044375,000386: 21,3707 13711 TCF SIGNCK5
044376,000387: 21,3710 13676 TCF JP
044377,000388: 21,3711 11516 SIGNCK5 CCS EDOT +1
044378,000389: 21,3712 13667 TCF JN
044379,000390: 21,3713 13667 TCF JN
044380,000391: 21,3714 13676 TCF JP
044381,000392: 21,3715 13676 TCF JP
044382,000393:
044383,000394: 21,3716 51506 J23 INDEX SPNDX
044384,000395: 21,3717 45017 CS BIT13 # RESET RATE DAMPING FLAG
044385,000396: 21,3720 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
044386,000397: 21,3721 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
044387,000398: # BIT11 FOR YAW (SPNDX = 2)
044388,000399:
044389,000400: 21,3722 51506 INDEX SPNDX
044390,000401: 21,3723 33045 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
044391,000402: 21,3724 71501 MASK RCSFLAGS # AXIS
044392,000403: 21,3725 00006 EXTEND
044393,000404: 21,3726 13762 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
044394,000405:
044395,000406: 21,3727 13642 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
044396,000407:
044397,000408: 21,3730 41517 J24 CS AERR
044398,000409: 21,3731 00006 EXTEND
044399,000410: 21,3732 61523 SU ADBVEL
044400,000411: 21,3733 00006 EXTEND
044401,000412: 21,3734 73452 MP SLOPE2 # (HYSTERESIS SLOPE)
044402,000413: 21,3735 53511 DXCH KMPAC
044403,000414: 21,3736 00006 EXTEND
044404,000415: 21,3737 41516 DCS EDOT
044405,000416: 21,3740 21511 DAS KMPAC
044406,000417:
044407,000418: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
044408,000419:
044409,000420: # T = J/M(DELTA W)
044410,000421: # J
044411,000422:
044412,000423: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
044413,000424: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
044414,000425:
044415,000426: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
044416,000427: # (57.3/450)(B24/1600)(1/.8)
044417,000428: # FOR 1 JET OPERATION (M = 700 FT-LB).
044418,000429: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
044419,000430:
044420,000431: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
044421,000432: # KEYBOARD ENTRY ARE
044422,000433: # J/M (ROLL)
044423,000434: # J/M1 (PITCH)
044424,000435: # J/M2 (YAW)
044425,000436:
044426,000437: # T = JET ON-TIME SCALED 16384/1600 SEC
044427,000438: # J
044428,000439:
044429,000440: # THE COMPUTER VARIABLES ARE
044430,000441: # TAU (ROLL)
044431,000442: # TAU1 (PITCH)
044432,000443: # TAU2 (YAW)
044433,000444:
044434,000445: 21,3741 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
044435,000446: 21,3742 31623 CA J/M # SCALED (57.3/450)(B24/1600)
044436,000447: 21,3743 02054 TC SMALLMP # FOR 1-JET OPERATION
044437,000448: 21,3744 35021 CA BIT11
044438,000449: 21,3745 02054 TC SMALLMP
044439,000450: 21,3746 11510 CCS KMPAC
044440,000451: 21,3747 13753 TCF +4
044441,000452: 21,3750 13757 TCF TAUNORM
044442,000453: 21,3751 13755 TCF +4
044443,000454: 21,3752 13757 TCF TAUNORM
044444,000455: 21,3753 35013 CA POSMAX
044445,000456: 21,3754 13760 TCF DOJET
044446,000457: 21,3755 35015 CA NEGMAX
044447,000458: 21,3756 13760 TCF DOJET
044448,000459:
044449,000460: 21,3757 31511 TAUNORM CA KMPAC +1
044450,000461: 21,3760 51506 DOJET INDEX SPNDX
044451,000462: 21,3761 55561 TS TAU
044452,000463: 21,3762 11506 CCS SPNDX
044453,000464: 21,3763 13457 TCF JLOOP
044454,000465: 21,3764 13771 TCF T6PROG
044455,000466:
044456,000467: 21,3765 35035 ZEROCMDS CAF ZERO
044457,000468: 21,3766 55561 TS TAU
044458,000469: 21,3767 55562 TS TAU1
044459,000470: 21,3770 55563 TS TAU2
044460,000471: 21,3771 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
044461,000472: 21,3772 33776 DCA JETADDR # HAVE BEEN DETERMINED
044462,000473: 21,3773 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
044463,000474: 21,3774 15347 TCF RESUME
044464,000475:
044465,000476: 21,3775 E6,1510 EBANK= KMPAC
044466,000477: 21,3775 02610 36066 JETADDR 2CADR JETSLECT
044467,000478:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc