Source Code
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These source-code files are part of a reconstructed copy of Skylark 048, the
Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the
Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.
They have been created via disassembly of binary dumps of the original core rope
memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551,
2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules
was provided by the New Mexico Museum of Space History, who we are much indebted to.
The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as
a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations
for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document
contains pseudocode of essentially all of Skylark, using original program labels which
have been copied for this source reconstruction.
Since only binary dumps (rather than listings) of Skylark are available as source material,
all comments and labels are approximate.
They have been taken from the Programmed Guidance Equations or 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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042240,000002: ## Copyright: Public domain.
042241,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
042242,000004: ## Purpose: A section of Skylark revision 048.
042243,000005: ## It is part of the source code for the Apollo Guidance Computer (AGC)
042244,000006: ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of
042245,000007: ## this software are available; instead, this file was created via
042246,000008: ## disassembly of dumps of the core rope modules actually flown on
042247,000009: ## Skylab-2. Access to these modules was provided by the New Mexico
042248,000010: ## Museum of Space History.
042249,000011: ## Assembler: yaYUL
042250,000012: ## Contact: Ron Burkey <info@sandroid.org>.
042251,000013: ## Website: www.ibiblio.org/apollo/index.html
042252,000014: ## Mod history: 2023-09-04 MAS Created from Artemis 072.
042253,000015: ## 2024-03-04 MAS Updated for Skylark 48.
042254,000016:
042255,000017: 21,2000 SETLOC DAPS3
042256,000018: 21,2000 BANK
042257,000019:
042258,000020: 21,3150 COUNT* $$/DAPAM
042259,000021: 21,3150 E6,1537 EBANK= KMPAC
042260,000022: 21,3150 34764 AHFNOROT CAF BIT14
042261,000023: 21,3151 05627 TC C31BTCHK
042262,000024: 21,3152 13166 TCF FREECONT
042263,000025: 21,3153 31530 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
042264,000026: 21,3154 74764 MASK BIT14
042265,000027: 21,3155 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
042266,000028: 21,3156 12346 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
042267,000029: # AUTOMATIC CONTROL YET
042268,000030: 21,3157 34765 CAF BIT13
042269,000031: 21,3160 05627 TC C31BTCHK
042270,000032: 21,3161 13312 TCF HOLDFUNC
042271,000033: 21,3162 31330 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
042272,000034: 21,3163 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
042273,000035: 21,3164 63242 BZMF ATTHOLD
042274,000036: 21,3165 13316 TCF GRABANG
042275,000037:
042276,000038: # MINIMUM IMPULSE CONTROL
042277,000039:
042278,000040: 21,3166 35001 FREECONT CAF ONE
042279,000041: 21,3167 55330 TS HOLDFLAG # RESET HOLDFLAG
042280,000042: # INHIBIT AUTOMATIC STEERING
042281,000043: 21,3170 00006 EXTEND
042282,000044: 21,3171 00032 READ CHAN32
042283,000045: 21,3172 54001 TS L
042284,000046: 21,3173 40000 COM
042285,000047: 21,3174 71664 MASK CHANTEMP
042286,000048: 21,3175 23664 LXCH CHANTEMP
042287,000049: 21,3176 73005 RHCMINP MASK MANROT
042288,000050: 21,3177 51475 INDEX WHICHDAP
042289,000051: 21,3200 13201 TCF +1
042290,000052: 21,3201 13203 TCF +2
042291,000053: 21,3202 13216 TCF DKMICIMP
042292,000054: 21,3203 03116 TC STICKCHK
042293,000055: 21,3204 51707 INDEX RMANNDX
042294,000056: 21,3205 34625 CA MINTAU # MINTAU +0
042295,000057: 21,3206 55610 TS TAU # +1 +14MS MINIMUM IMPULSE
042296,000058: 21,3207 51710 INDEX PMANNDX # +2 -14MS TIME
042297,000059: 21,3210 34625 CA MINTAU # +3 +0
042298,000060: 21,3211 55611 TS TAU1
042299,000061: 21,3212 51711 INDEX YMANNDX
042300,000062: 21,3213 34625 CA MINTAU
042301,000063: 21,3214 55612 TS TAU2
042302,000064: 21,3215 13045 TCF T6PROGM
042303,000065:
042304,000066: 21,3216 55531 DKMICIMP TS T5TEMP
042305,000067: 21,3217 00006 EXTEND
042306,000068: 21,3220 13223 BZF +3
042307,000069: 21,3221 45003 CS ZERO
042308,000070: 21,3222 55465 TS INHIBIT
042309,000071: 21,3223 31531 CA T5TEMP
042310,000072: 21,3224 03116 TC STICKCHK
042311,000073: 21,3225 51707 INDEX RMANNDX
042312,000074: 21,3226 34621 CA 50MST6 -1
042313,000075: 21,3227 55610 TS TAU
042314,000076: 21,3230 51710 INDEX PMANNDX
042315,000077: 21,3231 34621 CA 50MST6 -1
042316,000078: 21,3232 55611 TS TAU1
042317,000079: 21,3233 55707 TS TAUZ
042318,000080: 21,3234 51711 INDEX YMANNDX
042319,000081: 21,3235 34621 CA 50MST6 -1
042320,000082: 21,3236 55612 TS TAU2
042321,000083: 21,3237 40000 COM
042322,000084: 21,3240 55710 TS TAUY
042323,000085: 21,3241 13045 TCF T6PROGM
042324,000086:
042325,000087: 4000 SETLOC FFTAG12
042326,000088: 4000 BANK
042327,000089:
042328,000090: 4625 COUNT* $$/DAPAM
042329,000091:
042330,000092: 4625 00000 MINTAU DEC 0 B-14
042331,000093: 4626 00027 DEC23 DEC 23 B-14 # = 14 MS
042332,000094: 4627 77750 DECNEG23 DEC -23 B-14 # = -14 MS
042333,000095: 4630 00000 DEC 0 B-14
042334,000096:
042335,000097:
042336,000098: 21,2000 SETLOC DAPS3
042337,000099: 21,2000 BANK
042338,000100:
042339,000101: 21,3242 COUNT* $$/DAPAM
042340,000102:
042341,000103: # CALCULATION OF ATTITUDE ERRORS-
042342,000104:
042343,000105: # - * - - -
042344,000106: # AK = AMGB (CDUX - THETADX) + BIAS
042345,000107:
042346,000108: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
042347,000109: # * * * ** * * *
042348,000110: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
042349,000111: # * * * ** * * *
042350,000112: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
042351,000113:
042352,000114: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
042353,000115: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
042354,000116: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
042355,000117: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
042356,000118:
042357,000119: 21,3242 30032 ATTHOLD CA CDUX
042358,000120: 21,3243 00006 EXTEND
042359,000121: 21,3244 21623 MSU THETADX
042360,000122: 21,3245 55620 TS ERRORX
042361,000123: 21,3246 30033 CA CDUY
042362,000124: 21,3247 00006 EXTEND
042363,000125: 21,3250 21624 MSU THETADY
042364,000126: 21,3251 55531 TS T5TEMP
042365,000127: 21,3252 00006 EXTEND
042366,000128: 21,3253 71671 MP AMGB1
042367,000129: 21,3254 27620 ADS ERRORX
042368,000130: 21,3255 31531 CA T5TEMP
042369,000131: 21,3256 00006 EXTEND
042370,000132: 21,3257 71672 MP AMGB4
042371,000133: 21,3260 55621 TS ERRORY
042372,000134: 21,3261 31531 CA T5TEMP
042373,000135: 21,3262 00006 EXTEND
042374,000136: 21,3263 71674 MP AMGB7
042375,000137: 21,3264 55622 TS ERRORZ
042376,000138: 21,3265 30034 CA CDUZ
042377,000139: 21,3266 00006 EXTEND
042378,000140: 21,3267 21625 MSU THETADZ
042379,000141: 21,3270 55531 TS T5TEMP
042380,000142: 21,3271 00006 EXTEND
042381,000143: 21,3272 71673 MP AMGB5
042382,000144: 21,3273 27621 ADS ERRORY
042383,000145: 21,3274 31531 CA T5TEMP
042384,000146: 21,3275 00006 EXTEND
042385,000147: 21,3276 71675 MP AMGB8
042386,000148: 21,3277 27622 ADS ERRORZ
042387,000149: 21,3300 41330 CS HOLDFLAG
042388,000150: 21,3301 00006 EXTEND
042389,000151: 21,3302 63366 BZMF JETS
042390,000152: 21,3303 31615 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
042391,000153: 21,3304 27620 ADS ERRORX
042392,000154: 21,3305 31616 CA BIAS1
042393,000155: 21,3306 27621 ADS ERRORY
042394,000156: 21,3307 31617 CA BIAS2
042395,000157: 21,3310 27622 ADS ERRORZ
042396,000158: 21,3311 13366 TCF JETS
042397,000159:
042398,000160:
042399,000161: 21,3312 11330 HOLDFUNC CCS HOLDFLAG
042400,000162: 21,3313 13316 TCF +3
042401,000163: 21,3314 13242 TCF ATTHOLD
042402,000164: 21,3315 13316 TCF +1
042403,000165: 21,3316 35003 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
042404,000166: 21,3317 55554 TS WBODY
042405,000167: 21,3320 55555 TS WBODY +1
042406,000168: 21,3321 55556 TS WBODY1
042407,000169: 21,3322 55557 TS WBODY1 +1
042408,000170: 21,3323 55560 TS WBODY2
042409,000171: 21,3324 55561 TS WBODY2 +1
042410,000172: 21,3325 55615 TS BIAS
042411,000173: 21,3326 55616 TS BIAS1
042412,000174: 21,3327 55617 TS BIAS2
042413,000175:
042414,000176: 21,3330 31530 CA RCSFLAGS
042415,000177: 21,3331 75067 MASK OCT16000
042416,000178: 21,3332 00006 EXTEND # IS RATE DAMPING COMPLETED
042417,000179: 21,3333 13341 BZF ENDDAMP # IF SO, GO TO ENDDAMP
042418,000180: 21,3334 35003 CAF ZERO # OTHERWISE, ZERO ERRORS
042419,000181: 21,3335 55620 TS ERRORX
042420,000182: 21,3336 55621 TS ERRORY
042421,000183: 21,3337 55622 TS ERRORZ
042422,000184: 21,3340 13366 TCF JETS
042423,000185:
042424,000186: 21,3341 55330 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
042425,000187: 21,3342 00006 EXTEND
042426,000188: 21,3343 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
042427,000189: 21,3344 53624 DXCH THETADX # REFERENCES
042428,000190: 21,3345 30034 CA CDUZ
042429,000191: 21,3346 55625 TS THETADZ
042430,000192: 21,3347 13242 TCF ATTHOLD
042431,000193:
042432,000194: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
042433,000195:
042434,000196: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
042435,000197: # PLANE.
042436,000198: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
042437,000199: # APPROPRIATE DEADZONE.
042438,000200:
042439,000201:
042440,000202: # .
042441,000203: # R22 RATE . ERROR
042442,000204: # WL+H .
042443,000205: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
042444,000206: # R23 WL * .
042445,000207: # --------------------------------- * . ----- DESIRED RATE LINES
042446,000208: # R23 WL-H - *.
042447,000209: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
042448,000210: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
042449,000211: # * . *
042450,000212: # *- . *
042451,000213: # R22 R24*- R23 . *
042452,000214: # *- . *
042453,000215: # * . *
042454,000216: # + -ADB . * AF ATTITUDE
042455,000217: # .........................+--+---------------+--+........................
042456,000218: # AF * . +ADB + ERROR
042457,000219: # * . *
042458,000220: # * . -*
042459,000221: # * . -*
042460,000222: # * . -*
042461,000223: # * . *
042462,000224: # *. - *
042463,000225: # . - *****************
042464,000226: # .* -
042465,000227: # . * --------------------------------
042466,000228: # . *
042467,000229: # . ********************************
042468,000230: # .
042469,000231:
042470,000232: # FIG. 1 PHASE PLANE SWITCHING LOGIC
042471,000233:
042472,000234:
042473,000235: # CONSTANTS FOR JET SWITCHING LOGIC
042474,000236:
042475,000237: 21,3350 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
042476,000238: 21,3352 00005 16606 2DEC .0003333333 # = WL+H = 0.15 DEG/SEC $450
042477,000239: 21,3354 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
042478,000240: 21,3356 00001 32202 2DEC .0001111111 # = WL-H = 0.05 DEG/SEC $450
042479,000241: 21,3360 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
042480,000242: 21,3362 00003 24404 2DEC .0002222222 # = WL = 0.1 DEG/EC $450
042481,000243: 21,3364 00004 FLAT DEC 4 B-14 # = AF = 0.044 DEG
042482,000244: 21,3365 00004 DEC 4 B-14 # = AF = 0.044 DEG
042483,000245:
042484,000246: 21,3366 31706 JETS CA ADB
042485,000247: 21,3367 51475 INDEX WHICHDAP
042486,000248: 21,3370 63364 AD FLAT # AF = FLAT REGION = .044 DEG
042487,000249: 21,3371 55531 TS T5TEMP # ADB+AF
042488,000250: 21,3372 35000 CAF TWO
042489,000251: 21,3373 55535 JLOOP TS SPNDX
042490,000252: 21,3374 60000 DOUBLE
042491,000253: 21,3375 55536 TS DPNDX
042492,000254: 21,3376 00006 EXTEND
042493,000255: 21,3377 50000 INDEX A
042494,000256: 21,3400 31563 DCA ADOT
042495,000257: 21,3401 53545 DXCH EDOT
042496,000258: 21,3402 31330 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
042497,000259: 21,3403 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
042498,000260: 21,3404 13411 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
042499,000261: # OF WBODY AND GO TO INHOLD
042500,000262: 21,3405 00006 EXTEND
042501,000263: 21,3406 51536 INDEX DPNDX
042502,000264: 21,3407 41555 DCS WBODY
042503,000265: 21,3410 21545 DAS EDOT # = ADOT-WBODY
042504,000266: 21,3411 51535 INHOLD INDEX SPNDX
042505,000267: 21,3412 31620 CA ERRORX
042506,000268: 21,3413 55546 TS AERR # AERR = BIAS + AK
042507,000269:
042508,000270: 21,3414 11544 CCS EDOT
042509,000271: 21,3415 13425 TCF POSVEL
042510,000272: 21,3416 13420 TCF SIGNCK1
042511,000273: 21,3417 13435 TCF NEGVEL
042512,000274: 21,3420 11545 SIGNCK1 CCS EDOT +1
042513,000275: 21,3421 13425 TCF POSVEL
042514,000276: 21,3422 13425 TCF POSVEL
042515,000277: 21,3423 13435 TCF NEGVEL
042516,000278: 21,3424 13435 TCF NEGVEL
042517,000279: 21,3425 00006 POSVEL EXTEND
042518,000280: 21,3426 31545 DCA EDOT
042519,000281: 21,3427 53550 DXCH EDOTVEL
042520,000282: 21,3430 31531 CA T5TEMP
042521,000283: 21,3431 55552 TS ADBVEL # +(ADB+AF)
042522,000284: 21,3432 31546 CA AERR
042523,000285: 21,3433 55551 TS AERRVEL
042524,000286: 21,3434 03444 TC J6.
042525,000287: 21,3435 00006 NEGVEL EXTEND
042526,000288: 21,3436 41545 DCS EDOT
042527,000289: 21,3437 53550 DXCH EDOTVEL
042528,000290: 21,3440 41531 CS T5TEMP
042529,000291: 21,3441 55552 TS ADBVEL # -(ADB+AF)
042530,000292: 21,3442 41546 CS AERR
042531,000293: 21,3443 55551 TS AERRVEL
042532,000294:
042533,000295: 21,3444 00006 J6. EXTEND
042534,000296: 21,3445 61706 SU ADB
042535,000297: 21,3446 51475 INDEX WHICHDAP
042536,000298: 21,3447 61433 AD WLH/SLOP
042537,000299: 21,3450 00006 EXTEND
042538,000300: 21,3451 63515 BZMF J8
042539,000301:
042540,000302: 21,3452 41531 CS T5TEMP # (ADB+AF)
042541,000303: 21,3453 61551 AD AERRVEL
042542,000304: 21,3454 00006 EXTEND
042543,000305: 21,3455 63457 BZMF +2
042544,000306: 21,3456 13505 TCF J7
042545,000307: 21,3457 00006 EXTEND
042546,000308: 21,3460 41550 DCS EDOTVEL
042547,000309: 21,3461 00006 EXTEND
042548,000310: 21,3462 11705 DV SLOPE
042549,000311: 21,3463 00006 EXTEND
042550,000312: 21,3464 61551 SU AERRVEL
042551,000313: 21,3465 61706 AD ADB
042552,000314: 21,3466 00006 EXTEND
042553,000315: 21,3467 63577 BZMF J18
042554,000316: 21,3470 51475 INDEX WHICHDAP
042555,000317: 21,3471 13472 TCF +1
042556,000318: 21,3472 13656 TCF J23
042557,000319:
042558,000320: 21,3473 00006 NEWCHECK EXTEND
042559,000321: 21,3474 31550 DCA EDOTVEL
042560,000322: 21,3475 00006 EXTEND
042561,000323: 21,3476 11705 DV SLOPE
042562,000324: 21,3477 61551 AD AERRVEL
042563,000325: 21,3500 61531 AD T5TEMP
042564,000326: 21,3501 40000 COM
042565,000327: 21,3502 00006 EXTEND
042566,000328: 21,3503 63656 BZMF J23
042567,000329: 21,3504 13677 TCF J24
042568,000330:
042569,000331: 21,3505 51475 J7 INDEX WHICHDAP
042570,000332: 21,3506 41435 CS WL-H/SLP
042571,000333: 21,3507 00006 EXTEND
042572,000334: 21,3510 61531 SU T5TEMP # (ADB+AF)
042573,000335: 21,3511 61551 AD AERRVEL
042574,000336: 21,3512 00006 EXTEND
042575,000337: 21,3513 63603 BZMF J20
042576,000338: 21,3514 13615 TCF J21
042577,000339:
042578,000340: 21,3515 00006 J8 EXTEND
042579,000341: 21,3516 51476 INDEX WHICHX2
042580,000342: 21,3517 43351 DCS WLH
042581,000343: 21,3520 53543 DXCH WTEMP
042582,000344: 21,3521 00006 EXTEND
042583,000345: 21,3522 31550 DCA EDOTVEL
042584,000346: 21,3523 21543 DAS WTEMP
042585,000347: 21,3524 11542 CCS WTEMP
042586,000348: 21,3525 13645 TCF J22
042587,000349: 21,3526 13530 TCF SIGNCK2
042588,000350: 21,3527 13534 TCF NJ22
042589,000351: 21,3530 11543 SIGNCK2 CCS WTEMP +1
042590,000352: 21,3531 13645 TCF J22
042591,000353: 21,3532 13645 TCF J22
042592,000354: 21,3533 13534 TCF NJ22
042593,000355:
042594,000356: 21,3534 00006 NJ22 EXTEND
042595,000357: 21,3535 31550 DCA EDOTVEL
042596,000358: 21,3536 00006 EXTEND
042597,000359: 21,3537 11705 DV SLOPE
042598,000360: 21,3540 61531 AD T5TEMP # (ADB+AF)
042599,000361: 21,3541 61551 AD AERRVEL
042600,000362: 21,3542 10000 CCS A
042601,000363: 21,3543 13656 TCF J23
042602,000364: 21,3544 13656 TCF J23
042603,000365: 21,3545 13547 TCF +2
042604,000366: 21,3546 13656 TCF J23
042605,000367:
042606,000368: 21,3547 00006 EXTEND
042607,000369: 21,3550 51476 INDEX WHICHX2
042608,000370: 21,3551 43355 DCS WLMH # WL - H
042609,000371: 21,3552 53543 DXCH WTEMP
042610,000372: 21,3553 00006 EXTEND
042611,000373: 21,3554 31550 DCA EDOTVEL
042612,000374: 21,3555 21543 DAS WTEMP
042613,000375: 21,3556 11542 CCS WTEMP
042614,000376: 21,3557 13656 TCF J23
042615,000377: 21,3560 13562 TCF SIGNCK3
042616,000378: 21,3561 13566 TCF NJ23
042617,000379: 21,3562 11543 SIGNCK3 CCS WTEMP +1
042618,000380: 21,3563 13656 TCF J23
042619,000381: 21,3564 13656 TCF J23
042620,000382: 21,3565 13566 TCF NJ23
042621,000383:
042622,000384: 21,3566 31551 NJ23 CA AERRVEL
042623,000385: 21,3567 61531 AD T5TEMP # (ADB+AF)
042624,000386: 21,3570 51475 INDEX WHICHDAP
042625,000387: 21,3571 61435 AD WL-H/SLP
042626,000388: 21,3572 10000 CCS A
042627,000389: 21,3573 13677 TCF J24
042628,000390: 21,3574 13677 TCF J24
042629,000391: 21,3575 13645 TCF J22
042630,000392: 21,3576 13645 TCF J22
042631,000393:
042632,000394: 21,3577 00006 J18 EXTEND
042633,000395: 21,3600 41545 DCS EDOT
042634,000396: 21,3601 53540 DXCH KMPAC
042635,000397: 21,3602 13711 TCF JTIME
042636,000398:
042637,000399: 21,3603 41546 J20 CS AERR
042638,000400: 21,3604 61552 AD ADBVEL
042639,000401: 21,3605 00006 EXTEND
042640,000402: 21,3606 51475 INDEX WHICHDAP
042641,000403: 21,3607 71431 MP SLOPE2 # (HYSTERESIS SLOPE)
042642,000404: 21,3610 53540 DXCH KMPAC
042643,000405: 21,3611 00006 EXTEND
042644,000406: 21,3612 41545 DCS EDOT
042645,000407: 21,3613 21540 DAS KMPAC
042646,000408: 21,3614 13711 TCF JTIME
042647,000409:
042648,000410: 21,3615 11544 J21 CCS EDOT
042649,000411: 21,3616 13635 TCF JP
042650,000412: 21,3617 13621 TCF SIGNCK4
042651,000413: 21,3620 13625 TCF JN
042652,000414: 21,3621 11545 SIGNCK4 CCS EDOT +1
042653,000415: 21,3622 13635 TCF JP
042654,000416: 21,3623 13635 TCF JP
042655,000417: 21,3624 13625 TCF JN
042656,000418: 21,3625 00006 JN EXTEND
042657,000419: 21,3626 41545 DCS EDOT
042658,000420: 21,3627 53540 DXCH KMPAC
042659,000421: 21,3630 00006 EXTEND
042660,000422: 21,3631 51476 INDEX WHICHX2
042661,000423: 21,3632 33361 DCA WL
042662,000424: 21,3633 21540 DAS KMPAC
042663,000425: 21,3634 13711 TCF JTIME
042664,000426:
042665,000427: 21,3635 00006 JP EXTEND
042666,000428: 21,3636 41545 DCS EDOT
042667,000429: 21,3637 53540 DXCH KMPAC
042668,000430: 21,3640 00006 EXTEND
042669,000431: 21,3641 51476 INDEX WHICHX2
042670,000432: 21,3642 43361 DCS WL
042671,000433: 21,3643 21540 DAS KMPAC
042672,000434: 21,3644 13711 TCF JTIME
042673,000435:
042674,000436: 21,3645 11544 J22 CCS EDOT
042675,000437: 21,3646 13625 TCF JN
042676,000438: 21,3647 13651 TCF SIGNCK5
042677,000439: 21,3650 13635 TCF JP
042678,000440: 21,3651 11545 SIGNCK5 CCS EDOT +1
042679,000441: 21,3652 13625 TCF JN
042680,000442: 21,3653 13625 TCF JN
042681,000443: 21,3654 13635 TCF JP
042682,000444: 21,3655 13635 TCF JP
042683,000445:
042684,000446: 21,3656 51535 J23 INDEX SPNDX
042685,000447: 21,3657 44765 CS BIT13 # RESET RATE DAMPING FLAG
042686,000448: 21,3660 71530 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
042687,000449: 21,3661 55530 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
042688,000450: # BIT11 FOR YAW (SPNDX = 2)
042689,000451:
042690,000452: 21,3662 51535 INDEX SPNDX
042691,000453: 21,3663 33002 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
042692,000454: 21,3664 71530 MASK RCSFLAGS # AXIS
042693,000455: 21,3665 00006 EXTEND
042694,000456: 21,3666 13670 BZF +2
042695,000457:
042696,000458: 21,3667 13577 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
042697,000459:
042698,000460: 21,3670 51475 CHECKDAP INDEX WHICHDAP
042699,000461: 21,3671 13672 TCF +1
042700,000462: 21,3672 13736 TCF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
042701,000463: 21,3673 35003 CAF ZERO
042702,000464: 21,3674 55537 TS KMPAC
042703,000465: 21,3675 55540 TS KMPAC +1
042704,000466: 21,3676 13734 TCF DOJET
042705,000467:
042706,000468: 21,3677 41546 J24 CS AERR
042707,000469: 21,3700 00006 EXTEND
042708,000470: 21,3701 61552 SU ADBVEL
042709,000471: 21,3702 00006 EXTEND
042710,000472: 21,3703 51475 INDEX WHICHDAP
042711,000473: 21,3704 71431 MP SLOPE2 # (HYSTERESIS SLOPE)
042712,000474: 21,3705 53540 DXCH KMPAC
042713,000475: 21,3706 00006 EXTEND
042714,000476: 21,3707 41545 DCS EDOT
042715,000477: 21,3710 21540 DAS KMPAC
042716,000478:
042717,000479: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
042718,000480:
042719,000481: # T = J/M(DELTA W)
042720,000482: # J
042721,000483:
042722,000484: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
042723,000485: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
042724,000486:
042725,000487: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
042726,000488: # (57.3/450)(B24/1600)(1/.8)
042727,000489: # FOR 1 JET OPERATION (M = 700 FT-LB).
042728,000490: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
042729,000491:
042730,000492: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
042731,000493: # KEYBOARD ENTRY ARE
042732,000494: # J/M (ROLL)
042733,000495: # J/M1 (PITCH)
042734,000496: # J/M2 (YAW)
042735,000497:
042736,000498: # T = JET ON-TIME SCALED 16384/1600 SEC
042737,000499: # J
042738,000500:
042739,000501: # THE COMPUTER VARIABLES ARE
042740,000502: # TAU (ROLL)
042741,000503: # TAU1 (PITCH)
042742,000504: # TAU2 (YAW)
042743,000505:
042744,000506:
042745,000507: 21,3711 51535 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
042746,000508: 21,3712 31654 CA J/M # SCALED (57.3/450)(B24/1600)
042747,000509: 21,3713 02000 TC SMALLMP # FOR 1-JET OPERATION
042748,000510: 21,3714 51475 INDEX WHICHDAP
042749,000511: 21,3715 13716 TCF +1
042750,000512: 21,3716 13720 TCF +2
042751,000513: 21,3717 13722 TCF +3
042752,000514: 21,3720 34767 CA BIT11
042753,000515: 21,3721 02000 TC SMALLMP
042754,000516: 21,3722 11537 CCS KMPAC
042755,000517: 21,3723 13727 TCF +4
042756,000518: 21,3724 13733 TCF TAUNORM
042757,000519: 21,3725 13731 TCF +4
042758,000520: 21,3726 13733 TCF TAUNORM
042759,000521: 21,3727 34761 CA POSMAX
042760,000522: 21,3730 13734 TCF DOJET
042761,000523: 21,3731 34763 CA NEGMAX
042762,000524: 21,3732 13734 TCF DOJET
042763,000525:
042764,000526: 21,3733 31540 TAUNORM CA KMPAC +1
042765,000527: 21,3734 51535 DOJET INDEX SPNDX
042766,000528: 21,3735 55610 TS TAU
042767,000529: 21,3736 11535 +2 CCS SPNDX
042768,000530: 21,3737 13751 TCF DKJTIME
042769,000531:
042770,000532: 21,3740 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
042771,000533: 21,3741 51476 INDEX WHICHX2
042772,000534: 21,3742 33746 DCA JETADDR # HAVE BEEN DETERMINED
042773,000535: 21,3743 52113 DXCH T5LOC # RESET T5LOC FOR PHASE3
042774,000536: 21,3744 15336 TCF RESUME
042775,000537:
042776,000538: 21,3745 E6,1537 EBANK= KMPAC
042777,000539: 21,3745 02577 36066 JETADDR 2CADR JETSLECT
042778,000540: 21,3747 02000 26066 2CADR DKJSLECT
042779,000541:
|
|
The next four label names are guesses.
|
042781,000543: 21,3751 51475 DKJTIME INDEX WHICHDAP
042782,000544: 21,3752 13753 TCF +1
042783,000545: 21,3753 13373 TCF JLOOP
042784,000546:
042785,000547: 21,3754 51535 INDEX SPNDX
042786,000548: 21,3755 31436 CA ECP -1
042787,000549: 21,3756 02000 TC SMALLMP
042788,000550: 21,3757 11537 CCS KMPAC
042789,000551: 21,3760 13770 TCF +MAXTAU
042790,000552: 21,3761 13763 TCF +2
042791,000553: 21,3762 13772 TCF -MAXTAU
042792,000554:
042793,000555: 21,3763 31540 CA KMPAC +1
042794,000556: 21,3764 51535 SETTAU INDEX SPNDX
042795,000557: 21,3765 55706 TS TAUZ -1
042796,000558: 21,3766 11535 CCS SPNDX
042797,000559: 21,3767 13373 TCF JLOOP
042798,000560:
042799,000561: 21,3770 34761 +MAXTAU CAF POSMAX
042800,000562: 21,3771 13764 TCF SETTAU
042801,000563:
042802,000564: 21,3772 34763 -MAXTAU CAF NEGMAX
042803,000565: 21,3773 13764 TCF SETTAU
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc