Source Code
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These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3),
the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72
source code was then modified by incorporating changes known from contemporary documentation to have
been made between revisions 72 and 72/3. 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 72/3 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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043916,000002: ## Copyright: Public domain.
043917,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
043918,000004: ## Purpose: A section of Manche72 revision 3.
043919,000005: ## It is part of the reconstructed source code for the final, flown
043920,000006: ## release of the software for the Command Module's (CM) Apollo
043921,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
043922,000008: ## of this program are available; instead, this file was recreated
043923,000009: ## from a reconstructed copy of Comanche 072. It has been adapted
043924,000010: ## such that the resulting bugger words exactly match those
043925,000011: ## specified for Manche72 revision 3 in NASA drawing 2021153G,
043926,000012: ## which gives relatively high confidence that the reconstruction
043927,000013: ## is correct.
043928,000014: ## Assembler: yaYUL
043929,000015: ## Contact: Ron Burkey <info@sandroid.org>.
043930,000016: ## Website: www.ibiblio.org/apollo/index.html
043931,000017: ## Mod history: 2024-05-19 MAS Created from Comanche 072.
043932,000018:
043933,000019: 21,3262 BANK 21
043934,000020: 21,2000 SETLOC DAPS3
043935,000021: 21,2000 BANK
043936,000022:
043937,000023: 21,3262 COUNT 21/DAPAM
043938,000024:
043939,000025: 21,3262 E6,1510 EBANK= KMPAC
043940,000026: 21,3262 00006 AHFNOROT EXTEND
043941,000027: 21,3263 00031 READ CHAN31
043942,000028: 21,3264 75016 MASK BIT14
043943,000029: 21,3265 00006 EXTEND
043944,000030: 21,3266 63304 BZMF FREECONT
043945,000031: 21,3267 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
043946,000032: 21,3270 75016 MASK BIT14
043947,000033: 21,3271 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
043948,000034: 21,3272 12546 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
043949,000035: # AUTOMATIC CONTROL YET
043950,000036: 21,3273 00006 EXTEND
043951,000037: 21,3274 00031 READ CHAN31
043952,000038: 21,3275 75017 MASK BIT13
043953,000039: 21,3276 00006 EXTEND
043954,000040: 21,3277 63404 BZMF HOLDFUNC
043955,000041:
043956,000042: 21,3300 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
043957,000043: 21,3301 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
043958,000044: 21,3302 63334 BZMF ATTHOLD
043959,000045: 21,3303 13410 TCF GRABANG
043960,000046:
043961,000047: # MINIMUM IMPULSE CONTROL
043962,000048:
043963,000049: 21,3304 35033 FREECONT CAF ONE
043964,000050: 21,3305 55332 TS HOLDFLAG # RESET HOLDFLAG
043965,000051: # INHIBIT AUTOMATIC STEERING
043966,000052: 21,3306 00006 EXTEND
043967,000053: 21,3307 00032 READ CHAN32
043968,000054: 21,3310 54001 TS L
043969,000055: 21,3311 40000 COM
043970,000056: 21,3312 73050 MASK MANROT
043971,000057: 21,3313 71633 MASK CHANTEMP
043972,000058: 21,3314 23633 LXCH CHANTEMP
043973,000059: 21,3315 03142 TC STICKCHK
043974,000060: 21,3316 51656 INDEX RMANNDX
043975,000061: 21,3317 33330 CA MINTAU # MINTAU +0
043976,000062: 21,3320 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
043977,000063: 21,3321 51657 INDEX PMANNDX # +2 -14MS TIME
043978,000064: 21,3322 33330 CA MINTAU # +3 +0
043979,000065: 21,3323 55562 TS TAU1
043980,000066: 21,3324 51660 INDEX YMANNDX
043981,000067: 21,3325 33330 CA MINTAU
043982,000068: 21,3326 55563 TS TAU2
043983,000069: 21,3327 13101 TCF T6PROGM
043984,000070:
043985,000071: 21,3330 00000 MINTAU DEC 0 B-14
043986,000072: 21,3331 00027 DEC 23 B-14 # = 14MS
043987,000073: 21,3332 77750 DEC -23 B-14 # = -14MS
043988,000074: 21,3333 00000 DEC 0 B-14
043989,000075:
043990,000076: # CALCULATION OF ATTITUDE ERRORS-
043991,000077: # - * - - -
043992,000078: # AK = AMGB (CDUX - THETADX) + BIAS
043993,000079:
043994,000080: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
043995,000081: # * * * ** * * *
043996,000082: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
043997,000083: # * * * ** * * *
043998,000084: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
043999,000085:
044000,000086: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044001,000087: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044002,000088: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044003,000089: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044004,000090:
044005,000091: 21,3334 30032 ATTHOLD CA CDUX
044006,000092: 21,3335 00006 EXTEND
044007,000093: 21,3336 21572 MSU THETADX
044008,000094: 21,3337 55567 TS ERRORX
044009,000095: 21,3340 30033 CA CDUY
044010,000096: 21,3341 00006 EXTEND
044011,000097: 21,3342 21573 MSU THETADY
044012,000098: 21,3343 55502 TS T5TEMP
044013,000099: 21,3344 00006 EXTEND
044014,000100: 21,3345 71640 MP AMGB1
044015,000101: 21,3346 27567 ADS ERRORX
044016,000102: 21,3347 31502 CA T5TEMP
044017,000103: 21,3350 00006 EXTEND
044018,000104: 21,3351 71641 MP AMGB4
044019,000105: 21,3352 55570 TS ERRORY
044020,000106: 21,3353 31502 CA T5TEMP
044021,000107: 21,3354 00006 EXTEND
044022,000108: 21,3355 71643 MP AMGB7
044023,000109: 21,3356 55571 TS ERRORZ
044024,000110: 21,3357 30034 CA CDUZ
044025,000111: 21,3360 00006 EXTEND
044026,000112: 21,3361 21574 MSU THETADZ
044027,000113: 21,3362 55502 TS T5TEMP
044028,000114: 21,3363 00006 EXTEND
044029,000115: 21,3364 71642 MP AMGB5
044030,000116: 21,3365 27570 ADS ERRORY
044031,000117: 21,3366 31502 CA T5TEMP
044032,000118: 21,3367 00006 EXTEND
044033,000119: 21,3370 71644 MP AMGB8
044034,000120: 21,3371 27571 ADS ERRORZ
044035,000121: 21,3372 41332 CS HOLDFLAG
044036,000122: 21,3373 00006 EXTEND
044037,000123: 21,3374 63453 BZMF JETS
044038,000124: 21,3375 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044039,000125: 21,3376 27567 ADS ERRORX
044040,000126: 21,3377 31565 CA BIAS1
044041,000127: 21,3400 27570 ADS ERRORY
044042,000128: 21,3401 31566 CA BIAS2
044043,000129: 21,3402 27571 ADS ERRORZ
044044,000130: 21,3403 13453 TCF JETS
044045,000131:
044046,000132: 21,3404 11332 HOLDFUNC CCS HOLDFLAG
044047,000133: 21,3405 13410 TCF +3
044048,000134: 21,3406 13334 TCF ATTHOLD
044049,000135: 21,3407 13410 TCF +1
044050,000136: 21,3410 35035 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044051,000137: 21,3411 55525 TS WBODY
044052,000138: 21,3412 55526 TS WBODY +1
044053,000139: 21,3413 55527 TS WBODY1
044054,000140: 21,3414 55530 TS WBODY1 +1
044055,000141: 21,3415 55531 TS WBODY2
044056,000142: 21,3416 55532 TS WBODY2 +1
044057,000143: 21,3417 55564 TS BIAS
044058,000144: 21,3420 55565 TS BIAS1
044059,000145: 21,3421 55566 TS BIAS2
044060,000146:
044061,000147: 21,3422 31501 CA RCSFLAGS
044062,000148: 21,3423 73051 MASK OCT16000
044063,000149: 21,3424 00006 EXTEND # IS RATE DAMPING COMPLETED
044064,000150: 21,3425 13433 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044065,000151: 21,3426 35035 CAF ZERO # OTHERWISE, ZERO ERRORS
044066,000152: 21,3427 55567 TS ERRORX
044067,000153: 21,3430 55570 TS ERRORY
044068,000154: 21,3431 55571 TS ERRORZ
044069,000155: 21,3432 13453 TCF JETS
044070,000156:
044071,000157: 21,3433 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044072,000158: 21,3434 00006 EXTEND
044073,000159: 21,3435 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044074,000160: 21,3436 53573 DXCH THETADX # REFERENCES
044075,000161: 21,3437 30034 CA CDUZ
044076,000162: 21,3440 55574 TS THETADZ
044077,000163: 21,3441 13334 TCF ATTHOLD
044078,000164:
044079,000165: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044080,000166:
044081,000167: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044082,000168: # PLANE.
044083,000169:
044084,000170: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044085,000171: # APPROPRIATE DEADZONE.
044086,000172:
044087,000173: # .
044088,000174: # R22 RATE . ERROR
044089,000175: # WL+H .
044090,000176: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044091,000177: # R23 WL * .
044092,000178: # --------------------------------- * . ----- DESIRED RATE LINES
044093,000179: # R23 WL-H - *.
044094,000180: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044095,000181: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044096,000182: # * . *
044097,000183: # *- . *
044098,000184: # R22 R24*- R23 . *
044099,000185: # *- . *
044100,000186: # * . *
044101,000187: # + -ADB . * AF ATTITUDE
044102,000188: # .........................+--+---------------+--+........................
044103,000189: # AF * . +ADB + ERROR
044104,000190: # * . *
044105,000191: # * . -*
044106,000192: # * . -*
044107,000193: # * . -*
044108,000194: # * . *
044109,000195: # *. - *
044110,000196: # . - *****************
044111,000197: # .* -
044112,000198: # . * --------------------------------
044113,000199: # . *
044114,000200: # . ********************************
044115,000201: # .
044116,000202: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044117,000203:
044118,000204: # CONSTANTS FOR JET SWITCHING LOGIC
044119,000205:
044120,000206: 21,3442 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044121,000207: 21,3443 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044122,000208: 21,3444 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044123,000209:
044124,000210: 21,3446 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044125,000211:
044126,000212: 21,3450 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044127,000213:
044128,000214: 21,3452 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044129,000215: 21,3453 31655 JETS CA ADB
044130,000216: 21,3454 65031 AD FOUR # AF = FLAT REGION = .044 DEG
044131,000217: 21,3455 55502 TS T5TEMP # ADB+AF
044132,000218: 21,3456 35032 CAF TWO
044133,000219: 21,3457 55506 JLOOP TS SPNDX
044134,000220: 21,3460 60000 DOUBLE
044135,000221: 21,3461 55507 TS DPNDX
044136,000222: 21,3462 00006 EXTEND
044137,000223: 21,3463 50000 INDEX A
044138,000224: 21,3464 31534 DCA ADOT
044139,000225: 21,3465 53516 DXCH EDOT
044140,000226: 21,3466 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044141,000227: 21,3467 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044142,000228: 21,3470 13475 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044143,000229: # OF WBODY AND GO TO INHOLD
044144,000230: 21,3471 00006 EXTEND
044145,000231: 21,3472 51507 INDEX DPNDX
044146,000232: 21,3473 41526 DCS WBODY
044147,000233: 21,3474 21516 DAS EDOT # = ADOT-WBODY
044148,000234: 21,3475 51506 INHOLD INDEX SPNDX
044149,000235: 21,3476 31567 CA ERRORX
044150,000236: 21,3477 55517 TS AERR # AERR = BIAS + AK
044151,000237:
044152,000238: 21,3500 11515 CCS EDOT
044153,000239: 21,3501 13511 TCF POSVEL
044154,000240: 21,3502 13504 TCF SIGNCK1
044155,000241: 21,3503 13521 TCF NEGVEL
044156,000242: 21,3504 11516 SIGNCK1 CCS EDOT +1
044157,000243: 21,3505 13511 TCF POSVEL
044158,000244: 21,3506 13511 TCF POSVEL
044159,000245: 21,3507 13521 TCF NEGVEL
044160,000246: 21,3510 13521 TCF NEGVEL
044161,000247: 21,3511 00006 POSVEL EXTEND
044162,000248: 21,3512 31516 DCA EDOT
044163,000249: 21,3513 53521 DXCH EDOTVEL
044164,000250: 21,3514 31502 CA T5TEMP
044165,000251: 21,3515 55523 TS ADBVEL # +(ADB+AF)
044166,000252: 21,3516 31517 CA AERR
044167,000253: 21,3517 55522 TS AERRVEL
044168,000254: 21,3520 03530 TC J6.
044169,000255: 21,3521 00006 NEGVEL EXTEND
044170,000256: 21,3522 41516 DCS EDOT
044171,000257: 21,3523 53521 DXCH EDOTVEL
044172,000258: 21,3524 41502 CS T5TEMP
044173,000259: 21,3525 55523 TS ADBVEL # -(ADB+AF)
044174,000260: 21,3526 41517 CS AERR
044175,000261: 21,3527 55522 TS AERRVEL
044176,000262:
044177,000263: 21,3530 00006 J6. EXTEND
044178,000264: 21,3531 61655 SU ADB
044179,000265: 21,3532 63442 AD WLH/SLOP
044180,000266: 21,3533 00006 EXTEND
044181,000267: 21,3534 63563 BZMF J8
044182,000268:
044183,000269: 21,3535 41502 CS T5TEMP # (ADB+AF)
044184,000270: 21,3536 61522 AD AERRVEL
044185,000271: 21,3537 00006 EXTEND
044186,000272: 21,3540 63542 BZMF +2
044187,000273: 21,3541 13554 TCF J7
044188,000274: 21,3542 00006 EXTEND
044189,000275: 21,3543 41521 DCS EDOTVEL
044190,000276: 21,3544 00006 EXTEND
044191,000277: 21,3545 11654 DV SLOPE
044192,000278: 21,3546 00006 EXTEND
044193,000279: 21,3547 61522 SU AERRVEL
044194,000280: 21,3550 61655 AD ADB
044195,000281: 21,3551 00006 EXTEND
044196,000282: 21,3552 63642 BZMF J18
044197,000283: 21,3553 13716 TCF J23
044198,000284:
044199,000285: 21,3554 43443 J7 CS WL-H/SLP
044200,000286: 21,3555 00006 EXTEND
044201,000287: 21,3556 61502 SU T5TEMP # (ADB+AF)
044202,000288: 21,3557 61522 AD AERRVEL
044203,000289: 21,3560 00006 EXTEND
044204,000290: 21,3561 63646 BZMF J20
044205,000291: 21,3562 13657 TCF J21
044206,000292:
044207,000293: 21,3563 00006 J8 EXTEND
044208,000294: 21,3564 43445 DCS WLH
044209,000295: 21,3565 53514 DXCH WTEMP
044210,000296: 21,3566 00006 EXTEND
044211,000297: 21,3567 31521 DCA EDOTVEL
044212,000298: 21,3570 21514 DAS WTEMP
044213,000299: 21,3571 11513 CCS WTEMP
044214,000300: 21,3572 13705 TCF J22
044215,000301: 21,3573 13575 TCF SIGNCK2
044216,000302: 21,3574 13601 TCF NJ22
044217,000303: 21,3575 11514 SIGNCK2 CCS WTEMP +1
044218,000304: 21,3576 13705 TCF J22
044219,000305: 21,3577 13705 TCF J22
044220,000306: 21,3600 13601 TCF NJ22
044221,000307:
044222,000308: 21,3601 00006 NJ22 EXTEND
044223,000309: 21,3602 31521 DCA EDOTVEL
044224,000310: 21,3603 00006 EXTEND
044225,000311: 21,3604 11654 DV SLOPE
044226,000312: 21,3605 61502 AD T5TEMP # (ADB+AF)
044227,000313: 21,3606 61522 AD AERRVEL
044228,000314: 21,3607 10000 CCS A
044229,000315: 21,3610 13716 TCF J23
044230,000316: 21,3611 13716 TCF J23
044231,000317: 21,3612 13614 TCF +2
044232,000318: 21,3613 13716 TCF J23
044233,000319:
044234,000320: 21,3614 00006 EXTEND
044235,000321: 21,3615 43447 DCS WLMH # WL - H
044236,000322: 21,3616 53514 DXCH WTEMP
044237,000323: 21,3617 00006 EXTEND
044238,000324: 21,3620 31521 DCA EDOTVEL
044239,000325: 21,3621 21514 DAS WTEMP
044240,000326: 21,3622 11513 CCS WTEMP
044241,000327: 21,3623 13716 TCF J23
044242,000328: 21,3624 13626 TCF SIGNCK3
044243,000329: 21,3625 13632 TCF NJ23
044244,000330: 21,3626 11514 SIGNCK3 CCS WTEMP +1
044245,000331: 21,3627 13716 TCF J23
044246,000332: 21,3630 13716 TCF J23
044247,000333: 21,3631 13632 TCF NJ23
044248,000334:
044249,000335: 21,3632 31522 NJ23 CA AERRVEL
044250,000336: 21,3633 61502 AD T5TEMP # (ADB+AF)
044251,000337: 21,3634 63443 AD WL-H/SLP
044252,000338: 21,3635 10000 CCS A
044253,000339: 21,3636 13730 TCF J24
044254,000340: 21,3637 13730 TCF J24
044255,000341: 21,3640 13705 TCF J22
044256,000342: 21,3641 13705 TCF J22
044257,000343:
044258,000344: 21,3642 00006 J18 EXTEND
044259,000345: 21,3643 41516 DCS EDOT
044260,000346: 21,3644 53511 DXCH KMPAC
044261,000347: 21,3645 13741 TCF JTIME
044262,000348:
044263,000349: 21,3646 41517 J20 CS AERR
044264,000350: 21,3647 61523 AD ADBVEL
044265,000351: 21,3650 00006 EXTEND
044266,000352: 21,3651 73452 MP SLOPE2 # (HYSTERESIS SLOPE)
044267,000353: 21,3652 53511 DXCH KMPAC
044268,000354: 21,3653 00006 EXTEND
044269,000355: 21,3654 41516 DCS EDOT
044270,000356: 21,3655 21511 DAS KMPAC
044271,000357: 21,3656 13741 TCF JTIME
044272,000358:
044273,000359: 21,3657 11515 J21 CCS EDOT
044274,000360: 21,3660 13676 TCF JP
044275,000361: 21,3661 13663 TCF SIGNCK4
044276,000362: 21,3662 13667 TCF JN
044277,000363: 21,3663 11516 SIGNCK4 CCS EDOT +1
044278,000364: 21,3664 13676 TCF JP
044279,000365: 21,3665 13676 TCF JP
044280,000366: 21,3666 13667 TCF JN
044281,000367: 21,3667 00006 JN EXTEND
044282,000368: 21,3670 41516 DCS EDOT
044283,000369: 21,3671 53511 DXCH KMPAC
044284,000370: 21,3672 00006 EXTEND
044285,000371: 21,3673 33451 DCA WL
044286,000372: 21,3674 21511 DAS KMPAC
044287,000373: 21,3675 13741 TCF JTIME
044288,000374:
044289,000375: 21,3676 00006 JP EXTEND
044290,000376: 21,3677 41516 DCS EDOT
044291,000377: 21,3700 53511 DXCH KMPAC
044292,000378: 21,3701 00006 EXTEND
044293,000379: 21,3702 43451 DCS WL
044294,000380: 21,3703 21511 DAS KMPAC
044295,000381: 21,3704 13741 TCF JTIME
044296,000382:
044297,000383: 21,3705 11515 J22 CCS EDOT
044298,000384: 21,3706 13667 TCF JN
044299,000385: 21,3707 13711 TCF SIGNCK5
044300,000386: 21,3710 13676 TCF JP
044301,000387: 21,3711 11516 SIGNCK5 CCS EDOT +1
044302,000388: 21,3712 13667 TCF JN
044303,000389: 21,3713 13667 TCF JN
044304,000390: 21,3714 13676 TCF JP
044305,000391: 21,3715 13676 TCF JP
044306,000392:
044307,000393: 21,3716 51506 J23 INDEX SPNDX
044308,000394: 21,3717 45017 CS BIT13 # RESET RATE DAMPING FLAG
044309,000395: 21,3720 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
044310,000396: 21,3721 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
044311,000397: # BIT11 FOR YAW (SPNDX = 2)
044312,000398:
044313,000399: 21,3722 51506 INDEX SPNDX
044314,000400: 21,3723 33045 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
044315,000401: 21,3724 71501 MASK RCSFLAGS # AXIS
044316,000402: 21,3725 00006 EXTEND
044317,000403: 21,3726 13762 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
044318,000404:
044319,000405: 21,3727 13642 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
044320,000406:
044321,000407: 21,3730 41517 J24 CS AERR
044322,000408: 21,3731 00006 EXTEND
044323,000409: 21,3732 61523 SU ADBVEL
044324,000410: 21,3733 00006 EXTEND
044325,000411: 21,3734 73452 MP SLOPE2 # (HYSTERESIS SLOPE)
044326,000412: 21,3735 53511 DXCH KMPAC
044327,000413: 21,3736 00006 EXTEND
044328,000414: 21,3737 41516 DCS EDOT
044329,000415: 21,3740 21511 DAS KMPAC
044330,000416:
044331,000417: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
044332,000418:
044333,000419: # T = J/M(DELTA W)
044334,000420: # J
044335,000421:
044336,000422: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
044337,000423: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
044338,000424:
044339,000425: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
044340,000426: # (57.3/450)(B24/1600)(1/.8)
044341,000427: # FOR 1 JET OPERATION (M = 700 FT-LB).
044342,000428: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
044343,000429:
044344,000430: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
044345,000431: # KEYBOARD ENTRY ARE
044346,000432: # J/M (ROLL)
044347,000433: # J/M1 (PITCH)
044348,000434: # J/M2 (YAW)
044349,000435:
044350,000436: # T = JET ON-TIME SCALED 16384/1600 SEC
044351,000437: # J
044352,000438:
044353,000439: # THE COMPUTER VARIABLES ARE
044354,000440: # TAU (ROLL)
044355,000441: # TAU1 (PITCH)
044356,000442: # TAU2 (YAW)
044357,000443:
044358,000444: 21,3741 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
044359,000445: 21,3742 31623 CA J/M # SCALED (57.3/450)(B24/1600)
044360,000446: 21,3743 02054 TC SMALLMP # FOR 1-JET OPERATION
044361,000447: 21,3744 35021 CA BIT11
044362,000448: 21,3745 02054 TC SMALLMP
044363,000449: 21,3746 11510 CCS KMPAC
044364,000450: 21,3747 13753 TCF +4
044365,000451: 21,3750 13757 TCF TAUNORM
044366,000452: 21,3751 13755 TCF +4
044367,000453: 21,3752 13757 TCF TAUNORM
044368,000454: 21,3753 35013 CA POSMAX
044369,000455: 21,3754 13760 TCF DOJET
044370,000456: 21,3755 35015 CA NEGMAX
044371,000457: 21,3756 13760 TCF DOJET
044372,000458:
044373,000459: 21,3757 31511 TAUNORM CA KMPAC +1
044374,000460: 21,3760 51506 DOJET INDEX SPNDX
044375,000461: 21,3761 55561 TS TAU
044376,000462: 21,3762 11506 CCS SPNDX
044377,000463: 21,3763 13457 TCF JLOOP
044378,000464: 21,3764 13771 TCF T6PROG
044379,000465:
044380,000466: 21,3765 35035 ZEROCMDS CAF ZERO
044381,000467: 21,3766 55561 TS TAU
044382,000468: 21,3767 55562 TS TAU1
044383,000469: 21,3770 55563 TS TAU2
044384,000470: 21,3771 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
044385,000471: 21,3772 33776 DCA JETADDR # HAVE BEEN DETERMINED
044386,000472: 21,3773 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
044387,000473: 21,3774 15347 TCF RESUME
044388,000474:
044389,000475: 21,3775 E6,1510 EBANK= KMPAC
044390,000476: 21,3775 02610 36066 JETADDR 2CADR JETSLECT
044391,000477:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc