Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

043021,000002:                                                                                                 #  Copyright:     Public domain.
043022,000003:                                                                                                 #  Filename:      AUTOMATIC_MANEUVERS.agc
043023,000004:                                                                                                 #  Purpose:       Part of the source code for Colossus build 237.  
043024,000005:                                                                                                 #                 This is for the Command Module's (CM) Apollo Guidance
043025,000006:                                                                                                 #                 Computer (AGC), we believe for Apollo 8.
043026,000007:                                                                                                 #  Assembler:     yaYUL
043027,000008:                                                                                                 #  Contact:       Onno Hommes <ohommes@alumni.cmu.edu>
043028,000009:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
043029,000010:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Colossus237/
043030,000011:                                                                                                 #  Mod history:   2010-06-01 OH   Adapted from corresponding Colossus 249 file.
043031,000012:                                                                                                 #                 2010-12-04 JL   Remove Colossus 249 header comments. Change to double-has page numbers.
043032,000013:                                                                                                 #                 2011-02-11 JL   Minor fixes.
043033,000014: 
043034,000015:                                                                                                 # # Page 993
043035,000016: 21,3234                                          BANK     21                                    
043036,000017: 21,2000                                          SETLOC   DAPS3                                 
043037,000018: 21,2000                                          BANK                                           
043038,000019: 
043039,000020: 21,3234                                          COUNT    21/DAPAM                              
043040,000021: 
043041,000022: 21,3234  E6,1510                                 EBANK=   KMPAC                                 
043042,000023: 21,3234           00006        AHFNOROT          EXTEND                                         
043043,000024: 21,3235           00031                          READ     CHAN31                                
043044,000025: 21,3236           74675                          MASK     BIT14                                 
043045,000026: 21,3237           00006                          EXTEND                                         
043046,000027: 21,3240           63256                          BZMF     FREECONT                              
043047,000028: 21,3241           31501                          CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
043048,000029: 21,3242           74675                          MASK     BIT14                                 
043049,000030: 21,3243           10000                          CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
043050,000031: 21,3244           12520                          TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
043051,000032:                                                                                                 #                                           AUTOMATIC CONTROL YET
043052,000033: 21,3245           00006                          EXTEND                                         
043053,000034: 21,3246           00031                          READ     CHAN31                                
043054,000035: 21,3247           74676                          MASK     BIT13                                 
043055,000036: 21,3250           00006                          EXTEND                                         
043056,000037: 21,3251           63356                          BZMF     HOLDFUNC                              
043057,000038: 
043058,000039: 
043059,000040: 21,3252           31332        AUTOCONT          CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
043060,000041: 21,3253           00006                          EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
043061,000042: 21,3254           63306                          BZMF     ATTHOLD                               
043062,000043: 21,3255           13362                          TCF      GRABANG                               
043063,000044: 
043064,000045:                                                                                                 #          MINIMUM IMPULSE CONTROL
043065,000046: 
043066,000047: 21,3256           34712        FREECONT          CAF      ONE                                   
043067,000048: 21,3257           55332                          TS       HOLDFLAG                              #  RESET HOLDFLAG
043068,000049:                                                                                                 #                                           INHIBIT AUTOMATIC STEERING
043069,000050: 21,3260           00006                          EXTEND                                         
043070,000051: 21,3261           00032                          READ     CHAN32                                
043071,000052: 21,3262           54001                          TS       L                                     
043072,000053: 21,3263           40000                          COM                                            
043073,000054: 21,3264           73022                          MASK     MANROT                                
043074,000055: 21,3265           71633                          MASK     CHANTEMP                              
043075,000056: 21,3266           23633                          LXCH     CHANTEMP                              
043076,000057: 21,3267           03114                          TC       STICKCHK                              
043077,000058: 21,3270           51656                          INDEX    RMANNDX                               
043078,000059: 21,3271           33302                          CA       MINTAU                                #  MINTAU  +0
043079,000060: 21,3272           55561                          TS       TAU                                   #             +1   +14MS MINIMUM IMPULSE
043080,000061: 21,3273           51657                          INDEX    PMANNDX                               #             +2   -14MS TIME
043081,000062: 21,3274           33302                          CA       MINTAU                                #             +3   +0
043082,000063: 21,3275           55562                          TS       TAU1                                  
043083,000064: 21,3276           51660                          INDEX    YMANNDX                               
043084,000065: 21,3277           33302                          CA       MINTAU                                
043085,000066:                                                                                                 # # Page 994
043086,000067: 21,3300           55563                          TS       TAU2                                  
043087,000068: 21,3301           13053                          TCF      T6PROGM                               
043088,000069: 
043089,000070: 
043090,000071: 21,3302           00000        MINTAU            DEC      0          B-14                       
043091,000072: 21,3303           00027                          DEC      23         B-14                       #  = 14MS
043092,000073: 21,3304           77750                          DEC      -23        B-14                       #  = -14MS
043093,000074: 21,3305           00000                          DEC      0          B-14                       
043094,000075: 
043095,000076:                                                                                                 # # Page 995
043096,000077:                                                                                                 #        CALCULATION OF ATTITUDE ERRORS-
043097,000078: 
043098,000079:                                                                                                 #           -    *     -      -          -
043099,000080:                                                                                                 #           AK = AMGB (CDUX - THETADX) + BIAS
043100,000081: 
043101,000082:                                                                                                 #  IE       *AK *   * 1   SIN(PSI)            0     ** CDUX - THETADX *    *BIAS *
043102,000083:                                                                                                 #           *   *   *                               **                *    *     *
043103,000084:                                                                                                 #           *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
043104,000085:                                                                                                 #           *   *   *                               **                *    *     *
043105,000086:                                                                                                 #           *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
043106,000087: 
043107,000088: 
043108,000089:                                                                                                 #        THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
043109,000090:                                                                                                 #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
043110,000091:                                                                                                 #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
043111,000092:                                                                                                 #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
043112,000093: 
043113,000094: 21,3306           30032        ATTHOLD           CA       CDUX                                  
043114,000095: 21,3307           00006                          EXTEND                                         
043115,000096: 21,3310           21572                          MSU      THETADX                               
043116,000097: 21,3311           55567                          TS       ERRORX                                
043117,000098: 21,3312           30033                          CA       CDUY                                  
043118,000099: 21,3313           00006                          EXTEND                                         
043119,000100: 21,3314           21573                          MSU      THETADY                               
043120,000101: 21,3315           55502                          TS       T5TEMP                                
043121,000102: 21,3316           00006                          EXTEND                                         
043122,000103: 21,3317           71640                          MP       AMGB1                                 
043123,000104: 21,3320           27567                          ADS      ERRORX                                
043124,000105: 21,3321           31502                          CA       T5TEMP                                
043125,000106: 21,3322           00006                          EXTEND                                         
043126,000107: 21,3323           71641                          MP       AMGB4                                 
043127,000108: 21,3324           55570                          TS       ERRORY                                
043128,000109: 21,3325           31502                          CA       T5TEMP                                
043129,000110: 21,3326           00006                          EXTEND                                         
043130,000111: 21,3327           71643                          MP       AMGB7                                 
043131,000112: 21,3330           55571                          TS       ERRORZ                                
043132,000113: 21,3331           30034                          CA       CDUZ                                  
043133,000114: 21,3332           00006                          EXTEND                                         
043134,000115: 21,3333           21574                          MSU      THETADZ                               
043135,000116: 21,3334           55502                          TS       T5TEMP                                
043136,000117: 21,3335           00006                          EXTEND                                         
043137,000118: 21,3336           71642                          MP       AMGB5                                 
043138,000119: 21,3337           27570                          ADS      ERRORY                                
043139,000120: 21,3340           31502                          CA       T5TEMP                                
043140,000121: 21,3341           00006                          EXTEND                                         
043141,000122: 21,3342           71644                          MP       AMGB8                                 
043142,000123: 21,3343           27571                          ADS      ERRORZ                                
043143,000124: 21,3344           41332                          CS       HOLDFLAG                              
043144,000125: 21,3345           00006                          EXTEND                                         
043145,000126:                                                                                                 # # Page 996
043146,000127: 21,3346           63425                          BZMF     JETS                                  
043147,000128: 21,3347           31564                          CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
043148,000129: 21,3350           27567                          ADS      ERRORX                                
043149,000130: 21,3351           31565                          CA       BIAS1                                 
043150,000131: 21,3352           27570                          ADS      ERRORY                                
043151,000132: 21,3353           31566                          CA       BIAS2                                 
043152,000133: 21,3354           27571                          ADS      ERRORZ                                
043153,000134: 21,3355           13425                          TCF      JETS                                  
043154,000135: 
043155,000136: 
043156,000137: 21,3356           11332        HOLDFUNC          CCS      HOLDFLAG                              
043157,000138: 21,3357           13362                          TCF      +3                                    
043158,000139: 21,3360           13306                          TCF      ATTHOLD                               
043159,000140: 21,3361           13362                          TCF      +1                                    
043160,000141: 21,3362           34714        GRABANG           CAF      ZERO                                  #  ZERO WBODYS AND BIASES
043161,000142: 21,3363           55525                          TS       WBODY                                 
043162,000143: 21,3364           55526                          TS       WBODY      +1                         
043163,000144: 21,3365           55527                          TS       WBODY1                                
043164,000145: 21,3366           55530                          TS       WBODY1     +1                         
043165,000146: 21,3367           55531                          TS       WBODY2                                
043166,000147: 21,3370           55532                          TS       WBODY2     +1                         
043167,000148: 21,3371           55564                          TS       BIAS                                  
043168,000149: 21,3372           55565                          TS       BIAS1                                 
043169,000150: 21,3373           55566                          TS       BIAS2                                 
043170,000151: 
043171,000152: 21,3374           31501                          CA       RCSFLAGS                              
043172,000153: 21,3375           73023                          MASK     OCT16000                              
043173,000154: 21,3376           00006                          EXTEND                                         #  IS RATE DAMPING COMPLETED
043174,000155: 21,3377           13405                          BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
043175,000156: 21,3400           34714                          CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
043176,000157: 21,3401           55567                          TS       ERRORX                                
043177,000158: 21,3402           55570                          TS       ERRORY                                
043178,000159: 21,3403           55571                          TS       ERRORZ                                
043179,000160: 21,3404           13425                          TCF      JETS                                  
043180,000161: 
043181,000162: 21,3405           55332        ENDDAMP           TS       HOLDFLAG                              #  SET HOLDFLAG +0
043182,000163: 21,3406           00006                          EXTEND                                         
043183,000164: 21,3407           30033                          DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
043184,000165: 21,3410           53573                          DXCH     THETADX                               #  REFERENCES
043185,000166: 21,3411           30034                          CA       CDUZ                                  
043186,000167: 21,3412           55574                          TS       THETADZ                               
043187,000168: 21,3413           13306                          TCF      ATTHOLD                               
043188,000169: 
043189,000170:                                                                                                 # # Page 997
043190,000171:                                                                                                 #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
043191,000172: 
043192,000173:                                                                                                 #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
043193,000174:                                                                                                 #  PLANE.
043194,000175:                                                                                                 #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE
043195,000176:                                                                                                 #  APPROPRIATE DEADZONE.
043196,000177: 
043197,000178: 
043198,000179:                                                                                                 #                                      .
043199,000180:                                                                                                 #    R22                          RATE . ERROR
043200,000181:                                                                                                 #         WL+H                         .
043201,000182:                                                                                                 #  *********************************   .                                   ***** SWITCH LINES ENCLOSING DEADZONES
043202,000183:                                                                                                 #    R23  WL                        *  .
043203,000184:                                                                                                 #  --------------------------------- * .                                   ----- DESIRED RATE LINES
043204,000185:                                                                                                 #    R23  WL-H       -                *.
043205,000186:                                                                                                 #  ****************** -                .                                   R20, R21, R22, ETC  REGIONS IN PHASE
043206,000187:                                                                                                 #                    * -               .* R18      R20       R21           PLANE FOF COMPUTING DESIRED RESPONSE
043207,000188:                                                                                                 #                     *                . *
043208,000189:                                                                                                 #                      *-              .  *
043209,000190:                                                                                                 #    R22             R24*-             .   *
043210,000191:                                                                                                 #                        *             .    *
043211,000192:                                                                                                 #                         *            .     *
043212,000193:                                                                                                 #                          + -ADB      .      * AF              ATTITUDE
043213,000194:                                                                                                 #   ........................+--+---------------+--+........................
043214,000195:                                                                                                 #                            AF *      .     +ADB  +             ERROR
043215,000196:                                                                                                 #                                *     .            *
043216,000197:                                                                                                 #                                 *    .            -*
043217,000198:                                                                                                 #                                  *   .             -*
043218,000199:                                                                                                 #                                   *  .              -*
043219,000200:                                                                                                 #                                    * .                *
043220,000201:                                                                                                 #                                     *.               - *
043221,000202:                                                                                                 #                                      .                - *****************
043222,000203:                                                                                                 #                                      .*                -
043223,000204:                                                                                                 #                                      . * --------------------------------
043224,000205:                                                                                                 #                                      .  *
043225,000206:                                                                                                 #                                      .   ********************************
043226,000207:                                                                                                 #                                      .
043227,000208: 
043228,000209:                                                                                                 #                      FIG. 1   PHASE PLANE SWITCHING LOGIC
043229,000210: 
043230,000211: 
043231,000212:                                                                                                 #          CONSTANTS FOR JET SWITCHING LOGIC
043232,000213: 
043233,000214: 21,3414           00114        WLH/SLOP          DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG       $180
043234,000215: 21,3415           00055        WL-H/SLP          DEC      .00277                                #  = WL-H/SLOPE = .5 DEG           $180
043235,000216: 21,3416           00022 06426  WLH               2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC            $450
043236,000217: 21,3420           00012 35415  WLMH              2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC            $450
043237,000218: 21,3422           00016 22021  WL                2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC            $450
043238,000219: 
043239,000220:                                                                                                 # # Page 998
043240,000221: 21,3424           12173        SLOPE2            DEC      .32                                   #  = 0.8 DEG/SEC/DEG               $450/180
043241,000222: 21,3425           31655        JETS              CA       ADB                                   
043242,000223: 21,3426           64710                          AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
043243,000224: 21,3427           55502                          TS       T5TEMP                                #  ADB+AF
043244,000225: 21,3430           34711                          CAF      TWO                                   
043245,000226: 21,3431           55506        JLOOP             TS       SPNDX                                 
043246,000227: 21,3432           60000                          DOUBLE                                         
043247,000228: 21,3433           55507                          TS       DPNDX                                 
043248,000229: 21,3434           00006                          EXTEND                                         
043249,000230: 21,3435           50000                          INDEX    A                                     
043250,000231: 21,3436           31534                          DCA      ADOT                                  
043251,000232: 21,3437           53516                          DXCH     EDOT                                  
043252,000233: 21,3440           31332                          CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
043253,000234: 21,3441           00006                          EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
043254,000235: 21,3442           13447                          BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
043255,000236:                                                                                                 #                                           OF WBODY AND GO TO INHOLD
043256,000237: 21,3443           00006                          EXTEND                                         
043257,000238: 21,3444           51507                          INDEX    DPNDX                                 
043258,000239: 21,3445           41526                          DCS      WBODY                                 
043259,000240: 21,3446           21516                          DAS      EDOT                                  #  = ADOT-WBODY
043260,000241: 21,3447           51506        INHOLD            INDEX    SPNDX                                 
043261,000242: 21,3450           31567                          CA       ERRORX                                
043262,000243: 21,3451           55517                          TS       AERR                                  #  AERR = BIAS + AK
043263,000244: 
043264,000245: 21,3452           11515                          CCS      EDOT                                  
043265,000246: 21,3453           13463                          TCF      POSVEL                                
043266,000247: 21,3454           13456                          TCF      SIGNCK1                               
043267,000248: 21,3455           13473                          TCF      NEGVEL                                
043268,000249: 21,3456           11516        SIGNCK1           CCS      EDOT       +1                         
043269,000250: 21,3457           13463                          TCF      POSVEL                                
043270,000251: 21,3460           13463                          TCF      POSVEL                                
043271,000252: 21,3461           13473                          TCF      NEGVEL                                
043272,000253: 21,3462           13473                          TCF      NEGVEL                                
043273,000254: 21,3463           00006        POSVEL            EXTEND                                         
043274,000255: 21,3464           31516                          DCA      EDOT                                  
043275,000256: 21,3465           53521                          DXCH     EDOTVEL                               
043276,000257: 21,3466           31502                          CA       T5TEMP                                
043277,000258: 21,3467           55523                          TS       ADBVEL                                #  +(ADB+AF)
043278,000259: 21,3470           31517                          CA       AERR                                  
043279,000260: 21,3471           55522                          TS       AERRVEL                               
043280,000261: 21,3472           03502                          TC       J6.                                   
043281,000262: 21,3473           00006        NEGVEL            EXTEND                                         
043282,000263: 21,3474           41516                          DCS      EDOT                                  
043283,000264: 21,3475           53521                          DXCH     EDOTVEL                               
043284,000265: 21,3476           41502                          CS       T5TEMP                                
043285,000266: 21,3477           55523                          TS       ADBVEL                                #  -(ADB+AF)
043286,000267: 21,3500           41517                          CS       AERR                                  
043287,000268: 21,3501           55522                          TS       AERRVEL                               
043288,000269: 
043289,000270: 21,3502           00006        J6.               EXTEND                                         
043290,000271:                                                                                                 # # Page 999
043291,000272: 21,3503           61655                          SU       ADB                                   
043292,000273: 21,3504           63414                          AD       WLH/SLOP                              
043293,000274: 21,3505           00006                          EXTEND                                         
043294,000275: 21,3506           63535                          BZMF     J8                                    
043295,000276: 
043296,000277: 21,3507           41502                          CS       T5TEMP                                #  (ADB+AF)
043297,000278: 21,3510           61522                          AD       AERRVEL                               
043298,000279: 21,3511           00006                          EXTEND                                         
043299,000280: 21,3512           63514                          BZMF     +2                                    
043300,000281: 21,3513           13526                          TCF      J7                                    
043301,000282: 21,3514           00006                          EXTEND                                         
043302,000283: 21,3515           41521                          DCS      EDOTVEL                               
043303,000284: 21,3516           00006                          EXTEND                                         
043304,000285: 21,3517           11654                          DV       SLOPE                                 
043305,000286: 21,3520           00006                          EXTEND                                         
043306,000287: 21,3521           61522                          SU       AERRVEL                               
043307,000288: 21,3522           61655                          AD       ADB                                   
043308,000289: 21,3523           00006                          EXTEND                                         
043309,000290: 21,3524           63614                          BZMF     J18                                   
043310,000291: 21,3525           13670                          TCF      J23                                   
043311,000292: 
043312,000293: 21,3526           43415        J7                CS       WL-H/SLP                              
043313,000294: 21,3527           00006                          EXTEND                                         
043314,000295: 21,3530           61502                          SU       T5TEMP                                #  (ADB+AF)
043315,000296: 21,3531           61522                          AD       AERRVEL                               
043316,000297: 21,3532           00006                          EXTEND                                         
043317,000298: 21,3533           63620                          BZMF     J20                                   
043318,000299: 21,3534           13631                          TCF      J21                                   
043319,000300: 
043320,000301: 21,3535           00006        J8                EXTEND                                         
043321,000302: 21,3536           43417                          DCS      WLH                                   
043322,000303: 21,3537           53514                          DXCH     WTEMP                                 
043323,000304: 21,3540           00006                          EXTEND                                         
043324,000305: 21,3541           31521                          DCA      EDOTVEL                               
043325,000306: 21,3542           21514                          DAS      WTEMP                                 
043326,000307: 21,3543           11513                          CCS      WTEMP                                 
043327,000308: 21,3544           13657                          TCF      J22                                   
043328,000309: 21,3545           13547                          TCF      SIGNCK2                               
043329,000310: 21,3546           13553                          TCF      NJ22                                  
043330,000311: 21,3547           11514        SIGNCK2           CCS      WTEMP      +1                         
043331,000312: 21,3550           13657                          TCF      J22                                   
043332,000313: 21,3551           13657                          TCF      J22                                   
043333,000314: 21,3552           13553                          TCF      NJ22                                  
043334,000315: 
043335,000316: 21,3553           00006        NJ22              EXTEND                                         
043336,000317: 21,3554           31521                          DCA      EDOTVEL                               
043337,000318: 21,3555           00006                          EXTEND                                         
043338,000319: 21,3556           11654                          DV       SLOPE                                 
043339,000320: 21,3557           61502                          AD       T5TEMP                                #  (ADB+AF)
043340,000321: 21,3560           61522                          AD       AERRVEL                               
043341,000322:                                                                                                 # # Page 1000
043342,000323: 21,3561           10000                          CCS      A                                     
043343,000324: 21,3562           13670                          TCF      J23                                   
043344,000325: 21,3563           13670                          TCF      J23                                   
043345,000326: 21,3564           13566                          TCF      +2                                    
043346,000327: 21,3565           13670                          TCF      J23                                   
043347,000328: 
043348,000329: 21,3566           00006                          EXTEND                                         
043349,000330: 21,3567           43421                          DCS      WLMH                                  #  WL - H
043350,000331: 21,3570           53514                          DXCH     WTEMP                                 
043351,000332: 21,3571           00006                          EXTEND                                         
043352,000333: 21,3572           31521                          DCA      EDOTVEL                               
043353,000334: 21,3573           21514                          DAS      WTEMP                                 
043354,000335: 21,3574           11513                          CCS      WTEMP                                 
043355,000336: 21,3575           13670                          TCF      J23                                   
043356,000337: 21,3576           13600                          TCF      SIGNCK3                               
043357,000338: 21,3577           13604                          TCF      NJ23                                  
043358,000339: 21,3600           11514        SIGNCK3           CCS      WTEMP      +1                         
043359,000340: 21,3601           13670                          TCF      J23                                   
043360,000341: 21,3602           13670                          TCF      J23                                   
043361,000342: 21,3603           13604                          TCF      NJ23                                  
043362,000343: 
043363,000344: 21,3604           31522        NJ23              CA       AERRVEL                               
043364,000345: 21,3605           61502                          AD       T5TEMP                                #  (ADB+AF)
043365,000346: 21,3606           63415                          AD       WL-H/SLP                              
043366,000347: 21,3607           10000                          CCS      A                                     
043367,000348: 21,3610           13702                          TCF      J24                                   
043368,000349: 21,3611           13702                          TCF      J24                                   
043369,000350: 21,3612           13657                          TCF      J22                                   
043370,000351: 21,3613           13657                          TCF      J22                                   
043371,000352: 
043372,000353: 21,3614           00006        J18               EXTEND                                         
043373,000354: 21,3615           41516                          DCS      EDOT                                  
043374,000355: 21,3616           53511                          DXCH     KMPAC                                 
043375,000356: 21,3617           13713                          TCF      JTIME                                 
043376,000357: 
043377,000358: 21,3620           41517        J20               CS       AERR                                  
043378,000359: 21,3621           61523                          AD       ADBVEL                                
043379,000360: 21,3622           00006                          EXTEND                                         
043380,000361: 21,3623           73424                          MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043381,000362: 21,3624           53511                          DXCH     KMPAC                                 
043382,000363: 21,3625           00006                          EXTEND                                         
043383,000364: 21,3626           41516                          DCS      EDOT                                  
043384,000365: 21,3627           21511                          DAS      KMPAC                                 
043385,000366: 21,3630           13713                          TCF      JTIME                                 
043386,000367: 
043387,000368: 21,3631           11515        J21               CCS      EDOT                                  
043388,000369: 21,3632           13650                          TCF      JP                                    
043389,000370: 21,3633           13635                          TCF      SIGNCK4                               
043390,000371: 21,3634           13641                          TCF      JN                                    
043391,000372: 21,3635           11516        SIGNCK4           CCS      EDOT       +1                         
043392,000373:                                                                                                 # # Page 1001
043393,000374: 21,3636           13650                          TCF      JP                                    
043394,000375: 21,3637           13650                          TCF      JP                                    
043395,000376: 21,3640           13641                          TCF      JN                                    
043396,000377: 21,3641           00006        JN                EXTEND                                         
043397,000378: 21,3642           41516                          DCS      EDOT                                  
043398,000379: 21,3643           53511                          DXCH     KMPAC                                 
043399,000380: 21,3644           00006                          EXTEND                                         
043400,000381: 21,3645           33423                          DCA      WL                                    
043401,000382: 21,3646           21511                          DAS      KMPAC                                 
043402,000383: 21,3647           13713                          TCF      JTIME                                 
043403,000384: 
043404,000385: 21,3650           00006        JP                EXTEND                                         
043405,000386: 21,3651           41516                          DCS      EDOT                                  
043406,000387: 21,3652           53511                          DXCH     KMPAC                                 
043407,000388: 21,3653           00006                          EXTEND                                         
043408,000389: 21,3654           43423                          DCS      WL                                    
043409,000390: 21,3655           21511                          DAS      KMPAC                                 
043410,000391: 21,3656           13713                          TCF      JTIME                                 
043411,000392: 
043412,000393: 21,3657           11515        J22               CCS      EDOT                                  
043413,000394: 21,3660           13641                          TCF      JN                                    
043414,000395: 21,3661           13663                          TCF      SIGNCK5                               
043415,000396: 21,3662           13650                          TCF      JP                                    
043416,000397: 21,3663           11516        SIGNCK5           CCS      EDOT       +1                         
043417,000398: 21,3664           13641                          TCF      JN                                    
043418,000399: 21,3665           13641                          TCF      JN                                    
043419,000400: 21,3666           13650                          TCF      JP                                    
043420,000401: 21,3667           13650                          TCF      JP                                    
043421,000402: 
043422,000403: 21,3670           51506        J23               INDEX    SPNDX                                 
043423,000404: 21,3671           44676                          CS       BIT13                                 #  RESET RATE DAMPING FLAG
043424,000405: 21,3672           71501                          MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
043425,000406: 21,3673           55501                          TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
043426,000407:                                                                                                 #                                           BIT11 FOR YAW   (SPNDX = 2)
043427,000408: 
043428,000409: 21,3674           51506                          INDEX    SPNDX                                 
043429,000410: 21,3675           33017                          CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
043430,000411: 21,3676           71501                          MASK     RCSFLAGS                              #  AXIS
043431,000412: 21,3677           00006                          EXTEND                                         
043432,000413: 21,3700           13734                          BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
043433,000414: 
043434,000415: 21,3701           13614                          TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
043435,000416: 
043436,000417: 21,3702           41517        J24               CS       AERR                                  
043437,000418: 21,3703           00006                          EXTEND                                         
043438,000419: 21,3704           61523                          SU       ADBVEL                                
043439,000420: 21,3705           00006                          EXTEND                                         
043440,000421: 21,3706           73424                          MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043441,000422: 21,3707           53511                          DXCH     KMPAC                                 
043442,000423: 21,3710           00006                          EXTEND                                         
043443,000424:                                                                                                 # # Page 1002
043444,000425: 21,3711           41516                          DCS      EDOT                                  
043445,000426: 21,3712           21511                          DAS      KMPAC                                 
043446,000427: 
043447,000428:                                                                                                 # # Page 1003
043448,000429:                                                                                                 #       COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
043449,000430: 
043450,000431:                                                                                                 #           T  = J/M(DELTA W)
043451,000432:                                                                                                 #            J
043452,000433: 
043453,000434:                                                                                                 #     DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
043454,000435:                                                                                                 #               SWITCHING LOGIC,  AT THIS PINT STORED IN KMPAC.
043455,000436: 
043456,000437:                                                                                                 #         J/M = S/C INERTIA TO TORQUE 9ATIO  SCALED BY
043457,000438:                                                                                                 #                 (57.3/450)(B24/1600)(1/.8)
043458,000439:                                                                                                 #               FOR 1 JET OPERATION  (M = 700 FT-LB).
043459,000440:                                                                                                 #               IE  J/M = J(SLUG-FTFT) x 0.00000085601606
043460,000441: 
043461,000442:                                                                                                 #               THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
043462,000443:                                                                                                 #               KEYBOARD ENTRY ARE
043463,000444:                                                                                                 #                  J/M (ROLL)
043464,000445:                                                                                                 #                  J/M1 (PITCH)
043465,000446:                                                                                                 #                  J/M2 (YAW)
043466,000447: 
043467,000448:                                                                                                 #          T  = JET-ON TIME     SCALED 16384/1600 SEC
043468,000449:                                                                                                 #           J
043469,000450: 
043470,000451:                                                                                                 #               THE COMPUTER VARIABLES ARE
043471,000452:                                                                                                 #                  TAU  (ROLL)
043472,000453:                                                                                                 #                  TAU1 (PITCH)
043473,000454:                                                                                                 #                  TAU2 (YAW)
043474,000455: 
043475,000456: 
043476,000457: 21,3713           51506        JTIME             INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
043477,000458: 21,3714           31623                          CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
043478,000459: 21,3715           02026                          TC       SMALLMP                               #  FOR 1-JET OPERATION
043479,000460: 21,3716           34700                          CA       BIT11                                 
043480,000461: 21,3717           02026                          TC       SMALLMP                               
043481,000462: 21,3720           11510                          CCS      KMPAC                                 
043482,000463: 21,3721           13725                          TCF      +4                                    
043483,000464: 21,3722           13731                          TCF      TAUNORM                               
043484,000465: 21,3723           13727                          TCF      +4                                    
043485,000466: 21,3724           13731                          TCF      TAUNORM                               
043486,000467: 21,3725           34672                          CA       POSMAX                                
043487,000468: 21,3726           13732                          TCF      DOJET                                 
043488,000469: 21,3727           34674                          CA       NEGMAX                                
043489,000470: 21,3730           13732                          TCF      DOJET                                 
043490,000471: 
043491,000472: 21,3731           31511        TAUNORM           CA       KMPAC      +1                         
043492,000473: 21,3732           51506        DOJET             INDEX    SPNDX                                 
043493,000474: 21,3733           55561                          TS       TAU                                   
043494,000475: 21,3734           11506                          CCS      SPNDX                                 
043495,000476: 21,3735           13431                          TCF      JLOOP                                 
043496,000477: 21,3736           13743                          TCF      T6PROG                                
043497,000478: 
043498,000479:                                                                                                 # # Page 1004
043499,000480: 21,3737           34714        ZEROCMDS          CAF      ZERO                                  
043500,000481: 21,3740           55561                          TS       TAU                                   
043501,000482: 21,3741           55562                          TS       TAU1                                  
043502,000483: 21,3742           55563                          TS       TAU2                                  
043503,000484: 21,3743           00006        T6PROG            EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
043504,000485: 21,3744           33750                          DCA      JETADDR                               #  HAVE BEEN DETERINED
043505,000486: 21,3745           53313                          DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
043506,000487: 21,3746           15222                          TCF      RESUME                                
043507,000488: 
043508,000489: 21,3747  E6,1510                                 EBANK=   KMPAC                                 
043509,000490: 21,3747           02601 36066  JETADDR           2CADR    JETSLECT                              

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