Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

043242,000002:                                                                                                  ## Copyright:   Public domain.
043243,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
043244,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.  
043245,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
043246,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
043247,000007:                                                                                                  ## Assembler:   yaYUL
043248,000008:                                                                                                  ## Contact:     Onno Hommes <ohommes@alumni.cmu.edu>
043249,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043250,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
043251,000011:                                                                                                  ## Mod history: 2010-06-01 OH   Adapted from corresponding Colossus 249 file.
043252,000012:                                                                                                  ##              2010-12-04 JL   Remove Colossus 249 header comments. Change to double-has page numbers.
043253,000013:                                                                                                  ##              2011-02-11 JL   Minor fixes.
043254,000014:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
043255,000015:                                                                                                  ##                              and fixed errors found.
043256,000016: 

Page 993

043258,000018: 21,3234                                           BANK     21                                    
043259,000019: 21,2000                                           SETLOC   DAPS3                                 
043260,000020: 21,2000                                           BANK                                           
043261,000021: 
043262,000022: 21,3234                                           COUNT    21/DAPAM                              
043263,000023: 
043264,000024: 21,3234  E6,1510                                  EBANK=   KMPAC                                 
043265,000025: 21,3234           00006        AHFNOROT           EXTEND                                         
043266,000026: 21,3235           00031                           READ     CHAN31                                
043267,000027: 21,3236           74675                           MASK     BIT14                                 
043268,000028: 21,3237           00006                           EXTEND                                         
043269,000029: 21,3240           63256                           BZMF     FREECONT                              
043270,000030: 21,3241           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
043271,000031: 21,3242           74675                           MASK     BIT14                                 
043272,000032: 21,3243           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
043273,000033: 21,3244           12520                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
043274,000034:                                                                                                  #                                          AUTOMATIC CONTROL YET
043275,000035: 21,3245           00006                           EXTEND                                         
043276,000036: 21,3246           00031                           READ     CHAN31                                
043277,000037: 21,3247           74676                           MASK     BIT13                                 
043278,000038: 21,3250           00006                           EXTEND                                         
043279,000039: 21,3251           63356                           BZMF     HOLDFUNC                              
043280,000040: 
043281,000041: 
043282,000042: 21,3252           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
043283,000043: 21,3253           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
043284,000044: 21,3254           63306                           BZMF     ATTHOLD                               
043285,000045: 21,3255           13362                           TCF      GRABANG                               
043286,000046: 
043287,000047:                                                                                                  #          MINIMUM IMPULSE CONTROL
043288,000048: 
043289,000049: 21,3256           34712        FREECONT           CAF      ONE                                   
043290,000050: 21,3257           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
043291,000051:                                                                                                  #                                          INHIBIT AUTOMATIC STEERING
043292,000052: 21,3260           00006                           EXTEND                                         
043293,000053: 21,3261           00032                           READ     CHAN32                                
043294,000054: 21,3262           54001                           TS       L                                     
043295,000055: 21,3263           40000                           COM                                            
043296,000056: 21,3264           73022                           MASK     MANROT                                
043297,000057: 21,3265           71633                           MASK     CHANTEMP                              
043298,000058: 21,3266           23633                           LXCH     CHANTEMP                              
043299,000059: 21,3267           03114                           TC       STICKCHK                              
043300,000060: 21,3270           51656                           INDEX    RMANNDX                               
043301,000061: 21,3271           33302                           CA       MINTAU                                #  MINTAU  +0
043302,000062: 21,3272           55561                           TS       TAU                                   #             +1   +14MS MINIMUM IMPULSE
043303,000063: 21,3273           51657                           INDEX    PMANNDX                               #             +2   -14MS TIME
043304,000064: 21,3274           33302                           CA       MINTAU                                #             +3   +0
043305,000065: 21,3275           55562                           TS       TAU1                                  
043306,000066: 21,3276           51660                           INDEX    YMANNDX                               
043307,000067: 21,3277           33302                           CA       MINTAU                                

Page 994

043309,000069: 21,3300           55563                           TS       TAU2                                  
043310,000070: 21,3301           13053                           TCF      T6PROGM                               
043311,000071: 
043312,000072: 
043313,000073: 21,3302           00000        MINTAU             DEC      0          B-14                       
043314,000074: 21,3303           00027                           DEC      23         B-14                       #  = 14MS
043315,000075: 21,3304           77750                           DEC      -23        B-14                       #  = -14MS
043316,000076: 21,3305           00000                           DEC      0          B-14                       
043317,000077: 

Page 995

043319,000079:                                                                                                  #        CALCULATION OF ATTITUDE ERRORS-
043320,000080: 
043321,000081:                                                                                                  #           -    *     -      -          -
043322,000082:                                                                                                  #           AK = AMGB (CDUX - THETADX) + BIAS
043323,000083: 
043324,000084:                                                                                                  #  IE       *AK *   * 1   SIN(PSI)            0     ** CDUX - THETADX *    *BIAS *
043325,000085:                                                                                                  #           *   *   *                               **                *    *     *
043326,000086:                                                                                                  #           *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
043327,000087:                                                                                                  #           *   *   *                               **                *    *     *
043328,000088:                                                                                                  #           *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
043329,000089: 
043330,000090: 
043331,000091:                                                                                                  #        THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
043332,000092:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
043333,000093:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
043334,000094:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
043335,000095: 
043336,000096: 21,3306           30032        ATTHOLD            CA       CDUX                                  
043337,000097: 21,3307           00006                           EXTEND                                         
043338,000098: 21,3310           21572                           MSU      THETADX                               
043339,000099: 21,3311           55567                           TS       ERRORX                                
043340,000100: 21,3312           30033                           CA       CDUY                                  
043341,000101: 21,3313           00006                           EXTEND                                         
043342,000102: 21,3314           21573                           MSU      THETADY                               
043343,000103: 21,3315           55502                           TS       T5TEMP                                
043344,000104: 21,3316           00006                           EXTEND                                         
043345,000105: 21,3317           71640                           MP       AMGB1                                 
043346,000106: 21,3320           27567                           ADS      ERRORX                                
043347,000107: 21,3321           31502                           CA       T5TEMP                                
043348,000108: 21,3322           00006                           EXTEND                                         
043349,000109: 21,3323           71641                           MP       AMGB4                                 
043350,000110: 21,3324           55570                           TS       ERRORY                                
043351,000111: 21,3325           31502                           CA       T5TEMP                                
043352,000112: 21,3326           00006                           EXTEND                                         
043353,000113: 21,3327           71643                           MP       AMGB7                                 
043354,000114: 21,3330           55571                           TS       ERRORZ                                
043355,000115: 21,3331           30034                           CA       CDUZ                                  
043356,000116: 21,3332           00006                           EXTEND                                         
043357,000117: 21,3333           21574                           MSU      THETADZ                               
043358,000118: 21,3334           55502                           TS       T5TEMP                                
043359,000119: 21,3335           00006                           EXTEND                                         
043360,000120: 21,3336           71642                           MP       AMGB5                                 
043361,000121: 21,3337           27570                           ADS      ERRORY                                
043362,000122: 21,3340           31502                           CA       T5TEMP                                
043363,000123: 21,3341           00006                           EXTEND                                         
043364,000124: 21,3342           71644                           MP       AMGB8                                 
043365,000125: 21,3343           27571                           ADS      ERRORZ                                
043366,000126: 21,3344           41332                           CS       HOLDFLAG                              
043367,000127: 21,3345           00006                           EXTEND                                         

Page 996

043369,000129: 21,3346           63425                           BZMF     JETS                                  
043370,000130: 21,3347           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
043371,000131: 21,3350           27567                           ADS      ERRORX                                
043372,000132: 21,3351           31565                           CA       BIAS1                                 
043373,000133: 21,3352           27570                           ADS      ERRORY                                
043374,000134: 21,3353           31566                           CA       BIAS2                                 
043375,000135: 21,3354           27571                           ADS      ERRORZ                                
043376,000136: 21,3355           13425                           TCF      JETS                                  
043377,000137: 
043378,000138: 
043379,000139: 21,3356           11332        HOLDFUNC           CCS      HOLDFLAG                              
043380,000140: 21,3357           13362                           TCF      +3                                    
043381,000141: 21,3360           13306                           TCF      ATTHOLD                               
043382,000142: 21,3361           13362                           TCF      +1                                    
043383,000143: 21,3362           34714        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
043384,000144: 21,3363           55525                           TS       WBODY                                 
043385,000145: 21,3364           55526                           TS       WBODY      +1                         
043386,000146: 21,3365           55527                           TS       WBODY1                                
043387,000147: 21,3366           55530                           TS       WBODY1     +1                         
043388,000148: 21,3367           55531                           TS       WBODY2                                
043389,000149: 21,3370           55532                           TS       WBODY2     +1                         
043390,000150: 21,3371           55564                           TS       BIAS                                  
043391,000151: 21,3372           55565                           TS       BIAS1                                 
043392,000152: 21,3373           55566                           TS       BIAS2                                 
043393,000153: 
043394,000154: 21,3374           31501                           CA       RCSFLAGS                              
043395,000155: 21,3375           73023                           MASK     OCT16000                              
043396,000156: 21,3376           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043397,000157: 21,3377           13405                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
043398,000158: 21,3400           34714                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
043399,000159: 21,3401           55567                           TS       ERRORX                                
043400,000160: 21,3402           55570                           TS       ERRORY                                
043401,000161: 21,3403           55571                           TS       ERRORZ                                
043402,000162: 21,3404           13425                           TCF      JETS                                  
043403,000163: 
043404,000164: 21,3405           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
043405,000165: 21,3406           00006                           EXTEND                                         
043406,000166: 21,3407           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
043407,000167: 21,3410           53573                           DXCH     THETADX                               #  REFERENCES
043408,000168: 21,3411           30034                           CA       CDUZ                                  
043409,000169: 21,3412           55574                           TS       THETADZ                               
043410,000170: 21,3413           13306                           TCF      ATTHOLD                               
043411,000171: 

Page 997

043413,000173:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
043414,000174: 
043415,000175:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
043416,000176:                                                                                                  #  PLANE.
043417,000177:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
043418,000178:                                                                                                  #  APPROPRIATE DEADZONE.
043419,000179: 
043420,000180: 
043421,000181:                                                                                                  #                                      .
043422,000182:                                                                                                  #    R22                          RATE . ERROR
043423,000183:                                                                                                  #         WL+H                         .
043424,000184:                                                                                                  #  *********************************   .                                   ***** SWITCH LINES ENCLOSING DEADZONES
043425,000185:                                                                                                  #    R23  WL                        *  .
043426,000186:                                                                                                  #  --------------------------------- * .                                   ----- DESIRED RATE LINES
043427,000187:                                                                                                  #    R23  WL-H       -                *.
043428,000188:                                                                                                  #  ****************** -                .                                   R20, R21, R22, ETC  REGIONS IN PHASE
043429,000189:                                                                                                  #                    * -               .* R18      R20       R21           PLANE FOF COMPUTING DESIRED RESPONSE
043430,000190:                                                                                                  #                     *                . *
043431,000191:                                                                                                  #                      *-              .  *
043432,000192:                                                                                                  #    R22             R24*-     R23     .   *
043433,000193:                                                                                                  #                        *-            .    *
043434,000194:                                                                                                  #                         *            .     *
043435,000195:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
043436,000196:                                                                                                  #  .........................+--+---------------+--+........................
043437,000197:                                                                                                  #                            AF *      .     +ADB  +             ERROR
043438,000198:                                                                                                  #                                *     .            *
043439,000199:                                                                                                  #                                 *    .            -*
043440,000200:                                                                                                  #                                  *   .             -*
043441,000201:                                                                                                  #                                   *  .              -*
043442,000202:                                                                                                  #                                    * .                *
043443,000203:                                                                                                  #                                     *.               - *
043444,000204:                                                                                                  #                                      .                - *****************
043445,000205:                                                                                                  #                                      .*                -
043446,000206:                                                                                                  #                                      . * --------------------------------
043447,000207:                                                                                                  #                                      .  *
043448,000208:                                                                                                  #                                      .   ********************************
043449,000209:                                                                                                  #                                      .
043450,000210: 
043451,000211:                                                                                                  #                      FIG. 1   PHASE PLANE SWITCHING LOGIC
043452,000212: 
043453,000213: 
043454,000214:                                                                                                  #          CONSTANTS FOR JET SWITCHING LOGIC
043455,000215: 
043456,000216: 21,3414           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG       $180
043457,000217: 21,3415           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG           $180
043458,000218: 21,3416           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC            $450
043459,000219: 21,3420           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC            $450
043460,000220: 21,3422           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC            $450
043461,000221: 

Page 998

043463,000223: 21,3424           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG               $450/180
043464,000224: 21,3425           31655        JETS               CA       ADB                                   
043465,000225: 21,3426           64710                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
043466,000226: 21,3427           55502                           TS       T5TEMP                                #  ADB+AF
043467,000227: 21,3430           34711                           CAF      TWO                                   
043468,000228: 21,3431           55506        JLOOP              TS       SPNDX                                 
043469,000229: 21,3432           60000                           DOUBLE                                         
043470,000230: 21,3433           55507                           TS       DPNDX                                 
043471,000231: 21,3434           00006                           EXTEND                                         
043472,000232: 21,3435           50000                           INDEX    A                                     
043473,000233: 21,3436           31534                           DCA      ADOT                                  
043474,000234: 21,3437           53516                           DXCH     EDOT                                  
043475,000235: 21,3440           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
043476,000236: 21,3441           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
043477,000237: 21,3442           13447                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
043478,000238:                                                                                                  #                                          OF WBODY AND GO TO INHOLD
043479,000239: 21,3443           00006                           EXTEND                                         
043480,000240: 21,3444           51507                           INDEX    DPNDX                                 
043481,000241: 21,3445           41526                           DCS      WBODY                                 
043482,000242: 21,3446           21516                           DAS      EDOT                                  #  = ADOT-WBODY
043483,000243: 21,3447           51506        INHOLD             INDEX    SPNDX                                 
043484,000244: 21,3450           31567                           CA       ERRORX                                
043485,000245: 21,3451           55517                           TS       AERR                                  #  AERR = BIAS + AK
043486,000246: 
043487,000247: 21,3452           11515                           CCS      EDOT                                  
043488,000248: 21,3453           13463                           TCF      POSVEL                                
043489,000249: 21,3454           13456                           TCF      SIGNCK1                               
043490,000250: 21,3455           13473                           TCF      NEGVEL                                
043491,000251: 21,3456           11516        SIGNCK1            CCS      EDOT       +1                         
043492,000252: 21,3457           13463                           TCF      POSVEL                                
043493,000253: 21,3460           13463                           TCF      POSVEL                                
043494,000254: 21,3461           13473                           TCF      NEGVEL                                
043495,000255: 21,3462           13473                           TCF      NEGVEL                                
043496,000256: 21,3463           00006        POSVEL             EXTEND                                         
043497,000257: 21,3464           31516                           DCA      EDOT                                  
043498,000258: 21,3465           53521                           DXCH     EDOTVEL                               
043499,000259: 21,3466           31502                           CA       T5TEMP                                
043500,000260: 21,3467           55523                           TS       ADBVEL                                #  +(ADB+AF)
043501,000261: 21,3470           31517                           CA       AERR                                  
043502,000262: 21,3471           55522                           TS       AERRVEL                               
043503,000263: 21,3472           03502                           TC       J6.                                   
043504,000264: 21,3473           00006        NEGVEL             EXTEND                                         
043505,000265: 21,3474           41516                           DCS      EDOT                                  
043506,000266: 21,3475           53521                           DXCH     EDOTVEL                               
043507,000267: 21,3476           41502                           CS       T5TEMP                                
043508,000268: 21,3477           55523                           TS       ADBVEL                                #  -(ADB+AF)
043509,000269: 21,3500           41517                           CS       AERR                                  
043510,000270: 21,3501           55522                           TS       AERRVEL                               
043511,000271: 
043512,000272: 21,3502           00006        J6.                EXTEND                                         

Page 999

043514,000274: 21,3503           61655                           SU       ADB                                   
043515,000275: 21,3504           63414                           AD       WLH/SLOP                              
043516,000276: 21,3505           00006                           EXTEND                                         
043517,000277: 21,3506           63535                           BZMF     J8                                    
043518,000278: 
043519,000279: 21,3507           41502                           CS       T5TEMP                                #  (ADB+AF)
043520,000280: 21,3510           61522                           AD       AERRVEL                               
043521,000281: 21,3511           00006                           EXTEND                                         
043522,000282: 21,3512           63514                           BZMF     +2                                    
043523,000283: 21,3513           13526                           TCF      J7                                    
043524,000284: 21,3514           00006                           EXTEND                                         
043525,000285: 21,3515           41521                           DCS      EDOTVEL                               
043526,000286: 21,3516           00006                           EXTEND                                         
043527,000287: 21,3517           11654                           DV       SLOPE                                 
043528,000288: 21,3520           00006                           EXTEND                                         
043529,000289: 21,3521           61522                           SU       AERRVEL                               
043530,000290: 21,3522           61655                           AD       ADB                                   
043531,000291: 21,3523           00006                           EXTEND                                         
043532,000292: 21,3524           63614                           BZMF     J18                                   
043533,000293: 21,3525           13670                           TCF      J23                                   
043534,000294: 
043535,000295: 21,3526           43415        J7                 CS       WL-H/SLP                              
043536,000296: 21,3527           00006                           EXTEND                                         
043537,000297: 21,3530           61502                           SU       T5TEMP                                #  (ADB+AF)
043538,000298: 21,3531           61522                           AD       AERRVEL                               
043539,000299: 21,3532           00006                           EXTEND                                         
043540,000300: 21,3533           63620                           BZMF     J20                                   
043541,000301: 21,3534           13631                           TCF      J21                                   
043542,000302: 
043543,000303: 21,3535           00006        J8                 EXTEND                                         
043544,000304: 21,3536           43417                           DCS      WLH                                   
043545,000305: 21,3537           53514                           DXCH     WTEMP                                 
043546,000306: 21,3540           00006                           EXTEND                                         
043547,000307: 21,3541           31521                           DCA      EDOTVEL                               
043548,000308: 21,3542           21514                           DAS      WTEMP                                 
043549,000309: 21,3543           11513                           CCS      WTEMP                                 
043550,000310: 21,3544           13657                           TCF      J22                                   
043551,000311: 21,3545           13547                           TCF      SIGNCK2                               
043552,000312: 21,3546           13553                           TCF      NJ22                                  
043553,000313: 21,3547           11514        SIGNCK2            CCS      WTEMP      +1                         
043554,000314: 21,3550           13657                           TCF      J22                                   
043555,000315: 21,3551           13657                           TCF      J22                                   
043556,000316: 21,3552           13553                           TCF      NJ22                                  
043557,000317: 
043558,000318: 21,3553           00006        NJ22               EXTEND                                         
043559,000319: 21,3554           31521                           DCA      EDOTVEL                               
043560,000320: 21,3555           00006                           EXTEND                                         
043561,000321: 21,3556           11654                           DV       SLOPE                                 
043562,000322: 21,3557           61502                           AD       T5TEMP                                #  (ADB+AF)
043563,000323: 21,3560           61522                           AD       AERRVEL                               

Page 1000

043565,000325: 21,3561           10000                           CCS      A                                     
043566,000326: 21,3562           13670                           TCF      J23                                   
043567,000327: 21,3563           13670                           TCF      J23                                   
043568,000328: 21,3564           13566                           TCF      +2                                    
043569,000329: 21,3565           13670                           TCF      J23                                   
043570,000330: 
043571,000331: 21,3566           00006                           EXTEND                                         
043572,000332: 21,3567           43421                           DCS      WLMH                                  #  WL - H
043573,000333: 21,3570           53514                           DXCH     WTEMP                                 
043574,000334: 21,3571           00006                           EXTEND                                         
043575,000335: 21,3572           31521                           DCA      EDOTVEL                               
043576,000336: 21,3573           21514                           DAS      WTEMP                                 
043577,000337: 21,3574           11513                           CCS      WTEMP                                 
043578,000338: 21,3575           13670                           TCF      J23                                   
043579,000339: 21,3576           13600                           TCF      SIGNCK3                               
043580,000340: 21,3577           13604                           TCF      NJ23                                  
043581,000341: 21,3600           11514        SIGNCK3            CCS      WTEMP      +1                         
043582,000342: 21,3601           13670                           TCF      J23                                   
043583,000343: 21,3602           13670                           TCF      J23                                   
043584,000344: 21,3603           13604                           TCF      NJ23                                  
043585,000345: 
043586,000346: 21,3604           31522        NJ23               CA       AERRVEL                               
043587,000347: 21,3605           61502                           AD       T5TEMP                                #  (ADB+AF)
043588,000348: 21,3606           63415                           AD       WL-H/SLP                              
043589,000349: 21,3607           10000                           CCS      A                                     
043590,000350: 21,3610           13702                           TCF      J24                                   
043591,000351: 21,3611           13702                           TCF      J24                                   
043592,000352: 21,3612           13657                           TCF      J22                                   
043593,000353: 21,3613           13657                           TCF      J22                                   
043594,000354: 
043595,000355: 21,3614           00006        J18                EXTEND                                         
043596,000356: 21,3615           41516                           DCS      EDOT                                  
043597,000357: 21,3616           53511                           DXCH     KMPAC                                 
043598,000358: 21,3617           13713                           TCF      JTIME                                 
043599,000359: 
043600,000360: 21,3620           41517        J20                CS       AERR                                  
043601,000361: 21,3621           61523                           AD       ADBVEL                                
043602,000362: 21,3622           00006                           EXTEND                                         
043603,000363: 21,3623           73424                           MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043604,000364: 21,3624           53511                           DXCH     KMPAC                                 
043605,000365: 21,3625           00006                           EXTEND                                         
043606,000366: 21,3626           41516                           DCS      EDOT                                  
043607,000367: 21,3627           21511                           DAS      KMPAC                                 
043608,000368: 21,3630           13713                           TCF      JTIME                                 
043609,000369: 
043610,000370: 21,3631           11515        J21                CCS      EDOT                                  
043611,000371: 21,3632           13650                           TCF      JP                                    
043612,000372: 21,3633           13635                           TCF      SIGNCK4                               
043613,000373: 21,3634           13641                           TCF      JN                                    
043614,000374: 21,3635           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1001

043616,000376: 21,3636           13650                           TCF      JP                                    
043617,000377: 21,3637           13650                           TCF      JP                                    
043618,000378: 21,3640           13641                           TCF      JN                                    
043619,000379: 21,3641           00006        JN                 EXTEND                                         
043620,000380: 21,3642           41516                           DCS      EDOT                                  
043621,000381: 21,3643           53511                           DXCH     KMPAC                                 
043622,000382: 21,3644           00006                           EXTEND                                         
043623,000383: 21,3645           33423                           DCA      WL                                    
043624,000384: 21,3646           21511                           DAS      KMPAC                                 
043625,000385: 21,3647           13713                           TCF      JTIME                                 
043626,000386: 
043627,000387: 21,3650           00006        JP                 EXTEND                                         
043628,000388: 21,3651           41516                           DCS      EDOT                                  
043629,000389: 21,3652           53511                           DXCH     KMPAC                                 
043630,000390: 21,3653           00006                           EXTEND                                         
043631,000391: 21,3654           43423                           DCS      WL                                    
043632,000392: 21,3655           21511                           DAS      KMPAC                                 
043633,000393: 21,3656           13713                           TCF      JTIME                                 
043634,000394: 
043635,000395: 21,3657           11515        J22                CCS      EDOT                                  
043636,000396: 21,3660           13641                           TCF      JN                                    
043637,000397: 21,3661           13663                           TCF      SIGNCK5                               
043638,000398: 21,3662           13650                           TCF      JP                                    
043639,000399: 21,3663           11516        SIGNCK5            CCS      EDOT       +1                         
043640,000400: 21,3664           13641                           TCF      JN                                    
043641,000401: 21,3665           13641                           TCF      JN                                    
043642,000402: 21,3666           13650                           TCF      JP                                    
043643,000403: 21,3667           13650                           TCF      JP                                    
043644,000404: 
043645,000405: 21,3670           51506        J23                INDEX    SPNDX                                 
043646,000406: 21,3671           44676                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
043647,000407: 21,3672           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
043648,000408: 21,3673           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
043649,000409:                                                                                                  #                                          BIT11 FOR YAW   (SPNDX = 2)
043650,000410: 
043651,000411: 21,3674           51506                           INDEX    SPNDX                                 
043652,000412: 21,3675           33017                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
043653,000413: 21,3676           71501                           MASK     RCSFLAGS                              #  AXIS
043654,000414: 21,3677           00006                           EXTEND                                         
043655,000415: 21,3700           13734                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
043656,000416: 
043657,000417: 21,3701           13614                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
043658,000418: 
043659,000419: 21,3702           41517        J24                CS       AERR                                  
043660,000420: 21,3703           00006                           EXTEND                                         
043661,000421: 21,3704           61523                           SU       ADBVEL                                
043662,000422: 21,3705           00006                           EXTEND                                         
043663,000423: 21,3706           73424                           MP       SLOPE2                                #   (HYSTERESIS SLOPE)
043664,000424: 21,3707           53511                           DXCH     KMPAC                                 
043665,000425: 21,3710           00006                           EXTEND                                         

Page 1002

043667,000427: 21,3711           41516                           DCS      EDOT                                  
043668,000428: 21,3712           21511                           DAS      KMPAC                                 
043669,000429: 

Page 1003

043671,000431:                                                                                                  #       COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
043672,000432: 
043673,000433:                                                                                                  #           T  = J/M(DELTA W)
043674,000434:                                                                                                  #            J
043675,000435: 
043676,000436:                                                                                                  #     DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
043677,000437:                                                                                                  #               SWITCHING LOGIC,  AT THIS POINT STORED IN KMPAC.
043678,000438: 
043679,000439:                                                                                                  #         J/M = S/C INERTIA TO TORQUE 9ATIO  SCALED BY
043680,000440:                                                                                                  #                 (57.3/450)(B24/1600)(1/.8)
043681,000441:                                                                                                  #               FOR 1 JET OPERATION  (M = 700 FT-LB).
043682,000442:                                                                                                  #               IE  J/M = J(SLUG-FTFT) X 0.00000085601606
043683,000443: 
043684,000444:                                                                                                  #               THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
043685,000445:                                                                                                  #               KEYBOARD ENTRY ARE
043686,000446:                                                                                                  #                  J/M (ROLL)
043687,000447:                                                                                                  #                  J/M1 (PITCH)
043688,000448:                                                                                                  #                  J/M2 (YAW)
043689,000449: 
043690,000450:                                                                                                  #          T  = JET ON-TIME     SCALED 16384/1600 SEC
043691,000451:                                                                                                  #           J
043692,000452: 
043693,000453:                                                                                                  #               THE COMPUTER VARIABLES ARE
043694,000454:                                                                                                  #                  TAU  (ROLL)
043695,000455:                                                                                                  #                  TAU1 (PITCH)
043696,000456:                                                                                                  #                  TAU2 (YAW)
043697,000457: 
043698,000458: 
043699,000459: 21,3713           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
043700,000460: 21,3714           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
043701,000461: 21,3715           02026                           TC       SMALLMP                               #  FOR 1-JET OPERATION
043702,000462: 21,3716           34700                           CA       BIT11                                 
043703,000463: 21,3717           02026                           TC       SMALLMP                               
043704,000464: 21,3720           11510                           CCS      KMPAC                                 
043705,000465: 21,3721           13725                           TCF      +4                                    
043706,000466: 21,3722           13731                           TCF      TAUNORM                               
043707,000467: 21,3723           13727                           TCF      +4                                    
043708,000468: 21,3724           13731                           TCF      TAUNORM                               
043709,000469: 21,3725           34672                           CA       POSMAX                                
043710,000470: 21,3726           13732                           TCF      DOJET                                 
043711,000471: 21,3727           34674                           CA       NEGMAX                                
043712,000472: 21,3730           13732                           TCF      DOJET                                 
043713,000473: 
043714,000474: 21,3731           31511        TAUNORM            CA       KMPAC      +1                         
043715,000475: 21,3732           51506        DOJET              INDEX    SPNDX                                 
043716,000476: 21,3733           55561                           TS       TAU                                   
043717,000477: 21,3734           11506                           CCS      SPNDX                                 
043718,000478: 21,3735           13431                           TCF      JLOOP                                 
043719,000479: 21,3736           13743                           TCF      T6PROG                                
043720,000480: 

Page 1004

043722,000482: 21,3737           34714        ZEROCMDS           CAF      ZERO                                  
043723,000483: 21,3740           55561                           TS       TAU                                   
043724,000484: 21,3741           55562                           TS       TAU1                                  
043725,000485: 21,3742           55563                           TS       TAU2                                  
043726,000486: 21,3743           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
043727,000487: 21,3744           33750                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
043728,000488: 21,3745           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
043729,000489: 21,3746           15222                           TCF      RESUME                                
043730,000490: 
043731,000491: 21,3747  E6,1510                                  EBANK=   KMPAC                                 
043732,000492: 21,3747           02601 36066  JETADDR            2CADR    JETSLECT                              

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