Source Code

These source-code files are part of a reconstructed copy of Comanche 67, the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.

They have been adapted from sources files for Comanche 55, and updated via disassembly of binary dumps of original core rope memory modules, part numbers 2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.

Since only binary dumps (rather than listings) of Comanche 67 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.

043620,000002:                                                                                                  ## Copyright:   Public domain.
043621,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
043622,000004:                                                                                                  ## Purpose:     A section of Comanche revision 067.
043623,000005:                                                                                                  ##              It is part of the reconstructed source code for the flight
043624,000006:                                                                                                  ##              software for the Command Module's (CM) Apollo Guidance Computer
043625,000007:                                                                                                  ##              (AGC) for Apollo 12. No original listings of this program are
043626,000008:                                                                                                  ##              available; instead, this file was created via dissassembly of
043627,000009:                                                                                                  ##              dumps of Comanche 067 core rope modules and comparison with
043628,000010:                                                                                                  ##              other AGC programs.
043629,000011:                                                                                                  ## Assembler:   yaYUL
043630,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
043631,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043632,000014:                                                                                                  ## Mod history: 2023-08-16 MAS  Created from Comanche 055.
043633,000015: 
043634,000016: 21,3262                                           BANK     21                                    
043635,000017: 21,2000                                           SETLOC   DAPS3                                 
043636,000018: 21,2000                                           BANK                                           
043637,000019: 
043638,000020: 21,3262                                           COUNT    21/DAPAM                              
043639,000021: 
043640,000022: 21,3262  E6,1510                                  EBANK=   KMPAC                                 
043641,000023: 21,3262           00006        AHFNOROT           EXTEND                                         
043642,000024: 21,3263           00031                           READ     CHAN31                                
043643,000025: 21,3264           75016                           MASK     BIT14                                 
043644,000026: 21,3265           00006                           EXTEND                                         
043645,000027: 21,3266           63304                           BZMF     FREECONT                              
043646,000028: 21,3267           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
043647,000029: 21,3270           75016                           MASK     BIT14                                 
043648,000030: 21,3271           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
043649,000031: 21,3272           12546                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
043650,000032:                                                                                                  #  AUTOMATIC CONTROL YET
043651,000033: 21,3273           00006                           EXTEND                                         
043652,000034: 21,3274           00031                           READ     CHAN31                                
043653,000035: 21,3275           75017                           MASK     BIT13                                 
043654,000036: 21,3276           00006                           EXTEND                                         
043655,000037: 21,3277           63404                           BZMF     HOLDFUNC                              
043656,000038: 
043657,000039: 21,3300           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
043658,000040: 21,3301           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
043659,000041: 21,3302           63334                           BZMF     ATTHOLD                               
043660,000042: 21,3303           13410                           TCF      GRABANG                               
043661,000043: 
043662,000044:                                                                                                  #  MINIMUM IMPULSE CONTROL
043663,000045: 
043664,000046: 21,3304           35033        FREECONT           CAF      ONE                                   
043665,000047: 21,3305           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
043666,000048:                                                                                                  #  INHIBIT AUTOMATIC STEERING
043667,000049: 21,3306           00006                           EXTEND                                         
043668,000050: 21,3307           00032                           READ     CHAN32                                
043669,000051: 21,3310           54001                           TS       L                                     
043670,000052: 21,3311           40000                           COM                                            
043671,000053: 21,3312           73050                           MASK     MANROT                                
043672,000054: 21,3313           71633                           MASK     CHANTEMP                              
043673,000055: 21,3314           23633                           LXCH     CHANTEMP                              
043674,000056: 21,3315           03142                           TC       STICKCHK                              
043675,000057: 21,3316           51656                           INDEX    RMANNDX                               
043676,000058: 21,3317           33330                           CA       MINTAU                                #  MINTAU        +0
043677,000059: 21,3320           55561                           TS       TAU                                   #                +1      +14MS MINIMUM IMPULSE
043678,000060: 21,3321           51657                           INDEX    PMANNDX                               #                +2      -14MS TIME
043679,000061: 21,3322           33330                           CA       MINTAU                                #                +3      +0
043680,000062: 21,3323           55562                           TS       TAU1                                  
043681,000063: 21,3324           51660                           INDEX    YMANNDX                               
043682,000064: 21,3325           33330                           CA       MINTAU                                
043683,000065: 21,3326           55563                           TS       TAU2                                  
043684,000066: 21,3327           13101                           TCF      T6PROGM                               
043685,000067: 
043686,000068: 21,3330           00000        MINTAU             DEC      0          B-14                       
043687,000069: 21,3331           00027                           DEC      23         B-14                       #  = 14MS
043688,000070: 21,3332           77750                           DEC      -23        B-14                       #  = -14MS
043689,000071: 21,3333           00000                           DEC      0          B-14                       
043690,000072: 
043691,000073:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
043692,000074:                                                                                                  #        -    *     -      -          -
043693,000075:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
043694,000076: 
043695,000077:                                                                                                  #  IE    *AK *   * 1        SIN(PSI)        0    ** CDUX - THETADX *    *BIAS *
043696,000078:                                                                                                  #        *   *   *                               **                *    *     *
043697,000079:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
043698,000080:                                                                                                  #        *   *   *                               **                *    *     *
043699,000081:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
043700,000082: 
043701,000083:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
043702,000084:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER.  NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
043703,000085:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
043704,000086:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
043705,000087: 
043706,000088: 21,3334           30032        ATTHOLD            CA       CDUX                                  
043707,000089: 21,3335           00006                           EXTEND                                         
043708,000090: 21,3336           21572                           MSU      THETADX                               
043709,000091: 21,3337           55567                           TS       ERRORX                                
043710,000092: 21,3340           30033                           CA       CDUY                                  
043711,000093: 21,3341           00006                           EXTEND                                         
043712,000094: 21,3342           21573                           MSU      THETADY                               
043713,000095: 21,3343           55502                           TS       T5TEMP                                
043714,000096: 21,3344           00006                           EXTEND                                         
043715,000097: 21,3345           71640                           MP       AMGB1                                 
043716,000098: 21,3346           27567                           ADS      ERRORX                                
043717,000099: 21,3347           31502                           CA       T5TEMP                                
043718,000100: 21,3350           00006                           EXTEND                                         
043719,000101: 21,3351           71641                           MP       AMGB4                                 
043720,000102: 21,3352           55570                           TS       ERRORY                                
043721,000103: 21,3353           31502                           CA       T5TEMP                                
043722,000104: 21,3354           00006                           EXTEND                                         
043723,000105: 21,3355           71643                           MP       AMGB7                                 
043724,000106: 21,3356           55571                           TS       ERRORZ                                
043725,000107: 21,3357           30034                           CA       CDUZ                                  
043726,000108: 21,3360           00006                           EXTEND                                         
043727,000109: 21,3361           21574                           MSU      THETADZ                               
043728,000110: 21,3362           55502                           TS       T5TEMP                                
043729,000111: 21,3363           00006                           EXTEND                                         
043730,000112: 21,3364           71642                           MP       AMGB5                                 
043731,000113: 21,3365           27570                           ADS      ERRORY                                
043732,000114: 21,3366           31502                           CA       T5TEMP                                
043733,000115: 21,3367           00006                           EXTEND                                         
043734,000116: 21,3370           71644                           MP       AMGB8                                 
043735,000117: 21,3371           27571                           ADS      ERRORZ                                
043736,000118: 21,3372           41332                           CS       HOLDFLAG                              
043737,000119: 21,3373           00006                           EXTEND                                         
043738,000120: 21,3374           63453                           BZMF     JETS                                  
043739,000121: 21,3375           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
043740,000122: 21,3376           27567                           ADS      ERRORX                                
043741,000123: 21,3377           31565                           CA       BIAS1                                 
043742,000124: 21,3400           27570                           ADS      ERRORY                                
043743,000125: 21,3401           31566                           CA       BIAS2                                 
043744,000126: 21,3402           27571                           ADS      ERRORZ                                
043745,000127: 21,3403           13453                           TCF      JETS                                  
043746,000128: 
043747,000129: 21,3404           11332        HOLDFUNC           CCS      HOLDFLAG                              
043748,000130: 21,3405           13410                           TCF      +3                                    
043749,000131: 21,3406           13334                           TCF      ATTHOLD                               
043750,000132: 21,3407           13410                           TCF      +1                                    
043751,000133: 21,3410           35035        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
043752,000134: 21,3411           55525                           TS       WBODY                                 
043753,000135: 21,3412           55526                           TS       WBODY      +1                         
043754,000136: 21,3413           55527                           TS       WBODY1                                
043755,000137: 21,3414           55530                           TS       WBODY1     +1                         
043756,000138: 21,3415           55531                           TS       WBODY2                                
043757,000139: 21,3416           55532                           TS       WBODY2     +1                         
043758,000140: 21,3417           55564                           TS       BIAS                                  
043759,000141: 21,3420           55565                           TS       BIAS1                                 
043760,000142: 21,3421           55566                           TS       BIAS2                                 
043761,000143: 
043762,000144: 21,3422           31501                           CA       RCSFLAGS                              
043763,000145: 21,3423           73051                           MASK     OCT16000                              
043764,000146: 21,3424           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043765,000147: 21,3425           13433                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
043766,000148: 21,3426           35035                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
043767,000149: 21,3427           55567                           TS       ERRORX                                
043768,000150: 21,3430           55570                           TS       ERRORY                                
043769,000151: 21,3431           55571                           TS       ERRORZ                                
043770,000152: 21,3432           13453                           TCF      JETS                                  
043771,000153: 
043772,000154: 21,3433           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
043773,000155: 21,3434           00006                           EXTEND                                         
043774,000156: 21,3435           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
043775,000157: 21,3436           53573                           DXCH     THETADX                               #  REFERENCES
043776,000158: 21,3437           30034                           CA       CDUZ                                  
043777,000159: 21,3440           55574                           TS       THETADZ                               
043778,000160: 21,3441           13334                           TCF      ATTHOLD                               
043779,000161: 
043780,000162:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
043781,000163: 
043782,000164:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
043783,000165:                                                                                                  #  PLANE.
043784,000166: 
043785,000167:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
043786,000168:                                                                                                  #  APPROPRIATE DEADZONE.
043787,000169: 
043788,000170:                                                                                                  #                                      .
043789,000171:                                                                                                  #    R22                          RATE . ERROR
043790,000172:                                                                                                  #         WL+H                         .
043791,000173:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
043792,000174:                                                                                                  #    R23  WL                        *  .
043793,000175:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
043794,000176:                                                                                                  #    R23  WL-H       -                *.
043795,000177:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC REGIONS IN PHASE
043796,000178:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
043797,000179:                                                                                                  #                     *                . *
043798,000180:                                                                                                  #                      *-              .  *
043799,000181:                                                                                                  #    R22             R24*-    R23      .   *
043800,000182:                                                                                                  #                        *-            .    *
043801,000183:                                                                                                  #                         *            .     *
043802,000184:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
043803,000185:                                                                                                  #  .........................+--+---------------+--+........................
043804,000186:                                                                                                  #                            AF *      .     +ADB  +             ERROR
043805,000187:                                                                                                  #                                *     .            *
043806,000188:                                                                                                  #                                 *    .            -*
043807,000189:                                                                                                  #                                  *   .             -*
043808,000190:                                                                                                  #                                   *  .              -*
043809,000191:                                                                                                  #                                    * .                *
043810,000192:                                                                                                  #                                     *.               - *
043811,000193:                                                                                                  #                                      .                - *****************
043812,000194:                                                                                                  #                                      .*                -
043813,000195:                                                                                                  #                                      . * --------------------------------
043814,000196:                                                                                                  #                                      .  *
043815,000197:                                                                                                  #                                      .   ********************************
043816,000198:                                                                                                  #                                      .
043817,000199:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
043818,000200: 
043819,000201:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
043820,000202: 
043821,000203: 21,3442           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
043822,000204: 21,3443           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG         $180
043823,000205: 21,3444           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
043824,000206: 
043825,000207: 21,3446           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
043826,000208: 
043827,000209: 21,3450           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
043828,000210: 
043829,000211: 21,3452           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
043830,000212: 21,3453           31655        JETS               CA       ADB                                   
043831,000213: 21,3454           65031                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
043832,000214: 21,3455           55502                           TS       T5TEMP                                #  ADB+AF
043833,000215: 21,3456           35032                           CAF      TWO                                   
043834,000216: 21,3457           55506        JLOOP              TS       SPNDX                                 
043835,000217: 21,3460           60000                           DOUBLE                                         
043836,000218: 21,3461           55507                           TS       DPNDX                                 
043837,000219: 21,3462           00006                           EXTEND                                         
043838,000220: 21,3463           50000                           INDEX    A                                     
043839,000221: 21,3464           31534                           DCA      ADOT                                  
043840,000222: 21,3465           53516                           DXCH     EDOT                                  
043841,000223: 21,3466           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
043842,000224: 21,3467           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
043843,000225: 21,3470           13475                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
043844,000226:                                                                                                  #  OF WBODY AND GO TO INHOLD
043845,000227: 21,3471           00006                           EXTEND                                         
043846,000228: 21,3472           51507                           INDEX    DPNDX                                 
043847,000229: 21,3473           41526                           DCS      WBODY                                 
043848,000230: 21,3474           21516                           DAS      EDOT                                  #  = ADOT-WBODY
043849,000231: 21,3475           51506        INHOLD             INDEX    SPNDX                                 
043850,000232: 21,3476           31567                           CA       ERRORX                                
043851,000233: 21,3477           55517                           TS       AERR                                  #  AERR = BIAS + AK
043852,000234: 
043853,000235: 21,3500           11515                           CCS      EDOT                                  
043854,000236: 21,3501           13511                           TCF      POSVEL                                
043855,000237: 21,3502           13504                           TCF      SIGNCK1                               
043856,000238: 21,3503           13521                           TCF      NEGVEL                                
043857,000239: 21,3504           11516        SIGNCK1            CCS      EDOT       +1                         
043858,000240: 21,3505           13511                           TCF      POSVEL                                
043859,000241: 21,3506           13511                           TCF      POSVEL                                
043860,000242: 21,3507           13521                           TCF      NEGVEL                                
043861,000243: 21,3510           13521                           TCF      NEGVEL                                
043862,000244: 21,3511           00006        POSVEL             EXTEND                                         
043863,000245: 21,3512           31516                           DCA      EDOT                                  
043864,000246: 21,3513           53521                           DXCH     EDOTVEL                               
043865,000247: 21,3514           31502                           CA       T5TEMP                                
043866,000248: 21,3515           55523                           TS       ADBVEL                                #  +(ADB+AF)
043867,000249: 21,3516           31517                           CA       AERR                                  
043868,000250: 21,3517           55522                           TS       AERRVEL                               
043869,000251: 21,3520           03530                           TC       J6.                                   
043870,000252: 21,3521           00006        NEGVEL             EXTEND                                         
043871,000253: 21,3522           41516                           DCS      EDOT                                  
043872,000254: 21,3523           53521                           DXCH     EDOTVEL                               
043873,000255: 21,3524           41502                           CS       T5TEMP                                
043874,000256: 21,3525           55523                           TS       ADBVEL                                #  -(ADB+AF)
043875,000257: 21,3526           41517                           CS       AERR                                  
043876,000258: 21,3527           55522                           TS       AERRVEL                               
043877,000259: 
043878,000260: 21,3530           00006        J6.                EXTEND                                         
043879,000261: 21,3531           61655                           SU       ADB                                   
043880,000262: 21,3532           63442                           AD       WLH/SLOP                              
043881,000263: 21,3533           00006                           EXTEND                                         
043882,000264: 21,3534           63563                           BZMF     J8                                    
043883,000265: 
043884,000266: 21,3535           41502                           CS       T5TEMP                                #  (ADB+AF)
043885,000267: 21,3536           61522                           AD       AERRVEL                               
043886,000268: 21,3537           00006                           EXTEND                                         
043887,000269: 21,3540           63542                           BZMF     +2                                    
043888,000270: 21,3541           13554                           TCF      J7                                    
043889,000271: 21,3542           00006                           EXTEND                                         
043890,000272: 21,3543           41521                           DCS      EDOTVEL                               
043891,000273: 21,3544           00006                           EXTEND                                         
043892,000274: 21,3545           11654                           DV       SLOPE                                 
043893,000275: 21,3546           00006                           EXTEND                                         
043894,000276: 21,3547           61522                           SU       AERRVEL                               
043895,000277: 21,3550           61655                           AD       ADB                                   
043896,000278: 21,3551           00006                           EXTEND                                         
043897,000279: 21,3552           63642                           BZMF     J18                                   
043898,000280: 21,3553           13716                           TCF      J23                                   
043899,000281: 
043900,000282: 21,3554           43443        J7                 CS       WL-H/SLP                              
043901,000283: 21,3555           00006                           EXTEND                                         
043902,000284: 21,3556           61502                           SU       T5TEMP                                #  (ADB+AF)
043903,000285: 21,3557           61522                           AD       AERRVEL                               
043904,000286: 21,3560           00006                           EXTEND                                         
043905,000287: 21,3561           63646                           BZMF     J20                                   
043906,000288: 21,3562           13657                           TCF      J21                                   
043907,000289: 
043908,000290: 21,3563           00006        J8                 EXTEND                                         
043909,000291: 21,3564           43445                           DCS      WLH                                   
043910,000292: 21,3565           53514                           DXCH     WTEMP                                 
043911,000293: 21,3566           00006                           EXTEND                                         
043912,000294: 21,3567           31521                           DCA      EDOTVEL                               
043913,000295: 21,3570           21514                           DAS      WTEMP                                 
043914,000296: 21,3571           11513                           CCS      WTEMP                                 
043915,000297: 21,3572           13705                           TCF      J22                                   
043916,000298: 21,3573           13575                           TCF      SIGNCK2                               
043917,000299: 21,3574           13601                           TCF      NJ22                                  
043918,000300: 21,3575           11514        SIGNCK2            CCS      WTEMP      +1                         
043919,000301: 21,3576           13705                           TCF      J22                                   
043920,000302: 21,3577           13705                           TCF      J22                                   
043921,000303: 21,3600           13601                           TCF      NJ22                                  
043922,000304: 
043923,000305: 21,3601           00006        NJ22               EXTEND                                         
043924,000306: 21,3602           31521                           DCA      EDOTVEL                               
043925,000307: 21,3603           00006                           EXTEND                                         
043926,000308: 21,3604           11654                           DV       SLOPE                                 
043927,000309: 21,3605           61502                           AD       T5TEMP                                #  (ADB+AF)
043928,000310: 21,3606           61522                           AD       AERRVEL                               
043929,000311: 21,3607           10000                           CCS      A                                     
043930,000312: 21,3610           13716                           TCF      J23                                   
043931,000313: 21,3611           13716                           TCF      J23                                   
043932,000314: 21,3612           13614                           TCF      +2                                    
043933,000315: 21,3613           13716                           TCF      J23                                   
043934,000316: 
043935,000317: 21,3614           00006                           EXTEND                                         
043936,000318: 21,3615           43447                           DCS      WLMH                                  #  WL - H
043937,000319: 21,3616           53514                           DXCH     WTEMP                                 
043938,000320: 21,3617           00006                           EXTEND                                         
043939,000321: 21,3620           31521                           DCA      EDOTVEL                               
043940,000322: 21,3621           21514                           DAS      WTEMP                                 
043941,000323: 21,3622           11513                           CCS      WTEMP                                 
043942,000324: 21,3623           13716                           TCF      J23                                   
043943,000325: 21,3624           13626                           TCF      SIGNCK3                               
043944,000326: 21,3625           13632                           TCF      NJ23                                  
043945,000327: 21,3626           11514        SIGNCK3            CCS      WTEMP      +1                         
043946,000328: 21,3627           13716                           TCF      J23                                   
043947,000329: 21,3630           13716                           TCF      J23                                   
043948,000330: 21,3631           13632                           TCF      NJ23                                  
043949,000331: 
043950,000332: 21,3632           31522        NJ23               CA       AERRVEL                               
043951,000333: 21,3633           61502                           AD       T5TEMP                                #  (ADB+AF)
043952,000334: 21,3634           63443                           AD       WL-H/SLP                              
043953,000335: 21,3635           10000                           CCS      A                                     
043954,000336: 21,3636           13730                           TCF      J24                                   
043955,000337: 21,3637           13730                           TCF      J24                                   
043956,000338: 21,3640           13705                           TCF      J22                                   
043957,000339: 21,3641           13705                           TCF      J22                                   
043958,000340: 
043959,000341: 21,3642           00006        J18                EXTEND                                         
043960,000342: 21,3643           41516                           DCS      EDOT                                  
043961,000343: 21,3644           53511                           DXCH     KMPAC                                 
043962,000344: 21,3645           13741                           TCF      JTIME                                 
043963,000345: 
043964,000346: 21,3646           41517        J20                CS       AERR                                  
043965,000347: 21,3647           61523                           AD       ADBVEL                                
043966,000348: 21,3650           00006                           EXTEND                                         
043967,000349: 21,3651           73452                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
043968,000350: 21,3652           53511                           DXCH     KMPAC                                 
043969,000351: 21,3653           00006                           EXTEND                                         
043970,000352: 21,3654           41516                           DCS      EDOT                                  
043971,000353: 21,3655           21511                           DAS      KMPAC                                 
043972,000354: 21,3656           13741                           TCF      JTIME                                 
043973,000355: 
043974,000356: 21,3657           11515        J21                CCS      EDOT                                  
043975,000357: 21,3660           13676                           TCF      JP                                    
043976,000358: 21,3661           13663                           TCF      SIGNCK4                               
043977,000359: 21,3662           13667                           TCF      JN                                    
043978,000360: 21,3663           11516        SIGNCK4            CCS      EDOT       +1                         
043979,000361: 21,3664           13676                           TCF      JP                                    
043980,000362: 21,3665           13676                           TCF      JP                                    
043981,000363: 21,3666           13667                           TCF      JN                                    
043982,000364: 21,3667           00006        JN                 EXTEND                                         
043983,000365: 21,3670           41516                           DCS      EDOT                                  
043984,000366: 21,3671           53511                           DXCH     KMPAC                                 
043985,000367: 21,3672           00006                           EXTEND                                         
043986,000368: 21,3673           33451                           DCA      WL                                    
043987,000369: 21,3674           21511                           DAS      KMPAC                                 
043988,000370: 21,3675           13741                           TCF      JTIME                                 
043989,000371: 
043990,000372: 21,3676           00006        JP                 EXTEND                                         
043991,000373: 21,3677           41516                           DCS      EDOT                                  
043992,000374: 21,3700           53511                           DXCH     KMPAC                                 
043993,000375: 21,3701           00006                           EXTEND                                         
043994,000376: 21,3702           43451                           DCS      WL                                    
043995,000377: 21,3703           21511                           DAS      KMPAC                                 
043996,000378: 21,3704           13741                           TCF      JTIME                                 
043997,000379: 
043998,000380: 21,3705           11515        J22                CCS      EDOT                                  
043999,000381: 21,3706           13667                           TCF      JN                                    
044000,000382: 21,3707           13711                           TCF      SIGNCK5                               
044001,000383: 21,3710           13676                           TCF      JP                                    
044002,000384: 21,3711           11516        SIGNCK5            CCS      EDOT       +1                         
044003,000385: 21,3712           13667                           TCF      JN                                    
044004,000386: 21,3713           13667                           TCF      JN                                    
044005,000387: 21,3714           13676                           TCF      JP                                    
044006,000388: 21,3715           13676                           TCF      JP                                    
044007,000389: 
044008,000390: 21,3716           51506        J23                INDEX    SPNDX                                 
044009,000391: 21,3717           45017                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
044010,000392: 21,3720           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
044011,000393: 21,3721           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
044012,000394:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
044013,000395: 
044014,000396: 21,3722           51506                           INDEX    SPNDX                                 
044015,000397: 21,3723           33045                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
044016,000398: 21,3724           71501                           MASK     RCSFLAGS                              #  AXIS
044017,000399: 21,3725           00006                           EXTEND                                         
044018,000400: 21,3726           13762                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
044019,000401: 
044020,000402: 21,3727           13642                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
044021,000403: 
044022,000404: 21,3730           41517        J24                CS       AERR                                  
044023,000405: 21,3731           00006                           EXTEND                                         
044024,000406: 21,3732           61523                           SU       ADBVEL                                
044025,000407: 21,3733           00006                           EXTEND                                         
044026,000408: 21,3734           73452                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
044027,000409: 21,3735           53511                           DXCH     KMPAC                                 
044028,000410: 21,3736           00006                           EXTEND                                         
044029,000411: 21,3737           41516                           DCS      EDOT                                  
044030,000412: 21,3740           21511                           DAS      KMPAC                                 
044031,000413: 
044032,000414:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
044033,000415: 
044034,000416:                                                                                                  #             T  = J/M(DELTA W)
044035,000417:                                                                                                  #              J
044036,000418: 
044037,000419:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
044038,000420:                                                                                                  #                  SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
044039,000421: 
044040,000422:                                                                                                  #            J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
044041,000423:                                                                                                  #                        (57.3/450)(B24/1600)(1/.8)
044042,000424:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
044043,000425:                                                                                                  #                  IE J/M = J(SLUG-FTFT) X 0.00000085601606
044044,000426: 
044045,000427:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
044046,000428:                                                                                                  #                  KEYBOARD ENTRY ARE
044047,000429:                                                                                                  #                        J/M  (ROLL)
044048,000430:                                                                                                  #                        J/M1 (PITCH)
044049,000431:                                                                                                  #                        J/M2 (YAW)
044050,000432: 
044051,000433:                                                                                                  #             T  = JET ON-TIME    SCALED 16384/1600 SEC
044052,000434:                                                                                                  #              J
044053,000435: 
044054,000436:                                                                                                  #                  THE COMPUTER VARIABLES ARE
044055,000437:                                                                                                  #                        TAU  (ROLL)
044056,000438:                                                                                                  #                        TAU1 (PITCH)
044057,000439:                                                                                                  #                        TAU2 (YAW)
044058,000440: 
044059,000441: 21,3741           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
044060,000442: 21,3742           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
044061,000443: 21,3743           02054                           TC       SMALLMP                               #  FOR 1-JET OPERATION
044062,000444: 21,3744           35021                           CA       BIT11                                 
044063,000445: 21,3745           02054                           TC       SMALLMP                               
044064,000446: 21,3746           11510                           CCS      KMPAC                                 
044065,000447: 21,3747           13753                           TCF      +4                                    
044066,000448: 21,3750           13757                           TCF      TAUNORM                               
044067,000449: 21,3751           13755                           TCF      +4                                    
044068,000450: 21,3752           13757                           TCF      TAUNORM                               
044069,000451: 21,3753           35013                           CA       POSMAX                                
044070,000452: 21,3754           13760                           TCF      DOJET                                 
044071,000453: 21,3755           35015                           CA       NEGMAX                                
044072,000454: 21,3756           13760                           TCF      DOJET                                 
044073,000455: 
044074,000456: 21,3757           31511        TAUNORM            CA       KMPAC      +1                         
044075,000457: 21,3760           51506        DOJET              INDEX    SPNDX                                 
044076,000458: 21,3761           55561                           TS       TAU                                   
044077,000459: 21,3762           11506                           CCS      SPNDX                                 
044078,000460: 21,3763           13457                           TCF      JLOOP                                 
044079,000461: 21,3764           13771                           TCF      T6PROG                                
044080,000462: 
044081,000463: 21,3765           35035        ZEROCMDS           CAF      ZERO                                  
044082,000464: 21,3766           55561                           TS       TAU                                   
044083,000465: 21,3767           55562                           TS       TAU1                                  
044084,000466: 21,3770           55563                           TS       TAU2                                  
044085,000467: 21,3771           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
044086,000468: 21,3772           33776                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
044087,000469: 21,3773           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
044088,000470: 21,3774           15347                           TCF      RESUME                                
044089,000471: 
044090,000472: 21,3775  E6,1510                                  EBANK=   KMPAC                                 
044091,000473: 21,3775           02610 36066  JETADDR            2CADR    JETSLECT                              
044092,000474: 

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