Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
044544,000002: ## Copyright: Public domain.
044545,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044546,000004: ## Purpose: Part of the source code for Colossus, build 249.
044547,000005: ## It is part of the source code for the Command Module's (CM)
044548,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
044549,000007: ## Assembler: yaYUL
044550,000008: ## Reference: Starts on p. 996
044551,000009: ## Contact: Ron Burkey <info@sandroid.org>.
044552,000010: ## Website: www.ibiblio.org/apollo.
044553,000011: ## Mod history: 08/25/04 RSB. Began transcribing.
044554,000012: ## 2017-01-06 RSB Page numbers now agree with those on the
044555,000013: ## original harcopy, as opposed to the PDF page
044556,000014: ## numbers in 1701.pdf.
044557,000015: ## 2017-01-07 RSB Cross-diff'd comment text (not whitespace)
044558,000016: ## vs the already-proofed corresponding Colossus
044559,000017: ## 237 and Comanche 55 source-code files
044560,000018: ## and corrected errors found.
044561,000019: ##
044562,000020: ## The contents of the "Colossus249" files, in general, are transcribed
044563,000021: ## from a scanned copy of the program listing. Notations on this
044564,000022: ## document read, in part:
044565,000023: ##
044566,000024: ## Assemble revision 249 of AGC program Colossus by NASA
044567,000025: ## 2021111-041. October 28, 1968.
044568,000026: ##
044569,000027: ## This AGC program shall also be referred to as
044570,000028: ## Colossus 1A
044571,000029: ##
044572,000030: ## Prepared by
044573,000031: ## Massachusetts Institute of Technology
044574,000032: ## 75 Cambridge Parkway
044575,000033: ## Cambridge, Massachusetts
044576,000034: ## under NASA contract NAS 9-4065.
044577,000035: ##
044578,000036: ## Refer directly to the online document mentioned above for further information.
044579,000037: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
044580,000038: ##
044581,000039: ## In some cases, where the source code for Luminary 131 overlaps that of
044582,000040: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
044583,000041: ## source file, and then is proofed to incorporate any changes.
044584,000042:
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Page 996 |
044586,000044: 21,3234 BANK 21
044587,000045: 21,2000 SETLOC DAPS3
044588,000046: 21,2000 BANK
044589,000047:
044590,000048: 21,3234 COUNT 21/DAPAM
044591,000049:
044592,000050: 21,3234 E6,1510 EBANK= KMPAC
044593,000051: 21,3234 00006 AHFNOROT EXTEND
044594,000052: 21,3235 00031 READ CHAN31
044595,000053: 21,3236 74675 MASK BIT14
044596,000054: 21,3237 00006 EXTEND
044597,000055: 21,3240 63256 BZMF FREECONT
044598,000056: 21,3241 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044599,000057: 21,3242 74675 MASK BIT14
044600,000058: 21,3243 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044601,000059: 21,3244 12520 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044602,000060: # AUTOMATIC CONTROL YET
044603,000061: 21,3245 00006 EXTEND
044604,000062: 21,3246 00031 READ CHAN31
044605,000063: 21,3247 74676 MASK BIT13
044606,000064: 21,3250 00006 EXTEND
044607,000065: 21,3251 63356 BZMF HOLDFUNC
044608,000066: 21,3252 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044609,000067: 21,3253 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044610,000068: 21,3254 63306 BZMF ATTHOLD
044611,000069: 21,3255 13362 TCF GRABANG
044612,000070:
044613,000071: # MINIMUM IMPULSE CONTROL
044614,000072:
044615,000073: 21,3256 34712 FREECONT CAF ONE
044616,000074: 21,3257 55332 TS HOLDFLAG # RESET HOLDFLAG
044617,000075: # INHIBIT AUTOMATIC STEERING
044618,000076: 21,3260 00006 EXTEND
044619,000077: 21,3261 00032 READ CHAN32
044620,000078: 21,3262 54001 TS L
044621,000079: 21,3263 40000 COM
044622,000080: 21,3264 73022 MASK MANROT
044623,000081: 21,3265 71633 MASK CHANTEMP
044624,000082: 21,3266 23633 LXCH CHANTEMP
044625,000083: 21,3267 03114 TC STICKCHK
044626,000084: 21,3270 51656 INDEX RMANNDX
044627,000085: 21,3271 33302 CA MINTAU # MINTAU +0
044628,000086: 21,3272 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044629,000087: 21,3273 51657 INDEX PMANNDX # +2 -14MS TIME
044630,000088: 21,3274 33302 CA MINTAU # +3 +0
044631,000089: 21,3275 55562 TS TAU1
044632,000090: 21,3276 51660 INDEX YMANNDX
044633,000091: 21,3277 33302 CA MINTAU
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Page 997 |
044635,000093: 21,3300 55563 TS TAU2
044636,000094: 21,3301 13053 TCF T6PROGM
044637,000095: 21,3302 00000 MINTAU DEC 0 B-14
044638,000096: 21,3303 00027 DEC 23 B-14 # = 14MS
044639,000097: 21,3304 77750 DEC -23 B-14 # = -14MS
044640,000098: 21,3305 00000 DEC 0 B-14
044641,000099:
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Page 998 |
044643,000101: # CALCULATION OF ATTITUDE ERRORS-
044644,000102: # - * - - -
044645,000103: # AK = AMGB (CDUX - THETADX) + BIAS
044646,000104:
044647,000105: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044648,000106: # * * * ** * * *
044649,000107: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044650,000108: # * * * ** * * *
044651,000109: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044652,000110:
044653,000111: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044654,000112: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044655,000113: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044656,000114: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044657,000115:
044658,000116: 21,3306 30032 ATTHOLD CA CDUX
044659,000117: 21,3307 00006 EXTEND
044660,000118: 21,3310 21572 MSU THETADX
044661,000119: 21,3311 55567 TS ERRORX
044662,000120: 21,3312 30033 CA CDUY
044663,000121: 21,3313 00006 EXTEND
044664,000122: 21,3314 21573 MSU THETADY
044665,000123: 21,3315 55502 TS T5TEMP
044666,000124: 21,3316 00006 EXTEND
044667,000125: 21,3317 71640 MP AMGB1
044668,000126: 21,3320 27567 ADS ERRORX
044669,000127: 21,3321 31502 CA T5TEMP
044670,000128: 21,3322 00006 EXTEND
044671,000129: 21,3323 71641 MP AMGB4
044672,000130: 21,3324 55570 TS ERRORY
044673,000131: 21,3325 31502 CA T5TEMP
044674,000132: 21,3326 00006 EXTEND
044675,000133: 21,3327 71643 MP AMGB7
044676,000134: 21,3330 55571 TS ERRORZ
044677,000135: 21,3331 30034 CA CDUZ
044678,000136: 21,3332 00006 EXTEND
044679,000137: 21,3333 21574 MSU THETADZ
044680,000138: 21,3334 55502 TS T5TEMP
044681,000139: 21,3335 00006 EXTEND
044682,000140: 21,3336 71642 MP AMGB5
044683,000141: 21,3337 27570 ADS ERRORY
044684,000142: 21,3340 31502 CA T5TEMP
044685,000143: 21,3341 00006 EXTEND
044686,000144: 21,3342 71644 MP AMGB8
044687,000145: 21,3343 27571 ADS ERRORZ
044688,000146: 21,3344 41332 CS HOLDFLAG
044689,000147: 21,3345 00006 EXTEND
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Page 999 |
044691,000149: 21,3346 63425 BZMF JETS
044692,000150: 21,3347 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044693,000151: 21,3350 27567 ADS ERRORX
044694,000152: 21,3351 31565 CA BIAS1
044695,000153: 21,3352 27570 ADS ERRORY
044696,000154: 21,3353 31566 CA BIAS2
044697,000155: 21,3354 27571 ADS ERRORZ
044698,000156: 21,3355 13425 TCF JETS
044699,000157: 21,3356 11332 HOLDFUNC CCS HOLDFLAG
044700,000158: 21,3357 13362 TCF +3
044701,000159: 21,3360 13306 TCF ATTHOLD
044702,000160: 21,3361 13362 TCF +1
044703,000161: 21,3362 34714 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044704,000162: 21,3363 55525 TS WBODY
044705,000163: 21,3364 55526 TS WBODY +1
044706,000164: 21,3365 55527 TS WBODY1
044707,000165: 21,3366 55530 TS WBODY1 +1
044708,000166: 21,3367 55531 TS WBODY2
044709,000167: 21,3370 55532 TS WBODY2 +1
044710,000168: 21,3371 55564 TS BIAS
044711,000169: 21,3372 55565 TS BIAS1
044712,000170: 21,3373 55566 TS BIAS2
044713,000171:
044714,000172: 21,3374 31501 CA RCSFLAGS
044715,000173: 21,3375 73023 MASK OCT16000
044716,000174: 21,3376 00006 EXTEND # IS RATE DAMPING COMPLETED
044717,000175: 21,3377 13405 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044718,000176: 21,3400 34714 CAF ZERO # OTHERWISE, ZERO ERRORS
044719,000177: 21,3401 55567 TS ERRORX
044720,000178: 21,3402 55570 TS ERRORY
044721,000179: 21,3403 55571 TS ERRORZ
044722,000180: 21,3404 13425 TCF JETS
044723,000181:
044724,000182: 21,3405 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044725,000183: 21,3406 00006 EXTEND
044726,000184: 21,3407 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044727,000185: 21,3410 53573 DXCH THETADX # REFERENCES
044728,000186: 21,3411 30034 CA CDUZ
044729,000187: 21,3412 55574 TS THETADZ
044730,000188: 21,3413 13306 TCF ATTHOLD
044731,000189:
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Page 1000 |
044733,000191: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044734,000192:
044735,000193: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044736,000194: # PLANE.
044737,000195:
044738,000196: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044739,000197: # APPROPRIATE DEADZONE.
044740,000198:
044741,000199: # .
044742,000200: # R22 RATE . ERROR
044743,000201: # WL+H .
044744,000202: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044745,000203: # R23 WL * .
044746,000204: # --------------------------------- * . ----- DESIRED RATE LINES
044747,000205: # R23 WL-H - *.
044748,000206: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044749,000207: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044750,000208: # * . *
044751,000209: # *- . *
044752,000210: # R22 R24*- R23 . *
044753,000211: # *- . *
044754,000212: # * . *
044755,000213: # + -ADB . * AF ATTITUDE
044756,000214: # .........................+--+---------------+--+........................
044757,000215: # AF * . +ADB + ERROR
044758,000216: # * . *
044759,000217: # * . -*
044760,000218: # * . -*
044761,000219: # * . -*
044762,000220: # * . *
044763,000221: # *. - *
044764,000222: # . - *****************
044765,000223: # .* -
044766,000224: # . * --------------------------------
044767,000225: # . *
044768,000226: # . ********************************
044769,000227: # .
044770,000228: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044771,000229:
044772,000230: # CONSTANTS FOR JET SWITCHING LOGIC
044773,000231:
044774,000232: 21,3414 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044775,000233: 21,3415 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044776,000234: 21,3416 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044777,000235: 21,3420 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044778,000236: 21,3422 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044779,000237:
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Page 1001 |
044781,000239: 21,3424 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044782,000240: 21,3425 31655 JETS CA ADB
044783,000241: 21,3426 64710 AD FOUR # AF = FLAT REGION = .044 DEG
044784,000242: 21,3427 55502 TS T5TEMP # ADB+AF
044785,000243: 21,3430 34711 CAF TWO
044786,000244: 21,3431 55506 JLOOP TS SPNDX
044787,000245: 21,3432 60000 DOUBLE
044788,000246: 21,3433 55507 TS DPNDX
044789,000247: 21,3434 00006 EXTEND
044790,000248: 21,3435 50000 INDEX A
044791,000249: 21,3436 31534 DCA ADOT
044792,000250: 21,3437 53516 DXCH EDOT
044793,000251: 21,3440 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044794,000252: 21,3441 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044795,000253: 21,3442 13447 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044796,000254: # OF WBODY AND GO TO INHOLD
044797,000255: 21,3443 00006 EXTEND
044798,000256: 21,3444 51507 INDEX DPNDX
044799,000257: 21,3445 41526 DCS WBODY
044800,000258: 21,3446 21516 DAS EDOT # = ADOT-WBODY
044801,000259: 21,3447 51506 INHOLD INDEX SPNDX
044802,000260: 21,3450 31567 CA ERRORX
044803,000261: 21,3451 55517 TS AERR # AERR = BIAS + AK
044804,000262:
044805,000263: 21,3452 11515 CCS EDOT
044806,000264: 21,3453 13463 TCF POSVEL
044807,000265: 21,3454 13456 TCF SIGNCK1
044808,000266: 21,3455 13473 TCF NEGVEL
044809,000267: 21,3456 11516 SIGNCK1 CCS EDOT +1
044810,000268: 21,3457 13463 TCF POSVEL
044811,000269: 21,3460 13463 TCF POSVEL
044812,000270: 21,3461 13473 TCF NEGVEL
044813,000271: 21,3462 13473 TCF NEGVEL
044814,000272: 21,3463 00006 POSVEL EXTEND
044815,000273: 21,3464 31516 DCA EDOT
044816,000274: 21,3465 53521 DXCH EDOTVEL
044817,000275: 21,3466 31502 CA T5TEMP
044818,000276: 21,3467 55523 TS ADBVEL # +(ADB+AF)
044819,000277: 21,3470 31517 CA AERR
044820,000278: 21,3471 55522 TS AERRVEL
044821,000279: 21,3472 03502 TC J6.
044822,000280: 21,3473 00006 NEGVEL EXTEND
044823,000281: 21,3474 41516 DCS EDOT
044824,000282: 21,3475 53521 DXCH EDOTVEL
044825,000283: 21,3476 41502 CS T5TEMP
044826,000284: 21,3477 55523 TS ADBVEL # -(ADB+AF)
044827,000285: 21,3500 41517 CS AERR
044828,000286: 21,3501 55522 TS AERRVEL
044829,000287:
044830,000288: 21,3502 00006 J6. EXTEND
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Page 1002 |
044832,000290: 21,3503 61655 SU ADB
044833,000291: 21,3504 63414 AD WLH/SLOP
044834,000292: 21,3505 00006 EXTEND
044835,000293: 21,3506 63535 BZMF J8
044836,000294:
044837,000295: 21,3507 41502 CS T5TEMP # (ADB+AF)
044838,000296: 21,3510 61522 AD AERRVEL
044839,000297: 21,3511 00006 EXTEND
044840,000298: 21,3512 63514 BZMF +2
044841,000299: 21,3513 13526 TCF J7
044842,000300: 21,3514 00006 EXTEND
044843,000301: 21,3515 41521 DCS EDOTVEL
044844,000302: 21,3516 00006 EXTEND
044845,000303: 21,3517 11654 DV SLOPE
044846,000304: 21,3520 00006 EXTEND
044847,000305: 21,3521 61522 SU AERRVEL
044848,000306: 21,3522 61655 AD ADB
044849,000307: 21,3523 00006 EXTEND
044850,000308: 21,3524 63614 BZMF J18
044851,000309: 21,3525 13670 TCF J23
044852,000310:
044853,000311: 21,3526 43415 J7 CS WL-H/SLP
044854,000312: 21,3527 00006 EXTEND
044855,000313: 21,3530 61502 SU T5TEMP # (ADB+AF)
044856,000314: 21,3531 61522 AD AERRVEL
044857,000315: 21,3532 00006 EXTEND
044858,000316: 21,3533 63620 BZMF J20
044859,000317: 21,3534 13631 TCF J21
044860,000318:
044861,000319: 21,3535 00006 J8 EXTEND
044862,000320: 21,3536 43417 DCS WLH
044863,000321: 21,3537 53514 DXCH WTEMP
044864,000322: 21,3540 00006 EXTEND
044865,000323: 21,3541 31521 DCA EDOTVEL
044866,000324: 21,3542 21514 DAS WTEMP
044867,000325: 21,3543 11513 CCS WTEMP
044868,000326: 21,3544 13657 TCF J22
044869,000327: 21,3545 13547 TCF SIGNCK2
044870,000328: 21,3546 13553 TCF NJ22
044871,000329: 21,3547 11514 SIGNCK2 CCS WTEMP +1
044872,000330: 21,3550 13657 TCF J22
044873,000331: 21,3551 13657 TCF J22
044874,000332: 21,3552 13553 TCF NJ22
044875,000333:
044876,000334: 21,3553 00006 NJ22 EXTEND
044877,000335: 21,3554 31521 DCA EDOTVEL
044878,000336: 21,3555 00006 EXTEND
044879,000337: 21,3556 11654 DV SLOPE
044880,000338: 21,3557 61502 AD T5TEMP # (ADB+AF)
044881,000339: 21,3560 61522 AD AERRVEL
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Page 1003 |
044883,000341: 21,3561 10000 CCS A
044884,000342: 21,3562 13670 TCF J23
044885,000343: 21,3563 13670 TCF J23
044886,000344: 21,3564 13566 TCF +2
044887,000345: 21,3565 13670 TCF J23
044888,000346:
044889,000347: 21,3566 00006 EXTEND
044890,000348: 21,3567 43421 DCS WLMH # WL - H
044891,000349: 21,3570 53514 DXCH WTEMP
044892,000350: 21,3571 00006 EXTEND
044893,000351: 21,3572 31521 DCA EDOTVEL
044894,000352: 21,3573 21514 DAS WTEMP
044895,000353: 21,3574 11513 CCS WTEMP
044896,000354: 21,3575 13670 TCF J23
044897,000355: 21,3576 13600 TCF SIGNCK3
044898,000356: 21,3577 13604 TCF NJ23
044899,000357: 21,3600 11514 SIGNCK3 CCS WTEMP +1
044900,000358: 21,3601 13670 TCF J23
044901,000359: 21,3602 13670 TCF J23
044902,000360: 21,3603 13604 TCF NJ23
044903,000361:
044904,000362: 21,3604 31522 NJ23 CA AERRVEL
044905,000363: 21,3605 61502 AD T5TEMP # (ADB+AF)
044906,000364: 21,3606 63415 AD WL-H/SLP
044907,000365: 21,3607 10000 CCS A
044908,000366: 21,3610 13702 TCF J24
044909,000367: 21,3611 13702 TCF J24
044910,000368: 21,3612 13657 TCF J22
044911,000369: 21,3613 13657 TCF J22
044912,000370:
044913,000371: 21,3614 00006 J18 EXTEND
044914,000372: 21,3615 41516 DCS EDOT
044915,000373: 21,3616 53511 DXCH KMPAC
044916,000374: 21,3617 13713 TCF JTIME
044917,000375:
044918,000376: 21,3620 41517 J20 CS AERR
044919,000377: 21,3621 61523 AD ADBVEL
044920,000378: 21,3622 00006 EXTEND
044921,000379: 21,3623 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
044922,000380: 21,3624 53511 DXCH KMPAC
044923,000381: 21,3625 00006 EXTEND
044924,000382: 21,3626 41516 DCS EDOT
044925,000383: 21,3627 21511 DAS KMPAC
044926,000384: 21,3630 13713 TCF JTIME
044927,000385:
044928,000386: 21,3631 11515 J21 CCS EDOT
044929,000387: 21,3632 13650 TCF JP
044930,000388: 21,3633 13635 TCF SIGNCK4
044931,000389: 21,3634 13641 TCF JN
044932,000390: 21,3635 11516 SIGNCK4 CCS EDOT +1
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Page 1004 |
044934,000392: 21,3636 13650 TCF JP
044935,000393: 21,3637 13650 TCF JP
044936,000394: 21,3640 13641 TCF JN
044937,000395: 21,3641 00006 JN EXTEND
044938,000396: 21,3642 41516 DCS EDOT
044939,000397: 21,3643 53511 DXCH KMPAC
044940,000398: 21,3644 00006 EXTEND
044941,000399: 21,3645 33423 DCA WL
044942,000400: 21,3646 21511 DAS KMPAC
044943,000401: 21,3647 13713 TCF JTIME
044944,000402:
044945,000403: 21,3650 00006 JP EXTEND
044946,000404: 21,3651 41516 DCS EDOT
044947,000405: 21,3652 53511 DXCH KMPAC
044948,000406: 21,3653 00006 EXTEND
044949,000407: 21,3654 43423 DCS WL
044950,000408: 21,3655 21511 DAS KMPAC
044951,000409: 21,3656 13713 TCF JTIME
044952,000410:
044953,000411: 21,3657 11515 J22 CCS EDOT
044954,000412: 21,3660 13641 TCF JN
044955,000413: 21,3661 13663 TCF SIGNCK5
044956,000414: 21,3662 13650 TCF JP
044957,000415: 21,3663 11516 SIGNCK5 CCS EDOT +1
044958,000416: 21,3664 13641 TCF JN
044959,000417: 21,3665 13641 TCF JN
044960,000418: 21,3666 13650 TCF JP
044961,000419: 21,3667 13650 TCF JP
044962,000420:
044963,000421: 21,3670 51506 J23 INDEX SPNDX
044964,000422: 21,3671 44676 CS BIT13 # RESET RATE DAMPING FLAG
044965,000423: 21,3672 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
044966,000424: 21,3673 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
044967,000425: # BIT11 FOR YAW (SPNDX = 2)
044968,000426:
044969,000427: 21,3674 51506 INDEX SPNDX
044970,000428: 21,3675 33017 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
044971,000429: 21,3676 71501 MASK RCSFLAGS # AXIS
044972,000430: 21,3677 00006 EXTEND
044973,000431: 21,3700 13734 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
044974,000432:
044975,000433: 21,3701 13614 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
044976,000434:
044977,000435: 21,3702 41517 J24 CS AERR
044978,000436: 21,3703 00006 EXTEND
044979,000437: 21,3704 61523 SU ADBVEL
044980,000438: 21,3705 00006 EXTEND
044981,000439: 21,3706 73424 MP SLOPE2 # (HYSTERESIS SLOPE)
044982,000440: 21,3707 53511 DXCH KMPAC
044983,000441: 21,3710 00006 EXTEND
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Page 1005 |
044985,000443: 21,3711 41516 DCS EDOT
044986,000444: 21,3712 21511 DAS KMPAC
044987,000445:
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Page 1006 |
044989,000447: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
044990,000448:
044991,000449: # T = J/M(DELTA W)
044992,000450: # J
044993,000451:
044994,000452: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
044995,000453: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
044996,000454:
044997,000455: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
044998,000456: # (57.3/450)(B24/1600)(1/.8)
044999,000457: # FOR 1 JET OPERATION (M = 700 FT-LB).
045000,000458: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045001,000459:
045002,000460: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045003,000461: # KEYBOARD ENTRY ARE
045004,000462: # J/M (ROLL)
045005,000463: # J/M1 (PITCH)
045006,000464: # J/M2 (YAW)
045007,000465:
045008,000466: # T = JET ON-TIME SCALED 16384/1600 SEC
045009,000467: # J
045010,000468:
045011,000469: # THE COMPUTER VARIABLES ARE
045012,000470: # TAU (ROLL)
045013,000471: # TAU1 (PITCH)
045014,000472: # TAU2 (YAW)
045015,000473:
045016,000474: 21,3713 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045017,000475: 21,3714 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045018,000476: 21,3715 02026 TC SMALLMP # FOR 1-JET OPERATION
045019,000477: 21,3716 34700 CA BIT11
045020,000478: 21,3717 02026 TC SMALLMP
045021,000479: 21,3720 11510 CCS KMPAC
045022,000480: 21,3721 13725 TCF +4
045023,000481: 21,3722 13731 TCF TAUNORM
045024,000482: 21,3723 13727 TCF +4
045025,000483: 21,3724 13731 TCF TAUNORM
045026,000484: 21,3725 34672 CA POSMAX
045027,000485: 21,3726 13732 TCF DOJET
045028,000486: 21,3727 34674 CA NEGMAX
045029,000487: 21,3730 13732 TCF DOJET
045030,000488:
045031,000489: 21,3731 31511 TAUNORM CA KMPAC +1
045032,000490: 21,3732 51506 DOJET INDEX SPNDX
045033,000491: 21,3733 55561 TS TAU
045034,000492: 21,3734 11506 CCS SPNDX
045035,000493: 21,3735 13431 TCF JLOOP
045036,000494: 21,3736 13743 TCF T6PROG
045037,000495:
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Page 1007 |
045039,000497: 21,3737 34714 ZEROCMDS CAF ZERO
045040,000498: 21,3740 55561 TS TAU
045041,000499: 21,3741 55562 TS TAU1
045042,000500: 21,3742 55563 TS TAU2
045043,000501: 21,3743 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045044,000502: 21,3744 33750 DCA JETADDR # HAVE BEEN DETERMINED
045045,000503: 21,3745 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045046,000504: 21,3746 15222 TCF RESUME
045047,000505:
045048,000506: 21,3747 E6,1510 EBANK= KMPAC
045049,000507: 21,3747 02577 36066 JETADDR 2CADR JETSLECT
045050,000508:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc