Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. 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:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
045734,000002: ## Copyright: Public domain.
045735,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
045736,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
045737,000005: ## It is part of the source code for the Command Module's (CM)
045738,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
045739,000007: ## Assembler: yaYUL
045740,000008: ## Contact: Ron Burkey <info@sandroid.org>.
045741,000009: ## Website: www.ibiblio.org/apollo.
045742,000010: ## Pages: 1025-1036
045743,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
045744,000012: ## same name, using Comanche055 page images.
045745,000013: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
045746,000014: ## and corrected the errors found.
045747,000015: ## 2017-01-07 RSB Fixed comment errors detected in cross-diff vs
045748,000016: ## Colossus 237 and Colossus 249.
045749,000017: ##
045750,000018: ## This source code has been transcribed or otherwise adapted from digitized
045751,000019: ## images of a hardcopy from the MIT Museum. The digitization was performed
045752,000020: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
045753,000021: ## thanks to both. The images (with suitable reduction in storage size and
045754,000022: ## consequent reduction in image quality as well) are available online at
045755,000023: ## www.ibiblio.org/apollo. If for some reason you find that the images are
045756,000024: ## illegible, contact me at info@sandroid.org about getting access to the
045757,000025: ## (much) higher-quality images which Paul actually created.
045758,000026: ##
045759,000027: ## Notations on the hardcopy document read, in part:
045760,000028: ##
045761,000029: ## Assemble revision 055 of AGC program Comanche by NASA
045762,000030: ## 2021113-051. 10:28 APR. 1, 1969
045763,000031: ##
045764,000032: ## This AGC program shall also be referred to as
045765,000033: ## Colossus 2A
045766,000034:
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Page 1025 |
045768,000036: 21,3250 BANK 21
045769,000037: 21,2000 SETLOC DAPS3
045770,000038: 21,2000 BANK
045771,000039:
045772,000040: 21,3250 COUNT 21/DAPAM
045773,000041:
045774,000042: 21,3250 E6,1510 EBANK= KMPAC
045775,000043: 21,3250 00006 AHFNOROT EXTEND
045776,000044: 21,3251 00031 READ CHAN31
045777,000045: 21,3252 75002 MASK BIT14
045778,000046: 21,3253 00006 EXTEND
045779,000047: 21,3254 63272 BZMF FREECONT
045780,000048: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
045781,000049: 21,3256 75002 MASK BIT14
045782,000050: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
045783,000051: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
045784,000052: # AUTOMATIC CONTROL YET
045785,000053: 21,3261 00006 EXTEND
045786,000054: 21,3262 00031 READ CHAN31
045787,000055: 21,3263 75003 MASK BIT13
045788,000056: 21,3264 00006 EXTEND
045789,000057: 21,3265 63372 BZMF HOLDFUNC
045790,000058:
045791,000059: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
045792,000060: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
045793,000061: 21,3270 63322 BZMF ATTHOLD
045794,000062: 21,3271 13376 TCF GRABANG
045795,000063:
045796,000064: # MINIMUM IMPULSE CONTROL
045797,000065:
045798,000066: 21,3272 35017 FREECONT CAF ONE
045799,000067: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
045800,000068: # INHIBIT AUTOMATIC STEERING
045801,000069: 21,3274 00006 EXTEND
045802,000070: 21,3275 00032 READ CHAN32
045803,000071: 21,3276 54001 TS L
045804,000072: 21,3277 40000 COM
045805,000073: 21,3300 73036 MASK MANROT
045806,000074: 21,3301 71633 MASK CHANTEMP
045807,000075: 21,3302 23633 LXCH CHANTEMP
045808,000076: 21,3303 03130 TC STICKCHK
045809,000077: 21,3304 51656 INDEX RMANNDX
045810,000078: 21,3305 33316 CA MINTAU # MINTAU +0
045811,000079: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
045812,000080: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
045813,000081: 21,3310 33316 CA MINTAU # +3 +0
045814,000082: 21,3311 55562 TS TAU1
045815,000083: 21,3312 51660 INDEX YMANNDX
045816,000084: 21,3313 33316 CA MINTAU
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Page 1026 |
045818,000086: 21,3314 55563 TS TAU2
045819,000087: 21,3315 13067 TCF T6PROGM
045820,000088:
045821,000089: 21,3316 00000 MINTAU DEC 0 B-14
045822,000090: 21,3317 00027 DEC 23 B-14 # = 14MS
045823,000091: 21,3320 77750 DEC -23 B-14 # = -14MS
045824,000092: 21,3321 00000 DEC 0 B-14
045825,000093:
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Page 1027 |
045827,000095: # CALCULATION OF ATTITUDE ERRORS-
045828,000096: # - * - - -
045829,000097: # AK = AMGB (CDUX - THETADX) + BIAS
045830,000098:
045831,000099: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
045832,000100: # * * * ** * * *
045833,000101: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
045834,000102: # * * * ** * * *
045835,000103: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
045836,000104:
045837,000105: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045838,000106: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045839,000107: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045840,000108: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045841,000109:
045842,000110: 21,3322 30032 ATTHOLD CA CDUX
045843,000111: 21,3323 00006 EXTEND
045844,000112: 21,3324 21572 MSU THETADX
045845,000113: 21,3325 55567 TS ERRORX
045846,000114: 21,3326 30033 CA CDUY
045847,000115: 21,3327 00006 EXTEND
045848,000116: 21,3330 21573 MSU THETADY
045849,000117: 21,3331 55502 TS T5TEMP
045850,000118: 21,3332 00006 EXTEND
045851,000119: 21,3333 71640 MP AMGB1
045852,000120: 21,3334 27567 ADS ERRORX
045853,000121: 21,3335 31502 CA T5TEMP
045854,000122: 21,3336 00006 EXTEND
045855,000123: 21,3337 71641 MP AMGB4
045856,000124: 21,3340 55570 TS ERRORY
045857,000125: 21,3341 31502 CA T5TEMP
045858,000126: 21,3342 00006 EXTEND
045859,000127: 21,3343 71643 MP AMGB7
045860,000128: 21,3344 55571 TS ERRORZ
045861,000129: 21,3345 30034 CA CDUZ
045862,000130: 21,3346 00006 EXTEND
045863,000131: 21,3347 21574 MSU THETADZ
045864,000132: 21,3350 55502 TS T5TEMP
045865,000133: 21,3351 00006 EXTEND
045866,000134: 21,3352 71642 MP AMGB5
045867,000135: 21,3353 27570 ADS ERRORY
045868,000136: 21,3354 31502 CA T5TEMP
045869,000137: 21,3355 00006 EXTEND
045870,000138: 21,3356 71644 MP AMGB8
045871,000139: 21,3357 27571 ADS ERRORZ
045872,000140: 21,3360 41332 CS HOLDFLAG
045873,000141: 21,3361 00006 EXTEND
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Page 1028 |
045875,000143: 21,3362 63441 BZMF JETS
045876,000144: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
045877,000145: 21,3364 27567 ADS ERRORX
045878,000146: 21,3365 31565 CA BIAS1
045879,000147: 21,3366 27570 ADS ERRORY
045880,000148: 21,3367 31566 CA BIAS2
045881,000149: 21,3370 27571 ADS ERRORZ
045882,000150: 21,3371 13441 TCF JETS
045883,000151:
045884,000152: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
045885,000153: 21,3373 13376 TCF +3
045886,000154: 21,3374 13322 TCF ATTHOLD
045887,000155: 21,3375 13376 TCF +1
045888,000156: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
045889,000157: 21,3377 55525 TS WBODY
045890,000158: 21,3400 55526 TS WBODY +1
045891,000159: 21,3401 55527 TS WBODY1
045892,000160: 21,3402 55530 TS WBODY1 +1
045893,000161: 21,3403 55531 TS WBODY2
045894,000162: 21,3404 55532 TS WBODY2 +1
045895,000163: 21,3405 55564 TS BIAS
045896,000164: 21,3406 55565 TS BIAS1
045897,000165: 21,3407 55566 TS BIAS2
045898,000166:
045899,000167: 21,3410 31501 CA RCSFLAGS
045900,000168: 21,3411 73037 MASK OCT16000
045901,000169: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
045902,000170: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
045903,000171: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
045904,000172: 21,3415 55567 TS ERRORX
045905,000173: 21,3416 55570 TS ERRORY
045906,000174: 21,3417 55571 TS ERRORZ
045907,000175: 21,3420 13441 TCF JETS
045908,000176:
045909,000177: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
045910,000178: 21,3422 00006 EXTEND
045911,000179: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
045912,000180: 21,3424 53573 DXCH THETADX # REFERENCES
045913,000181: 21,3425 30034 CA CDUZ
045914,000182: 21,3426 55574 TS THETADZ
045915,000183: 21,3427 13322 TCF ATTHOLD
045916,000184:
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Page 1029 |
045918,000186: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045919,000187:
045920,000188: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045921,000189: # PLANE.
045922,000190:
045923,000191: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045924,000192: # APPROPRIATE DEADZONE.
045925,000193:
045926,000194: # .
045927,000195: # R22 RATE . ERROR
045928,000196: # WL+H .
045929,000197: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
045930,000198: # R23 WL * .
045931,000199: # --------------------------------- * . ----- DESIRED RATE LINES
045932,000200: # R23 WL-H - *.
045933,000201: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
045934,000202: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
045935,000203: # * . *
045936,000204: # *- . *
045937,000205: # R22 R24*- R23 . *
045938,000206: # *- . *
045939,000207: # * . *
045940,000208: # + -ADB . * AF ATTITUDE
045941,000209: # .........................+--+---------------+--+........................
045942,000210: # AF * . +ADB + ERROR
045943,000211: # * . *
045944,000212: # * . -*
045945,000213: # * . -*
045946,000214: # * . -*
045947,000215: # * . *
045948,000216: # *. - *
045949,000217: # . - *****************
045950,000218: # .* -
045951,000219: # . * --------------------------------
045952,000220: # . *
045953,000221: # . ********************************
045954,000222: # .
045955,000223: # FIG. 1 PHASE PLANE SWITCHING LOGIC
045956,000224:
045957,000225: # CONSTANTS FOR JET SWITCHING LOGIC
045958,000226:
045959,000227: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
045960,000228: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
045961,000229: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
045962,000230:
045963,000231: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
045964,000232:
045965,000233: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
045966,000234:
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Page 1030 |
045968,000236: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
045969,000237: 21,3441 31655 JETS CA ADB
045970,000238: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
045971,000239: 21,3443 55502 TS T5TEMP # ADB+AF
045972,000240: 21,3444 35016 CAF TWO
045973,000241: 21,3445 55506 JLOOP TS SPNDX
045974,000242: 21,3446 60000 DOUBLE
045975,000243: 21,3447 55507 TS DPNDX
045976,000244: 21,3450 00006 EXTEND
045977,000245: 21,3451 50000 INDEX A
045978,000246: 21,3452 31534 DCA ADOT
045979,000247: 21,3453 53516 DXCH EDOT
045980,000248: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
045981,000249: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
045982,000250: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
045983,000251: # OF WBODY AND GO TO INHOLD
045984,000252: 21,3457 00006 EXTEND
045985,000253: 21,3460 51507 INDEX DPNDX
045986,000254: 21,3461 41526 DCS WBODY
045987,000255: 21,3462 21516 DAS EDOT # = ADOT-WBODY
045988,000256: 21,3463 51506 INHOLD INDEX SPNDX
045989,000257: 21,3464 31567 CA ERRORX
045990,000258: 21,3465 55517 TS AERR # AERR = BIAS + AK
045991,000259:
045992,000260: 21,3466 11515 CCS EDOT
045993,000261: 21,3467 13477 TCF POSVEL
045994,000262: 21,3470 13472 TCF SIGNCK1
045995,000263: 21,3471 13507 TCF NEGVEL
045996,000264: 21,3472 11516 SIGNCK1 CCS EDOT +1
045997,000265: 21,3473 13477 TCF POSVEL
045998,000266: 21,3474 13477 TCF POSVEL
045999,000267: 21,3475 13507 TCF NEGVEL
046000,000268: 21,3476 13507 TCF NEGVEL
046001,000269: 21,3477 00006 POSVEL EXTEND
046002,000270: 21,3500 31516 DCA EDOT
046003,000271: 21,3501 53521 DXCH EDOTVEL
046004,000272: 21,3502 31502 CA T5TEMP
046005,000273: 21,3503 55523 TS ADBVEL # +(ADB+AF)
046006,000274: 21,3504 31517 CA AERR
046007,000275: 21,3505 55522 TS AERRVEL
046008,000276: 21,3506 03516 TC J6.
046009,000277: 21,3507 00006 NEGVEL EXTEND
046010,000278: 21,3510 41516 DCS EDOT
046011,000279: 21,3511 53521 DXCH EDOTVEL
046012,000280: 21,3512 41502 CS T5TEMP
046013,000281: 21,3513 55523 TS ADBVEL # -(ADB+AF)
046014,000282: 21,3514 41517 CS AERR
046015,000283: 21,3515 55522 TS AERRVEL
046016,000284:
046017,000285: 21,3516 00006 J6. EXTEND
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Page 1031 |
046019,000287: 21,3517 61655 SU ADB
046020,000288: 21,3520 63430 AD WLH/SLOP
046021,000289: 21,3521 00006 EXTEND
046022,000290: 21,3522 63551 BZMF J8
046023,000291:
046024,000292: 21,3523 41502 CS T5TEMP # (ADB+AF)
046025,000293: 21,3524 61522 AD AERRVEL
046026,000294: 21,3525 00006 EXTEND
046027,000295: 21,3526 63530 BZMF +2
046028,000296: 21,3527 13542 TCF J7
046029,000297: 21,3530 00006 EXTEND
046030,000298: 21,3531 41521 DCS EDOTVEL
046031,000299: 21,3532 00006 EXTEND
046032,000300: 21,3533 11654 DV SLOPE
046033,000301: 21,3534 00006 EXTEND
046034,000302: 21,3535 61522 SU AERRVEL
046035,000303: 21,3536 61655 AD ADB
046036,000304: 21,3537 00006 EXTEND
046037,000305: 21,3540 63630 BZMF J18
046038,000306: 21,3541 13704 TCF J23
046039,000307:
046040,000308: 21,3542 43431 J7 CS WL-H/SLP
046041,000309: 21,3543 00006 EXTEND
046042,000310: 21,3544 61502 SU T5TEMP # (ADB+AF)
046043,000311: 21,3545 61522 AD AERRVEL
046044,000312: 21,3546 00006 EXTEND
046045,000313: 21,3547 63634 BZMF J20
046046,000314: 21,3550 13645 TCF J21
046047,000315:
046048,000316: 21,3551 00006 J8 EXTEND
046049,000317: 21,3552 43433 DCS WLH
046050,000318: 21,3553 53514 DXCH WTEMP
046051,000319: 21,3554 00006 EXTEND
046052,000320: 21,3555 31521 DCA EDOTVEL
046053,000321: 21,3556 21514 DAS WTEMP
046054,000322: 21,3557 11513 CCS WTEMP
046055,000323: 21,3560 13673 TCF J22
046056,000324: 21,3561 13563 TCF SIGNCK2
046057,000325: 21,3562 13567 TCF NJ22
046058,000326: 21,3563 11514 SIGNCK2 CCS WTEMP +1
046059,000327: 21,3564 13673 TCF J22
046060,000328: 21,3565 13673 TCF J22
046061,000329: 21,3566 13567 TCF NJ22
046062,000330:
046063,000331: 21,3567 00006 NJ22 EXTEND
046064,000332: 21,3570 31521 DCA EDOTVEL
046065,000333: 21,3571 00006 EXTEND
046066,000334: 21,3572 11654 DV SLOPE
046067,000335: 21,3573 61502 AD T5TEMP # (ADB+AF)
046068,000336: 21,3574 61522 AD AERRVEL
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Page 1032 |
046070,000338: 21,3575 10000 CCS A
046071,000339: 21,3576 13704 TCF J23
046072,000340: 21,3577 13704 TCF J23
046073,000341: 21,3600 13602 TCF +2
046074,000342: 21,3601 13704 TCF J23
046075,000343:
046076,000344: 21,3602 00006 EXTEND
046077,000345: 21,3603 43435 DCS WLMH # WL - H
046078,000346: 21,3604 53514 DXCH WTEMP
046079,000347: 21,3605 00006 EXTEND
046080,000348: 21,3606 31521 DCA EDOTVEL
046081,000349: 21,3607 21514 DAS WTEMP
046082,000350: 21,3610 11513 CCS WTEMP
046083,000351: 21,3611 13704 TCF J23
046084,000352: 21,3612 13614 TCF SIGNCK3
046085,000353: 21,3613 13620 TCF NJ23
046086,000354: 21,3614 11514 SIGNCK3 CCS WTEMP +1
046087,000355: 21,3615 13704 TCF J23
046088,000356: 21,3616 13704 TCF J23
046089,000357: 21,3617 13620 TCF NJ23
046090,000358:
046091,000359: 21,3620 31522 NJ23 CA AERRVEL
046092,000360: 21,3621 61502 AD T5TEMP # (ADB+AF)
046093,000361: 21,3622 63431 AD WL-H/SLP
046094,000362: 21,3623 10000 CCS A
046095,000363: 21,3624 13716 TCF J24
046096,000364: 21,3625 13716 TCF J24
046097,000365: 21,3626 13673 TCF J22
046098,000366: 21,3627 13673 TCF J22
046099,000367:
046100,000368: 21,3630 00006 J18 EXTEND
046101,000369: 21,3631 41516 DCS EDOT
046102,000370: 21,3632 53511 DXCH KMPAC
046103,000371: 21,3633 13727 TCF JTIME
046104,000372:
046105,000373: 21,3634 41517 J20 CS AERR
046106,000374: 21,3635 61523 AD ADBVEL
046107,000375: 21,3636 00006 EXTEND
046108,000376: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
046109,000377: 21,3640 53511 DXCH KMPAC
046110,000378: 21,3641 00006 EXTEND
046111,000379: 21,3642 41516 DCS EDOT
046112,000380: 21,3643 21511 DAS KMPAC
046113,000381: 21,3644 13727 TCF JTIME
046114,000382:
046115,000383: 21,3645 11515 J21 CCS EDOT
046116,000384: 21,3646 13664 TCF JP
046117,000385: 21,3647 13651 TCF SIGNCK4
046118,000386: 21,3650 13655 TCF JN
046119,000387: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033 |
046121,000389: 21,3652 13664 TCF JP
046122,000390: 21,3653 13664 TCF JP
046123,000391: 21,3654 13655 TCF JN
046124,000392: 21,3655 00006 JN EXTEND
046125,000393: 21,3656 41516 DCS EDOT
046126,000394: 21,3657 53511 DXCH KMPAC
046127,000395: 21,3660 00006 EXTEND
046128,000396: 21,3661 33437 DCA WL
046129,000397: 21,3662 21511 DAS KMPAC
046130,000398: 21,3663 13727 TCF JTIME
046131,000399:
046132,000400: 21,3664 00006 JP EXTEND
046133,000401: 21,3665 41516 DCS EDOT
046134,000402: 21,3666 53511 DXCH KMPAC
046135,000403: 21,3667 00006 EXTEND
046136,000404: 21,3670 43437 DCS WL
046137,000405: 21,3671 21511 DAS KMPAC
046138,000406: 21,3672 13727 TCF JTIME
046139,000407:
046140,000408: 21,3673 11515 J22 CCS EDOT
046141,000409: 21,3674 13655 TCF JN
046142,000410: 21,3675 13677 TCF SIGNCK5
046143,000411: 21,3676 13664 TCF JP
046144,000412: 21,3677 11516 SIGNCK5 CCS EDOT +1
046145,000413: 21,3700 13655 TCF JN
046146,000414: 21,3701 13655 TCF JN
046147,000415: 21,3702 13664 TCF JP
046148,000416: 21,3703 13664 TCF JP
046149,000417:
046150,000418: 21,3704 51506 J23 INDEX SPNDX
046151,000419: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
046152,000420: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
046153,000421: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
046154,000422: # BIT11 FOR YAW (SPNDX = 2)
046155,000423:
046156,000424: 21,3710 51506 INDEX SPNDX
046157,000425: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
046158,000426: 21,3712 71501 MASK RCSFLAGS # AXIS
046159,000427: 21,3713 00006 EXTEND
046160,000428: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
046161,000429:
046162,000430: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
046163,000431:
046164,000432: 21,3716 41517 J24 CS AERR
046165,000433: 21,3717 00006 EXTEND
046166,000434: 21,3720 61523 SU ADBVEL
046167,000435: 21,3721 00006 EXTEND
046168,000436: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
046169,000437: 21,3723 53511 DXCH KMPAC
046170,000438: 21,3724 00006 EXTEND
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Page 1034 |
046172,000440: 21,3725 41516 DCS EDOT
046173,000441: 21,3726 21511 DAS KMPAC
046174,000442:
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Page 1035 |
046176,000444: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
046177,000445:
046178,000446: # T = J/M(DELTA W)
046179,000447: # J
046180,000448:
046181,000449: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
046182,000450: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
046183,000451:
046184,000452: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
046185,000453: # (57.3/450)(B24/1600)(1/.8)
046186,000454: # FOR 1 JET OPERATION (M = 700 FT-LB).
046187,000455: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
046188,000456:
046189,000457: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
046190,000458: # KEYBOARD ENTRY ARE
046191,000459: # J/M (ROLL)
046192,000460: # J/M1 (PITCH)
046193,000461: # J/M2 (YAW)
046194,000462:
046195,000463: # T = JET ON-TIME SCALED 16384/1600 SEC
046196,000464: # J
046197,000465:
046198,000466: # THE COMPUTER VARIABLES ARE
046199,000467: # TAU (ROLL)
046200,000468: # TAU1 (PITCH)
046201,000469: # TAU2 (YAW)
046202,000470:
046203,000471: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
046204,000472: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
046205,000473: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
046206,000474: 21,3732 35005 CA BIT11
046207,000475: 21,3733 02042 TC SMALLMP
046208,000476: 21,3734 11510 CCS KMPAC
046209,000477: 21,3735 13741 TCF +4
046210,000478: 21,3736 13745 TCF TAUNORM
046211,000479: 21,3737 13743 TCF +4
046212,000480: 21,3740 13745 TCF TAUNORM
046213,000481: 21,3741 34777 CA POSMAX
046214,000482: 21,3742 13746 TCF DOJET
046215,000483: 21,3743 35001 CA NEGMAX
046216,000484: 21,3744 13746 TCF DOJET
046217,000485:
046218,000486: 21,3745 31511 TAUNORM CA KMPAC +1
046219,000487: 21,3746 51506 DOJET INDEX SPNDX
046220,000488: 21,3747 55561 TS TAU
046221,000489: 21,3750 11506 CCS SPNDX
046222,000490: 21,3751 13445 TCF JLOOP
046223,000491: 21,3752 13757 TCF T6PROG
046224,000492:
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Page 1036 |
046226,000494: 21,3753 35021 ZEROCMDS CAF ZERO
046227,000495: 21,3754 55561 TS TAU
046228,000496: 21,3755 55562 TS TAU1
046229,000497: 21,3756 55563 TS TAU2
046230,000498: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
046231,000499: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
046232,000500: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
046233,000501: 21,3762 15333 TCF RESUME
046234,000502:
046235,000503: 21,3763 E6,1510 EBANK= KMPAC
046236,000504: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
046237,000505:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc