Source Code

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 A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin.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. 28,1968
Note 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: 

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                                

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: 

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                                         

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: 

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: 

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                                         

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                               

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                         

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                                         

Page 1005

045003,000443: 21,3711           41516                           DCS      EDOT                                  
045004,000444: 21,3712           21511                           DAS      KMPAC                                 
045005,000445: 

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: 

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