Source Code

These source-code files are part of a reconstructed copy of Comanche 72, the first release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

They have been adapted from sources files created from a listing of Comanche 55. These source files were updated to match binary dumps of a set of Comanche 67 rope modules. They were then further modified by applying known changes between Comanche 67 and Comanche 72. A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used to validate changes made to banks 05-13. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

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

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