Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72/3 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

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

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