Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
044562,000002: ## Copyright: Public domain.
044563,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044564,000004: ## Purpose: Part of the source code for Colossus, build 249.
044565,000005: ## It is part of the source code for the Command Module's (CM)
044566,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
044567,000007: ## Assembler: yaYUL
044568,000008: ## Reference: Starts on p. 996
044569,000009: ## Contact: Ron Burkey <info@sandroid.org>.
044570,000010: ## Website: www.ibiblio.org/apollo.
044571,000011: ## Mod history: 08/25/04 RSB. Began transcribing.
044572,000012: ## 2017-01-06 RSB Page numbers now agree with those on the
044573,000013: ## original harcopy, as opposed to the PDF page
044574,000014: ## numbers in 1701.pdf.
044575,000015: ## 2017-01-07 RSB Cross-diff'd comment text (not whitespace)
044576,000016: ## vs the already-proofed corresponding Colossus
044577,000017: ## 237 and Comanche 55 source-code files
044578,000018: ## and corrected errors found.
044579,000019: ##
044580,000020: ## The contents of the "Colossus249" files, in general, are transcribed
044581,000021: ## from a scanned copy of the program listing. Notations on this
044582,000022: ## document read, in part:
044583,000023: ##
044584,000024: ## Assemble revision 249 of AGC program Colossus by NASA
044585,000025: ## 2021111-041. October 28, 1968.
044586,000026: ##
044587,000027: ## This AGC program shall also be referred to as
044588,000028: ## Colossus 1A
044589,000029: ##
044590,000030: ## Prepared by
044591,000031: ## Massachusetts Institute of Technology
044592,000032: ## 75 Cambridge Parkway
044593,000033: ## Cambridge, Massachusetts
044594,000034: ## under NASA contract NAS 9-4065.
044595,000035: ##
044596,000036: ## Refer directly to the online document mentioned above for further information.
044597,000037: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
044598,000038: ##
044599,000039: ## In some cases, where the source code for Luminary 131 overlaps that of
044600,000040: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
044601,000041: ## source file, and then is proofed to incorporate any changes.
044602,000042:
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Page 996 |
044604,000044: 21,3234 BANK 21
044605,000045: 21,2000 SETLOC DAPS3
044606,000046: 21,2000 BANK
044607,000047:
044608,000048: 21,3234 COUNT 21/DAPAM
044609,000049:
044610,000050: 21,3234 E6,1510 EBANK= KMPAC
044611,000051: 21,3234 00006 AHFNOROT EXTEND
044612,000052: 21,3235 00031 READ CHAN31
044613,000053: 21,3236 74675 MASK BIT14
044614,000054: 21,3237 00006 EXTEND
044615,000055: 21,3240 63256 BZMF FREECONT
044616,000056: 21,3241 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044617,000057: 21,3242 74675 MASK BIT14
044618,000058: 21,3243 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044619,000059: 21,3244 12520 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044620,000060: # AUTOMATIC CONTROL YET
044621,000061: 21,3245 00006 EXTEND
044622,000062: 21,3246 00031 READ CHAN31
044623,000063: 21,3247 74676 MASK BIT13
044624,000064: 21,3250 00006 EXTEND
044625,000065: 21,3251 63356 BZMF HOLDFUNC
044626,000066: 21,3252 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044627,000067: 21,3253 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044628,000068: 21,3254 63306 BZMF ATTHOLD
044629,000069: 21,3255 13362 TCF GRABANG
044630,000070:
044631,000071: # MINIMUM IMPULSE CONTROL
044632,000072:
044633,000073: 21,3256 34712 FREECONT CAF ONE
044634,000074: 21,3257 55332 TS HOLDFLAG # RESET HOLDFLAG
044635,000075: # INHIBIT AUTOMATIC STEERING
044636,000076: 21,3260 00006 EXTEND
044637,000077: 21,3261 00032 READ CHAN32
044638,000078: 21,3262 54001 TS L
044639,000079: 21,3263 40000 COM
044640,000080: 21,3264 73022 MASK MANROT
044641,000081: 21,3265 71633 MASK CHANTEMP
044642,000082: 21,3266 23633 LXCH CHANTEMP
044643,000083: 21,3267 03114 TC STICKCHK
044644,000084: 21,3270 51656 INDEX RMANNDX
044645,000085: 21,3271 33302 CA MINTAU # MINTAU +0
044646,000086: 21,3272 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044647,000087: 21,3273 51657 INDEX PMANNDX # +2 -14MS TIME
044648,000088: 21,3274 33302 CA MINTAU # +3 +0
044649,000089: 21,3275 55562 TS TAU1
044650,000090: 21,3276 51660 INDEX YMANNDX
044651,000091: 21,3277 33302 CA MINTAU
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Page 997 |
044653,000093: 21,3300 55563 TS TAU2
044654,000094: 21,3301 13053 TCF T6PROGM
044655,000095: 21,3302 00000 MINTAU DEC 0 B-14
044656,000096: 21,3303 00027 DEC 23 B-14 # = 14MS
044657,000097: 21,3304 77750 DEC -23 B-14 # = -14MS
044658,000098: 21,3305 00000 DEC 0 B-14
044659,000099:
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Page 998 |
044661,000101: # CALCULATION OF ATTITUDE ERRORS-
044662,000102: # - * - - -
044663,000103: # AK = AMGB (CDUX - THETADX) + BIAS
044664,000104:
044665,000105: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044666,000106: # * * * ** * * *
044667,000107: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044668,000108: # * * * ** * * *
044669,000109: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044670,000110:
044671,000111: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044672,000112: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044673,000113: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044674,000114: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044675,000115:
044676,000116: 21,3306 30032 ATTHOLD CA CDUX
044677,000117: 21,3307 00006 EXTEND
044678,000118: 21,3310 21572 MSU THETADX
044679,000119: 21,3311 55567 TS ERRORX
044680,000120: 21,3312 30033 CA CDUY
044681,000121: 21,3313 00006 EXTEND
044682,000122: 21,3314 21573 MSU THETADY
044683,000123: 21,3315 55502 TS T5TEMP
044684,000124: 21,3316 00006 EXTEND
044685,000125: 21,3317 71640 MP AMGB1
044686,000126: 21,3320 27567 ADS ERRORX
044687,000127: 21,3321 31502 CA T5TEMP
044688,000128: 21,3322 00006 EXTEND
044689,000129: 21,3323 71641 MP AMGB4
044690,000130: 21,3324 55570 TS ERRORY
044691,000131: 21,3325 31502 CA T5TEMP
044692,000132: 21,3326 00006 EXTEND
044693,000133: 21,3327 71643 MP AMGB7
044694,000134: 21,3330 55571 TS ERRORZ
044695,000135: 21,3331 30034 CA CDUZ
044696,000136: 21,3332 00006 EXTEND
044697,000137: 21,3333 21574 MSU THETADZ
044698,000138: 21,3334 55502 TS T5TEMP
044699,000139: 21,3335 00006 EXTEND
044700,000140: 21,3336 71642 MP AMGB5
044701,000141: 21,3337 27570 ADS ERRORY
044702,000142: 21,3340 31502 CA T5TEMP
044703,000143: 21,3341 00006 EXTEND
044704,000144: 21,3342 71644 MP AMGB8
044705,000145: 21,3343 27571 ADS ERRORZ
044706,000146: 21,3344 41332 CS HOLDFLAG
044707,000147: 21,3345 00006 EXTEND
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Page 999 |
044709,000149: 21,3346 63425 BZMF JETS
044710,000150: 21,3347 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044711,000151: 21,3350 27567 ADS ERRORX
044712,000152: 21,3351 31565 CA BIAS1
044713,000153: 21,3352 27570 ADS ERRORY
044714,000154: 21,3353 31566 CA BIAS2
044715,000155: 21,3354 27571 ADS ERRORZ
044716,000156: 21,3355 13425 TCF JETS
044717,000157: 21,3356 11332 HOLDFUNC CCS HOLDFLAG
044718,000158: 21,3357 13362 TCF +3
044719,000159: 21,3360 13306 TCF ATTHOLD
044720,000160: 21,3361 13362 TCF +1
044721,000161: 21,3362 34714 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044722,000162: 21,3363 55525 TS WBODY
044723,000163: 21,3364 55526 TS WBODY +1
044724,000164: 21,3365 55527 TS WBODY1
044725,000165: 21,3366 55530 TS WBODY1 +1
044726,000166: 21,3367 55531 TS WBODY2
044727,000167: 21,3370 55532 TS WBODY2 +1
044728,000168: 21,3371 55564 TS BIAS
044729,000169: 21,3372 55565 TS BIAS1
044730,000170: 21,3373 55566 TS BIAS2
044731,000171:
044732,000172: 21,3374 31501 CA RCSFLAGS
044733,000173: 21,3375 73023 MASK OCT16000
044734,000174: 21,3376 00006 EXTEND # IS RATE DAMPING COMPLETED
044735,000175: 21,3377 13405 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044736,000176: 21,3400 34714 CAF ZERO # OTHERWISE, ZERO ERRORS
044737,000177: 21,3401 55567 TS ERRORX
044738,000178: 21,3402 55570 TS ERRORY
044739,000179: 21,3403 55571 TS ERRORZ
044740,000180: 21,3404 13425 TCF JETS
044741,000181:
044742,000182: 21,3405 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044743,000183: 21,3406 00006 EXTEND
044744,000184: 21,3407 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044745,000185: 21,3410 53573 DXCH THETADX # REFERENCES
044746,000186: 21,3411 30034 CA CDUZ
044747,000187: 21,3412 55574 TS THETADZ
044748,000188: 21,3413 13306 TCF ATTHOLD
044749,000189:
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Page 1000 |
044751,000191: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044752,000192:
044753,000193: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044754,000194: # PLANE.
044755,000195:
044756,000196: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044757,000197: # APPROPRIATE DEADZONE.
044758,000198:
044759,000199: # .
044760,000200: # R22 RATE . ERROR
044761,000201: # WL+H .
044762,000202: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044763,000203: # R23 WL * .
044764,000204: # --------------------------------- * . ----- DESIRED RATE LINES
044765,000205: # R23 WL-H - *.
044766,000206: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044767,000207: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044768,000208: # * . *
044769,000209: # *- . *
044770,000210: # R22 R24*- R23 . *
044771,000211: # *- . *
044772,000212: # * . *
044773,000213: # + -ADB . * AF ATTITUDE
044774,000214: # .........................+--+---------------+--+........................
044775,000215: # AF * . +ADB + ERROR
044776,000216: # * . *
044777,000217: # * . -*
044778,000218: # * . -*
044779,000219: # * . -*
044780,000220: # * . *
044781,000221: # *. - *
044782,000222: # . - *****************
044783,000223: # .* -
044784,000224: # . * --------------------------------
044785,000225: # . *
044786,000226: # . ********************************
044787,000227: # .
044788,000228: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044789,000229:
044790,000230: # CONSTANTS FOR JET SWITCHING LOGIC
044791,000231:
044792,000232: 21,3414 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044793,000233: 21,3415 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044794,000234: 21,3416 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044795,000235: 21,3420 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044796,000236: 21,3422 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044797,000237:
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Page 1001 |
044799,000239: 21,3424 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044800,000240: 21,3425 31655 JETS CA ADB
044801,000241: 21,3426 64710 AD FOUR # AF = FLAT REGION = .044 DEG
044802,000242: 21,3427 55502 TS T5TEMP # ADB+AF
044803,000243: 21,3430 34711 CAF TWO
044804,000244: 21,3431 55506 JLOOP TS SPNDX
044805,000245: 21,3432 60000 DOUBLE
044806,000246: 21,3433 55507 TS DPNDX
044807,000247: 21,3434 00006 EXTEND
044808,000248: 21,3435 50000 INDEX A
044809,000249: 21,3436 31534 DCA ADOT
044810,000250: 21,3437 53516 DXCH EDOT
044811,000251: 21,3440 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044812,000252: 21,3441 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044813,000253: 21,3442 13447 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044814,000254: # OF WBODY AND GO TO INHOLD
044815,000255: 21,3443 00006 EXTEND
044816,000256: 21,3444 51507 INDEX DPNDX
044817,000257: 21,3445 41526 DCS WBODY
044818,000258: 21,3446 21516 DAS EDOT # = ADOT-WBODY
044819,000259: 21,3447 51506 INHOLD INDEX SPNDX
044820,000260: 21,3450 31567 CA ERRORX
044821,000261: 21,3451 55517 TS AERR # AERR = BIAS + AK
044822,000262:
044823,000263: 21,3452 11515 CCS EDOT
044824,000264: 21,3453 13463 TCF POSVEL
044825,000265: 21,3454 13456 TCF SIGNCK1
044826,000266: 21,3455 13473 TCF NEGVEL
044827,000267: 21,3456 11516 SIGNCK1 CCS EDOT +1
044828,000268: 21,3457 13463 TCF POSVEL
044829,000269: 21,3460 13463 TCF POSVEL
044830,000270: 21,3461 13473 TCF NEGVEL
044831,000271: 21,3462 13473 TCF NEGVEL
044832,000272: 21,3463 00006 POSVEL EXTEND
044833,000273: 21,3464 31516 DCA EDOT
044834,000274: 21,3465 53521 DXCH EDOTVEL
044835,000275: 21,3466 31502 CA T5TEMP
044836,000276: 21,3467 55523 TS ADBVEL # +(ADB+AF)
044837,000277: 21,3470 31517 CA AERR
044838,000278: 21,3471 55522 TS AERRVEL
044839,000279: 21,3472 03502 TC J6.
044840,000280: 21,3473 00006 NEGVEL EXTEND
044841,000281: 21,3474 41516 DCS EDOT
044842,000282: 21,3475 53521 DXCH EDOTVEL
044843,000283: 21,3476 41502 CS T5TEMP
044844,000284: 21,3477 55523 TS ADBVEL # -(ADB+AF)
044845,000285: 21,3500 41517 CS AERR
044846,000286: 21,3501 55522 TS AERRVEL
044847,000287:
044848,000288: 21,3502 00006 J6. EXTEND
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Page 1002 |
044850,000290: 21,3503 61655 SU ADB
044851,000291: 21,3504 63414 AD WLH/SLOP
044852,000292: 21,3505 00006 EXTEND
044853,000293: 21,3506 63535 BZMF J8
044854,000294:
044855,000295: 21,3507 41502 CS T5TEMP # (ADB+AF)
044856,000296: 21,3510 61522 AD AERRVEL
044857,000297: 21,3511 00006 EXTEND
044858,000298: 21,3512 63514 BZMF +2
044859,000299: 21,3513 13526 TCF J7
044860,000300: 21,3514 00006 EXTEND
044861,000301: 21,3515 41521 DCS EDOTVEL
044862,000302: 21,3516 00006 EXTEND
044863,000303: 21,3517 11654 DV SLOPE
044864,000304: 21,3520 00006 EXTEND
044865,000305: 21,3521 61522 SU AERRVEL
044866,000306: 21,3522 61655 AD ADB
044867,000307: 21,3523 00006 EXTEND
044868,000308: 21,3524 63614 BZMF J18
044869,000309: 21,3525 13670 TCF J23
044870,000310:
044871,000311: 21,3526 43415 J7 CS WL-H/SLP
044872,000312: 21,3527 00006 EXTEND
044873,000313: 21,3530 61502 SU T5TEMP # (ADB+AF)
044874,000314: 21,3531 61522 AD AERRVEL
044875,000315: 21,3532 00006 EXTEND
044876,000316: 21,3533 63620 BZMF J20
044877,000317: 21,3534 13631 TCF J21
044878,000318:
044879,000319: 21,3535 00006 J8 EXTEND
044880,000320: 21,3536 43417 DCS WLH
044881,000321: 21,3537 53514 DXCH WTEMP
044882,000322: 21,3540 00006 EXTEND
044883,000323: 21,3541 31521 DCA EDOTVEL
044884,000324: 21,3542 21514 DAS WTEMP
044885,000325: 21,3543 11513 CCS WTEMP
044886,000326: 21,3544 13657 TCF J22
044887,000327: 21,3545 13547 TCF SIGNCK2
044888,000328: 21,3546 13553 TCF NJ22
044889,000329: 21,3547 11514 SIGNCK2 CCS WTEMP +1
044890,000330: 21,3550 13657 TCF J22
044891,000331: 21,3551 13657 TCF J22
044892,000332: 21,3552 13553 TCF NJ22
044893,000333:
044894,000334: 21,3553 00006 NJ22 EXTEND
044895,000335: 21,3554 31521 DCA EDOTVEL
044896,000336: 21,3555 00006 EXTEND
044897,000337: 21,3556 11654 DV SLOPE
044898,000338: 21,3557 61502 AD T5TEMP # (ADB+AF)
044899,000339: 21,3560 61522 AD AERRVEL
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Page 1003 |
044901,000341: 21,3561 10000 CCS A
044902,000342: 21,3562 13670 TCF J23
044903,000343: 21,3563 13670 TCF J23
044904,000344: 21,3564 13566 TCF +2
044905,000345: 21,3565 13670 TCF J23
044906,000346:
044907,000347: 21,3566 00006 EXTEND
044908,000348: 21,3567 43421 DCS WLMH # WL - H
044909,000349: 21,3570 53514 DXCH WTEMP
044910,000350: 21,3571 00006 EXTEND
044911,000351: 21,3572 31521 DCA EDOTVEL
044912,000352: 21,3573 21514 DAS WTEMP
044913,000353: 21,3574 11513 CCS WTEMP
044914,000354: 21,3575 13670 TCF J23
044915,000355: 21,3576 13600 TCF SIGNCK3
044916,000356: 21,3577 13604 TCF NJ23
044917,000357: 21,3600 11514 SIGNCK3 CCS WTEMP +1
044918,000358: 21,3601 13670 TCF J23
044919,000359: 21,3602 13670 TCF J23
044920,000360: 21,3603 13604 TCF NJ23
044921,000361:
044922,000362: 21,3604 31522 NJ23 CA AERRVEL
044923,000363: 21,3605 61502 AD T5TEMP # (ADB+AF)
044924,000364: 21,3606 63415 AD WL-H/SLP
044925,000365: 21,3607 10000 CCS A
044926,000366: 21,3610 13702 TCF J24
044927,000367: 21,3611 13702 TCF J24
044928,000368: 21,3612 13657 TCF J22
044929,000369: 21,3613 13657 TCF J22
044930,000370:
044931,000371: 21,3614 00006 J18 EXTEND
044932,000372: 21,3615 41516 DCS EDOT
044933,000373: 21,3616 53511 DXCH KMPAC
044934,000374: 21,3617 13713 TCF JTIME
044935,000375:
044936,000376: 21,3620 41517 J20 CS AERR
044937,000377: 21,3621 61523 AD ADBVEL
044938,000378: 21,3622 00006 EXTEND
044939,000379: 21,3623 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
044940,000380: 21,3624 53511 DXCH KMPAC
044941,000381: 21,3625 00006 EXTEND
044942,000382: 21,3626 41516 DCS EDOT
044943,000383: 21,3627 21511 DAS KMPAC
044944,000384: 21,3630 13713 TCF JTIME
044945,000385:
044946,000386: 21,3631 11515 J21 CCS EDOT
044947,000387: 21,3632 13650 TCF JP
044948,000388: 21,3633 13635 TCF SIGNCK4
044949,000389: 21,3634 13641 TCF JN
044950,000390: 21,3635 11516 SIGNCK4 CCS EDOT +1
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Page 1004 |
044952,000392: 21,3636 13650 TCF JP
044953,000393: 21,3637 13650 TCF JP
044954,000394: 21,3640 13641 TCF JN
044955,000395: 21,3641 00006 JN EXTEND
044956,000396: 21,3642 41516 DCS EDOT
044957,000397: 21,3643 53511 DXCH KMPAC
044958,000398: 21,3644 00006 EXTEND
044959,000399: 21,3645 33423 DCA WL
044960,000400: 21,3646 21511 DAS KMPAC
044961,000401: 21,3647 13713 TCF JTIME
044962,000402:
044963,000403: 21,3650 00006 JP EXTEND
044964,000404: 21,3651 41516 DCS EDOT
044965,000405: 21,3652 53511 DXCH KMPAC
044966,000406: 21,3653 00006 EXTEND
044967,000407: 21,3654 43423 DCS WL
044968,000408: 21,3655 21511 DAS KMPAC
044969,000409: 21,3656 13713 TCF JTIME
044970,000410:
044971,000411: 21,3657 11515 J22 CCS EDOT
044972,000412: 21,3660 13641 TCF JN
044973,000413: 21,3661 13663 TCF SIGNCK5
044974,000414: 21,3662 13650 TCF JP
044975,000415: 21,3663 11516 SIGNCK5 CCS EDOT +1
044976,000416: 21,3664 13641 TCF JN
044977,000417: 21,3665 13641 TCF JN
044978,000418: 21,3666 13650 TCF JP
044979,000419: 21,3667 13650 TCF JP
044980,000420:
044981,000421: 21,3670 51506 J23 INDEX SPNDX
044982,000422: 21,3671 44676 CS BIT13 # RESET RATE DAMPING FLAG
044983,000423: 21,3672 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
044984,000424: 21,3673 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
044985,000425: # BIT11 FOR YAW (SPNDX = 2)
044986,000426:
044987,000427: 21,3674 51506 INDEX SPNDX
044988,000428: 21,3675 33017 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
044989,000429: 21,3676 71501 MASK RCSFLAGS # AXIS
044990,000430: 21,3677 00006 EXTEND
044991,000431: 21,3700 13734 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
044992,000432:
044993,000433: 21,3701 13614 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
044994,000434:
044995,000435: 21,3702 41517 J24 CS AERR
044996,000436: 21,3703 00006 EXTEND
044997,000437: 21,3704 61523 SU ADBVEL
044998,000438: 21,3705 00006 EXTEND
044999,000439: 21,3706 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
045000,000440: 21,3707 53511 DXCH KMPAC
045001,000441: 21,3710 00006 EXTEND
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Page 1005 |
045003,000443: 21,3711 41516 DCS EDOT
045004,000444: 21,3712 21511 DAS KMPAC
045005,000445:
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Page 1006 |
045007,000447: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045008,000448:
045009,000449: # T = J/M(DELTA W)
045010,000450: # J
045011,000451:
045012,000452: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045013,000453: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045014,000454:
045015,000455: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045016,000456: # (57.3/450)(B24/1600)(1/.8)
045017,000457: # FOR 1 JET OPERATION (M = 700 FT-LB).
045018,000458: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045019,000459:
045020,000460: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045021,000461: # KEYBOARD ENTRY ARE
045022,000462: # J/M (ROLL)
045023,000463: # J/M1 (PITCH)
045024,000464: # J/M2 (YAW)
045025,000465:
045026,000466: # T = JET ON-TIME SCALED 16384/1600 SEC
045027,000467: # J
045028,000468:
045029,000469: # THE COMPUTER VARIABLES ARE
045030,000470: # TAU (ROLL)
045031,000471: # TAU1 (PITCH)
045032,000472: # TAU2 (YAW)
045033,000473:
045034,000474: 21,3713 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045035,000475: 21,3714 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045036,000476: 21,3715 02026 TC SMALLMP # FOR 1-JET OPERATION
045037,000477: 21,3716 34700 CA BIT11
045038,000478: 21,3717 02026 TC SMALLMP
045039,000479: 21,3720 11510 CCS KMPAC
045040,000480: 21,3721 13725 TCF +4
045041,000481: 21,3722 13731 TCF TAUNORM
045042,000482: 21,3723 13727 TCF +4
045043,000483: 21,3724 13731 TCF TAUNORM
045044,000484: 21,3725 34672 CA POSMAX
045045,000485: 21,3726 13732 TCF DOJET
045046,000486: 21,3727 34674 CA NEGMAX
045047,000487: 21,3730 13732 TCF DOJET
045048,000488:
045049,000489: 21,3731 31511 TAUNORM CA KMPAC +1
045050,000490: 21,3732 51506 DOJET INDEX SPNDX
045051,000491: 21,3733 55561 TS TAU
045052,000492: 21,3734 11506 CCS SPNDX
045053,000493: 21,3735 13431 TCF JLOOP
045054,000494: 21,3736 13743 TCF T6PROG
045055,000495:
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Page 1007 |
045057,000497: 21,3737 34714 ZEROCMDS CAF ZERO
045058,000498: 21,3740 55561 TS TAU
045059,000499: 21,3741 55562 TS TAU1
045060,000500: 21,3742 55563 TS TAU2
045061,000501: 21,3743 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045062,000502: 21,3744 33750 DCA JETADDR # HAVE BEEN DETERMINED
045063,000503: 21,3745 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045064,000504: 21,3746 15222 TCF RESUME
045065,000505:
045066,000506: 21,3747 E6,1510 EBANK= KMPAC
045067,000507: 21,3747 02577 36066 JETADDR 2CADR JETSLECT
045068,000508:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc