Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

045749,000002:                                                                                                  ## Copyright:   Public domain.
045750,000003:                                                                                                  ## Filename:    AUTOMATIC_MANEUVERS.agc
045751,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
045752,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
045753,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
045754,000007:                                                                                                  ## Assembler:   yaYUL
045755,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
045756,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
045757,000010:                                                                                                  ## Pages:       1025-1036
045758,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
045759,000012:                                                                                                  ##                              same name, using Comanche055 page images.
045760,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
045761,000014:                                                                                                  ##                              and corrected the errors found.
045762,000015:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
045763,000016:                                                                                                  ##                              Colossus 237 and Colossus 249.
045764,000017:                                                                                                  ##
045765,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
045766,000019:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
045767,000020:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
045768,000021:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
045769,000022:                                                                                                  ## consequent reduction in image quality as well) are available online at
045770,000023:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
045771,000024:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
045772,000025:                                                                                                  ## (much) higher-quality images which Paul actually created.
045773,000026:                                                                                                  ##
045774,000027:                                                                                                  ## Notations on the hardcopy document read, in part:
045775,000028:                                                                                                  ##
045776,000029:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
045777,000030:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
045778,000031:                                                                                                  ##
045779,000032:                                                                                                  ##      This AGC program shall also be referred to as
045780,000033:                                                                                                  ##                      Colossus 2A
045781,000034: 

Page 1025

045783,000036: 21,3250                                           BANK     21                                    
045784,000037: 21,2000                                           SETLOC   DAPS3                                 
045785,000038: 21,2000                                           BANK                                           
045786,000039: 
045787,000040: 21,3250                                           COUNT    21/DAPAM                              
045788,000041: 
045789,000042: 21,3250  E6,1510                                  EBANK=   KMPAC                                 
045790,000043: 21,3250           00006        AHFNOROT           EXTEND                                         
045791,000044: 21,3251           00031                           READ     CHAN31                                
045792,000045: 21,3252           75002                           MASK     BIT14                                 
045793,000046: 21,3253           00006                           EXTEND                                         
045794,000047: 21,3254           63272                           BZMF     FREECONT                              
045795,000048: 21,3255           31501                           CA       RCSFLAGS                              #  SEE IF RATE FILTER HAS BEEN INITIALIZED
045796,000049: 21,3256           75002                           MASK     BIT14                                 
045797,000050: 21,3257           10000                           CCS      A                                     #  IF SO, PROCEED WITH ATTITUDE CONTROL
045798,000051: 21,3260           12534                           TCF      REINIT                                #  IF NOT, RECYCLE TO INITIALIZE FILTER
045799,000052:                                                                                                  #  AUTOMATIC CONTROL YET
045800,000053: 21,3261           00006                           EXTEND                                         
045801,000054: 21,3262           00031                           READ     CHAN31                                
045802,000055: 21,3263           75003                           MASK     BIT13                                 
045803,000056: 21,3264           00006                           EXTEND                                         
045804,000057: 21,3265           63372                           BZMF     HOLDFUNC                              
045805,000058: 
045806,000059: 21,3266           31332        AUTOCONT           CA       HOLDFLAG                              #  IF HOLDFLAG IS +, GO TO GRABANG.
045807,000060: 21,3267           00006                           EXTEND                                         #  OTHERWISE, GO TO ATTHOLD.
045808,000061: 21,3270           63322                           BZMF     ATTHOLD                               
045809,000062: 21,3271           13376                           TCF      GRABANG                               
045810,000063: 
045811,000064:                                                                                                  #  MINIMUM IMPULSE CONTROL
045812,000065: 
045813,000066: 21,3272           35017        FREECONT           CAF      ONE                                   
045814,000067: 21,3273           55332                           TS       HOLDFLAG                              #  RESET HOLDFLAG
045815,000068:                                                                                                  #  INHIBIT AUTOMATIC STEERING
045816,000069: 21,3274           00006                           EXTEND                                         
045817,000070: 21,3275           00032                           READ     CHAN32                                
045818,000071: 21,3276           54001                           TS       L                                     
045819,000072: 21,3277           40000                           COM                                            
045820,000073: 21,3300           73036                           MASK     MANROT                                
045821,000074: 21,3301           71633                           MASK     CHANTEMP                              
045822,000075: 21,3302           23633                           LXCH     CHANTEMP                              
045823,000076: 21,3303           03130                           TC       STICKCHK                              
045824,000077: 21,3304           51656                           INDEX    RMANNDX                               
045825,000078: 21,3305           33316                           CA       MINTAU                                #  MINTAU        +0
045826,000079: 21,3306           55561                           TS       TAU                                   #                +1      +14MS MINIMUM IMPULSE
045827,000080: 21,3307           51657                           INDEX    PMANNDX                               #                +2      -14MS TIME
045828,000081: 21,3310           33316                           CA       MINTAU                                #                +3      +0
045829,000082: 21,3311           55562                           TS       TAU1                                  
045830,000083: 21,3312           51660                           INDEX    YMANNDX                               
045831,000084: 21,3313           33316                           CA       MINTAU                                

Page 1026

045833,000086: 21,3314           55563                           TS       TAU2                                  
045834,000087: 21,3315           13067                           TCF      T6PROGM                               
045835,000088: 
045836,000089: 21,3316           00000        MINTAU             DEC      0          B-14                       
045837,000090: 21,3317           00027                           DEC      23         B-14                       #  = 14MS
045838,000091: 21,3320           77750                           DEC      -23        B-14                       #  = -14MS
045839,000092: 21,3321           00000                           DEC      0          B-14                       
045840,000093: 

Page 1027

045842,000095:                                                                                                  #  CALCULATION OF ATTITUDE ERRORS-
045843,000096:                                                                                                  #        -    *     -      -          -
045844,000097:                                                                                                  #        AK = AMGB (CDUX - THETADX) + BIAS
045845,000098: 
045846,000099:                                                                                                  #  IE    *AK *   * 1        SIN(PSI)        0    ** CDUX - THETADX *    *BIAS *
045847,000100:                                                                                                  #        *   *   *                               **                *    *     *
045848,000101:                                                                                                  #        *AK1* = * 0   COS(PSI)COS(PHI)  SIN(PHI)** CDUY - THETADY *  + *BIAS1*
045849,000102:                                                                                                  #        *   *   *                               **                *    *     *
045850,000103:                                                                                                  #        *AK2*   * 0  -COS(PSI)SIN(PHI)  COS(PHI)** CDUZ - THETADZ *    *BIAS2*
045851,000104: 
045852,000105:                                                                                                  #  THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045853,000106:                                                                                                  #  AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER.  NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045854,000107:                                                                                                  #  BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES.  THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045855,000108:                                                                                                  #  FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045856,000109: 
045857,000110: 21,3322           30032        ATTHOLD            CA       CDUX                                  
045858,000111: 21,3323           00006                           EXTEND                                         
045859,000112: 21,3324           21572                           MSU      THETADX                               
045860,000113: 21,3325           55567                           TS       ERRORX                                
045861,000114: 21,3326           30033                           CA       CDUY                                  
045862,000115: 21,3327           00006                           EXTEND                                         
045863,000116: 21,3330           21573                           MSU      THETADY                               
045864,000117: 21,3331           55502                           TS       T5TEMP                                
045865,000118: 21,3332           00006                           EXTEND                                         
045866,000119: 21,3333           71640                           MP       AMGB1                                 
045867,000120: 21,3334           27567                           ADS      ERRORX                                
045868,000121: 21,3335           31502                           CA       T5TEMP                                
045869,000122: 21,3336           00006                           EXTEND                                         
045870,000123: 21,3337           71641                           MP       AMGB4                                 
045871,000124: 21,3340           55570                           TS       ERRORY                                
045872,000125: 21,3341           31502                           CA       T5TEMP                                
045873,000126: 21,3342           00006                           EXTEND                                         
045874,000127: 21,3343           71643                           MP       AMGB7                                 
045875,000128: 21,3344           55571                           TS       ERRORZ                                
045876,000129: 21,3345           30034                           CA       CDUZ                                  
045877,000130: 21,3346           00006                           EXTEND                                         
045878,000131: 21,3347           21574                           MSU      THETADZ                               
045879,000132: 21,3350           55502                           TS       T5TEMP                                
045880,000133: 21,3351           00006                           EXTEND                                         
045881,000134: 21,3352           71642                           MP       AMGB5                                 
045882,000135: 21,3353           27570                           ADS      ERRORY                                
045883,000136: 21,3354           31502                           CA       T5TEMP                                
045884,000137: 21,3355           00006                           EXTEND                                         
045885,000138: 21,3356           71644                           MP       AMGB8                                 
045886,000139: 21,3357           27571                           ADS      ERRORZ                                
045887,000140: 21,3360           41332                           CS       HOLDFLAG                              
045888,000141: 21,3361           00006                           EXTEND                                         

Page 1028

045890,000143: 21,3362           63441                           BZMF     JETS                                  
045891,000144: 21,3363           31564                           CA       BIAS                                  #  AD BIASES ONLY IF PERFORMING AUTOMATIC
045892,000145: 21,3364           27567                           ADS      ERRORX                                
045893,000146: 21,3365           31565                           CA       BIAS1                                 
045894,000147: 21,3366           27570                           ADS      ERRORY                                
045895,000148: 21,3367           31566                           CA       BIAS2                                 
045896,000149: 21,3370           27571                           ADS      ERRORZ                                
045897,000150: 21,3371           13441                           TCF      JETS                                  
045898,000151: 
045899,000152: 21,3372           11332        HOLDFUNC           CCS      HOLDFLAG                              
045900,000153: 21,3373           13376                           TCF      +3                                    
045901,000154: 21,3374           13322                           TCF      ATTHOLD                               
045902,000155: 21,3375           13376                           TCF      +1                                    
045903,000156: 21,3376           35021        GRABANG            CAF      ZERO                                  #  ZERO WBODYS AND BIASES
045904,000157: 21,3377           55525                           TS       WBODY                                 
045905,000158: 21,3400           55526                           TS       WBODY      +1                         
045906,000159: 21,3401           55527                           TS       WBODY1                                
045907,000160: 21,3402           55530                           TS       WBODY1     +1                         
045908,000161: 21,3403           55531                           TS       WBODY2                                
045909,000162: 21,3404           55532                           TS       WBODY2     +1                         
045910,000163: 21,3405           55564                           TS       BIAS                                  
045911,000164: 21,3406           55565                           TS       BIAS1                                 
045912,000165: 21,3407           55566                           TS       BIAS2                                 
045913,000166: 
045914,000167: 21,3410           31501                           CA       RCSFLAGS                              
045915,000168: 21,3411           73037                           MASK     OCT16000                              
045916,000169: 21,3412           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045917,000170: 21,3413           13421                           BZF      ENDDAMP                               #  IF SO, GO TO ENDDAMP
045918,000171: 21,3414           35021                           CAF      ZERO                                  #  OTHERWISE, ZERO ERRORS
045919,000172: 21,3415           55567                           TS       ERRORX                                
045920,000173: 21,3416           55570                           TS       ERRORY                                
045921,000174: 21,3417           55571                           TS       ERRORZ                                
045922,000175: 21,3420           13441                           TCF      JETS                                  
045923,000176: 
045924,000177: 21,3421           55332        ENDDAMP            TS       HOLDFLAG                              #  SET HOLDFLAG +0
045925,000178: 21,3422           00006                           EXTEND                                         
045926,000179: 21,3423           30033                           DCA      CDUX                                  #  PICK UP CDU ANGLES FOR ATTITUDE HOLD
045927,000180: 21,3424           53573                           DXCH     THETADX                               #  REFERENCES
045928,000181: 21,3425           30034                           CA       CDUZ                                  
045929,000182: 21,3426           55574                           TS       THETADZ                               
045930,000183: 21,3427           13322                           TCF      ATTHOLD                               
045931,000184: 

Page 1029

045933,000186:                                                                                                  #  JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045934,000187: 
045935,000188:                                                                                                  #  DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045936,000189:                                                                                                  #  PLANE.
045937,000190: 
045938,000191:                                                                                                  #  COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045939,000192:                                                                                                  #  APPROPRIATE DEADZONE.
045940,000193: 
045941,000194:                                                                                                  #                                      .
045942,000195:                                                                                                  #    R22                          RATE . ERROR
045943,000196:                                                                                                  #         WL+H                         .
045944,000197:                                                                                                  #  *********************************   .                                 ***** SWITCH LINES ENCLOSING DEADZONES
045945,000198:                                                                                                  #    R23  WL                        *  .
045946,000199:                                                                                                  #  --------------------------------- * .                                 ----- DESIRED RATE LINES
045947,000200:                                                                                                  #    R23  WL-H       -                *.
045948,000201:                                                                                                  #  ****************** -                .                                 R20, R21, R22, ETC REGIONS IN PHASE
045949,000202:                                                                                                  #                    * -               .* R18      R20       R21         PLANE FOF COMPUTING DESIRED RESPONSE
045950,000203:                                                                                                  #                     *                . *
045951,000204:                                                                                                  #                      *-              .  *
045952,000205:                                                                                                  #    R22             R24*-    R23      .   *
045953,000206:                                                                                                  #                        *-            .    *
045954,000207:                                                                                                  #                         *            .     *
045955,000208:                                                                                                  #                          + -ADB      .      * AF              ATTITUDE
045956,000209:                                                                                                  #  .........................+--+---------------+--+........................
045957,000210:                                                                                                  #                            AF *      .     +ADB  +             ERROR
045958,000211:                                                                                                  #                                *     .            *
045959,000212:                                                                                                  #                                 *    .            -*
045960,000213:                                                                                                  #                                  *   .             -*
045961,000214:                                                                                                  #                                   *  .              -*
045962,000215:                                                                                                  #                                    * .                *
045963,000216:                                                                                                  #                                     *.               - *
045964,000217:                                                                                                  #                                      .                - *****************
045965,000218:                                                                                                  #                                      .*                -
045966,000219:                                                                                                  #                                      . * --------------------------------
045967,000220:                                                                                                  #                                      .  *
045968,000221:                                                                                                  #                                      .   ********************************
045969,000222:                                                                                                  #                                      .
045970,000223:                                                                                                  #                        FIG. 1  PHASE PLANE SWITCHING LOGIC
045971,000224: 
045972,000225:                                                                                                  #  CONSTANTS FOR JET SWITCHING LOGIC
045973,000226: 
045974,000227: 21,3430           00114        WLH/SLOP           DEC      .00463                                #  = WL+H/SLOPE = .83333 DEG     $180
045975,000228: 21,3431           00055        WL-H/SLP           DEC      .00277                                #  = WL-H/SLOPE = .5 DEG         $180
045976,000229: 21,3432           00022 06426  WLH                2DEC     .0011111111                            #  = WL+H = 0.5 DEG/SEC          $450
045977,000230: 
045978,000231: 21,3434           00012 35415  WLMH               2DEC     .0006666666                            #  = WL-H = 0.3 DEG/SEC          $450
045979,000232: 
045980,000233: 21,3436           00016 22021  WL                 2DEC     .0008888888                            #  = WL   = 0.4 DEG/SEC          $450
045981,000234: 

Page 1030

045983,000236: 21,3440           12173        SLOPE2             DEC      .32                                   #  = 0.8 DEG/SEC/DEG             $450/180
045984,000237: 21,3441           31655        JETS               CA       ADB                                   
045985,000238: 21,3442           65015                           AD       FOUR                                  #  AF = FLAT REGION = .044 DEG
045986,000239: 21,3443           55502                           TS       T5TEMP                                #  ADB+AF
045987,000240: 21,3444           35016                           CAF      TWO                                   
045988,000241: 21,3445           55506        JLOOP              TS       SPNDX                                 
045989,000242: 21,3446           60000                           DOUBLE                                         
045990,000243: 21,3447           55507                           TS       DPNDX                                 
045991,000244: 21,3450           00006                           EXTEND                                         
045992,000245: 21,3451           50000                           INDEX    A                                     
045993,000246: 21,3452           31534                           DCA      ADOT                                  
045994,000247: 21,3453           53516                           DXCH     EDOT                                  
045995,000248: 21,3454           31332                           CA       HOLDFLAG                              #  HOLDFLAG = +0 MEANS THAT DAP IS IN
045996,000249: 21,3455           00006                           EXTEND                                         #  ATTITUDE HOLD AND RATE DAMPING IS OVER.
045997,000250: 21,3456           13463                           BZF      INHOLD                                #  IF THIS IS THE CASE, BYPASS ADDITION
045998,000251:                                                                                                  #  OF WBODY AND GO TO INHOLD
045999,000252: 21,3457           00006                           EXTEND                                         
046000,000253: 21,3460           51507                           INDEX    DPNDX                                 
046001,000254: 21,3461           41526                           DCS      WBODY                                 
046002,000255: 21,3462           21516                           DAS      EDOT                                  #  = ADOT-WBODY
046003,000256: 21,3463           51506        INHOLD             INDEX    SPNDX                                 
046004,000257: 21,3464           31567                           CA       ERRORX                                
046005,000258: 21,3465           55517                           TS       AERR                                  #  AERR = BIAS + AK
046006,000259: 
046007,000260: 21,3466           11515                           CCS      EDOT                                  
046008,000261: 21,3467           13477                           TCF      POSVEL                                
046009,000262: 21,3470           13472                           TCF      SIGNCK1                               
046010,000263: 21,3471           13507                           TCF      NEGVEL                                
046011,000264: 21,3472           11516        SIGNCK1            CCS      EDOT       +1                         
046012,000265: 21,3473           13477                           TCF      POSVEL                                
046013,000266: 21,3474           13477                           TCF      POSVEL                                
046014,000267: 21,3475           13507                           TCF      NEGVEL                                
046015,000268: 21,3476           13507                           TCF      NEGVEL                                
046016,000269: 21,3477           00006        POSVEL             EXTEND                                         
046017,000270: 21,3500           31516                           DCA      EDOT                                  
046018,000271: 21,3501           53521                           DXCH     EDOTVEL                               
046019,000272: 21,3502           31502                           CA       T5TEMP                                
046020,000273: 21,3503           55523                           TS       ADBVEL                                #  +(ADB+AF)
046021,000274: 21,3504           31517                           CA       AERR                                  
046022,000275: 21,3505           55522                           TS       AERRVEL                               
046023,000276: 21,3506           03516                           TC       J6.                                   
046024,000277: 21,3507           00006        NEGVEL             EXTEND                                         
046025,000278: 21,3510           41516                           DCS      EDOT                                  
046026,000279: 21,3511           53521                           DXCH     EDOTVEL                               
046027,000280: 21,3512           41502                           CS       T5TEMP                                
046028,000281: 21,3513           55523                           TS       ADBVEL                                #  -(ADB+AF)
046029,000282: 21,3514           41517                           CS       AERR                                  
046030,000283: 21,3515           55522                           TS       AERRVEL                               
046031,000284: 
046032,000285: 21,3516           00006        J6.                EXTEND                                         

Page 1031

046034,000287: 21,3517           61655                           SU       ADB                                   
046035,000288: 21,3520           63430                           AD       WLH/SLOP                              
046036,000289: 21,3521           00006                           EXTEND                                         
046037,000290: 21,3522           63551                           BZMF     J8                                    
046038,000291: 
046039,000292: 21,3523           41502                           CS       T5TEMP                                #  (ADB+AF)
046040,000293: 21,3524           61522                           AD       AERRVEL                               
046041,000294: 21,3525           00006                           EXTEND                                         
046042,000295: 21,3526           63530                           BZMF     +2                                    
046043,000296: 21,3527           13542                           TCF      J7                                    
046044,000297: 21,3530           00006                           EXTEND                                         
046045,000298: 21,3531           41521                           DCS      EDOTVEL                               
046046,000299: 21,3532           00006                           EXTEND                                         
046047,000300: 21,3533           11654                           DV       SLOPE                                 
046048,000301: 21,3534           00006                           EXTEND                                         
046049,000302: 21,3535           61522                           SU       AERRVEL                               
046050,000303: 21,3536           61655                           AD       ADB                                   
046051,000304: 21,3537           00006                           EXTEND                                         
046052,000305: 21,3540           63630                           BZMF     J18                                   
046053,000306: 21,3541           13704                           TCF      J23                                   
046054,000307: 
046055,000308: 21,3542           43431        J7                 CS       WL-H/SLP                              
046056,000309: 21,3543           00006                           EXTEND                                         
046057,000310: 21,3544           61502                           SU       T5TEMP                                #  (ADB+AF)
046058,000311: 21,3545           61522                           AD       AERRVEL                               
046059,000312: 21,3546           00006                           EXTEND                                         
046060,000313: 21,3547           63634                           BZMF     J20                                   
046061,000314: 21,3550           13645                           TCF      J21                                   
046062,000315: 
046063,000316: 21,3551           00006        J8                 EXTEND                                         
046064,000317: 21,3552           43433                           DCS      WLH                                   
046065,000318: 21,3553           53514                           DXCH     WTEMP                                 
046066,000319: 21,3554           00006                           EXTEND                                         
046067,000320: 21,3555           31521                           DCA      EDOTVEL                               
046068,000321: 21,3556           21514                           DAS      WTEMP                                 
046069,000322: 21,3557           11513                           CCS      WTEMP                                 
046070,000323: 21,3560           13673                           TCF      J22                                   
046071,000324: 21,3561           13563                           TCF      SIGNCK2                               
046072,000325: 21,3562           13567                           TCF      NJ22                                  
046073,000326: 21,3563           11514        SIGNCK2            CCS      WTEMP      +1                         
046074,000327: 21,3564           13673                           TCF      J22                                   
046075,000328: 21,3565           13673                           TCF      J22                                   
046076,000329: 21,3566           13567                           TCF      NJ22                                  
046077,000330: 
046078,000331: 21,3567           00006        NJ22               EXTEND                                         
046079,000332: 21,3570           31521                           DCA      EDOTVEL                               
046080,000333: 21,3571           00006                           EXTEND                                         
046081,000334: 21,3572           11654                           DV       SLOPE                                 
046082,000335: 21,3573           61502                           AD       T5TEMP                                #  (ADB+AF)
046083,000336: 21,3574           61522                           AD       AERRVEL                               

Page 1032

046085,000338: 21,3575           10000                           CCS      A                                     
046086,000339: 21,3576           13704                           TCF      J23                                   
046087,000340: 21,3577           13704                           TCF      J23                                   
046088,000341: 21,3600           13602                           TCF      +2                                    
046089,000342: 21,3601           13704                           TCF      J23                                   
046090,000343: 
046091,000344: 21,3602           00006                           EXTEND                                         
046092,000345: 21,3603           43435                           DCS      WLMH                                  #  WL - H
046093,000346: 21,3604           53514                           DXCH     WTEMP                                 
046094,000347: 21,3605           00006                           EXTEND                                         
046095,000348: 21,3606           31521                           DCA      EDOTVEL                               
046096,000349: 21,3607           21514                           DAS      WTEMP                                 
046097,000350: 21,3610           11513                           CCS      WTEMP                                 
046098,000351: 21,3611           13704                           TCF      J23                                   
046099,000352: 21,3612           13614                           TCF      SIGNCK3                               
046100,000353: 21,3613           13620                           TCF      NJ23                                  
046101,000354: 21,3614           11514        SIGNCK3            CCS      WTEMP      +1                         
046102,000355: 21,3615           13704                           TCF      J23                                   
046103,000356: 21,3616           13704                           TCF      J23                                   
046104,000357: 21,3617           13620                           TCF      NJ23                                  
046105,000358: 
046106,000359: 21,3620           31522        NJ23               CA       AERRVEL                               
046107,000360: 21,3621           61502                           AD       T5TEMP                                #  (ADB+AF)
046108,000361: 21,3622           63431                           AD       WL-H/SLP                              
046109,000362: 21,3623           10000                           CCS      A                                     
046110,000363: 21,3624           13716                           TCF      J24                                   
046111,000364: 21,3625           13716                           TCF      J24                                   
046112,000365: 21,3626           13673                           TCF      J22                                   
046113,000366: 21,3627           13673                           TCF      J22                                   
046114,000367: 
046115,000368: 21,3630           00006        J18                EXTEND                                         
046116,000369: 21,3631           41516                           DCS      EDOT                                  
046117,000370: 21,3632           53511                           DXCH     KMPAC                                 
046118,000371: 21,3633           13727                           TCF      JTIME                                 
046119,000372: 
046120,000373: 21,3634           41517        J20                CS       AERR                                  
046121,000374: 21,3635           61523                           AD       ADBVEL                                
046122,000375: 21,3636           00006                           EXTEND                                         
046123,000376: 21,3637           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
046124,000377: 21,3640           53511                           DXCH     KMPAC                                 
046125,000378: 21,3641           00006                           EXTEND                                         
046126,000379: 21,3642           41516                           DCS      EDOT                                  
046127,000380: 21,3643           21511                           DAS      KMPAC                                 
046128,000381: 21,3644           13727                           TCF      JTIME                                 
046129,000382: 
046130,000383: 21,3645           11515        J21                CCS      EDOT                                  
046131,000384: 21,3646           13664                           TCF      JP                                    
046132,000385: 21,3647           13651                           TCF      SIGNCK4                               
046133,000386: 21,3650           13655                           TCF      JN                                    
046134,000387: 21,3651           11516        SIGNCK4            CCS      EDOT       +1                         

Page 1033

046136,000389: 21,3652           13664                           TCF      JP                                    
046137,000390: 21,3653           13664                           TCF      JP                                    
046138,000391: 21,3654           13655                           TCF      JN                                    
046139,000392: 21,3655           00006        JN                 EXTEND                                         
046140,000393: 21,3656           41516                           DCS      EDOT                                  
046141,000394: 21,3657           53511                           DXCH     KMPAC                                 
046142,000395: 21,3660           00006                           EXTEND                                         
046143,000396: 21,3661           33437                           DCA      WL                                    
046144,000397: 21,3662           21511                           DAS      KMPAC                                 
046145,000398: 21,3663           13727                           TCF      JTIME                                 
046146,000399: 
046147,000400: 21,3664           00006        JP                 EXTEND                                         
046148,000401: 21,3665           41516                           DCS      EDOT                                  
046149,000402: 21,3666           53511                           DXCH     KMPAC                                 
046150,000403: 21,3667           00006                           EXTEND                                         
046151,000404: 21,3670           43437                           DCS      WL                                    
046152,000405: 21,3671           21511                           DAS      KMPAC                                 
046153,000406: 21,3672           13727                           TCF      JTIME                                 
046154,000407: 
046155,000408: 21,3673           11515        J22                CCS      EDOT                                  
046156,000409: 21,3674           13655                           TCF      JN                                    
046157,000410: 21,3675           13677                           TCF      SIGNCK5                               
046158,000411: 21,3676           13664                           TCF      JP                                    
046159,000412: 21,3677           11516        SIGNCK5            CCS      EDOT       +1                         
046160,000413: 21,3700           13655                           TCF      JN                                    
046161,000414: 21,3701           13655                           TCF      JN                                    
046162,000415: 21,3702           13664                           TCF      JP                                    
046163,000416: 21,3703           13664                           TCF      JP                                    
046164,000417: 
046165,000418: 21,3704           51506        J23                INDEX    SPNDX                                 
046166,000419: 21,3705           45003                           CS       BIT13                                 #  RESET RATE DAMPING FLAG
046167,000420: 21,3706           71501                           MASK     RCSFLAGS                              #  BIT13 FOR ROLL  (SPNDX = 0)
046168,000421: 21,3707           55501                           TS       RCSFLAGS                              #  BIT12 FOR PITCH (SPNDX = 1)
046169,000422:                                                                                                  #  BIT11 FOR YAW   (SPNDX = 2)
046170,000423: 
046171,000424: 21,3710           51506                           INDEX    SPNDX                                 
046172,000425: 21,3711           33033                           CAF      OCT01400                              #  IS THERE TO BE A FORCED FIRING ON THIS
046173,000426: 21,3712           71501                           MASK     RCSFLAGS                              #  AXIS
046174,000427: 21,3713           00006                           EXTEND                                         
046175,000428: 21,3714           13750                           BZF      DOJET      +2                         #  NO, GO TO DOJET +2 AND DO NOTHING
046176,000429: 
046177,000430: 21,3715           13630                           TCF      J18                                   #  YES, GO TO J18 AND FORCE A FIRING
046178,000431: 
046179,000432: 21,3716           41517        J24                CS       AERR                                  
046180,000433: 21,3717           00006                           EXTEND                                         
046181,000434: 21,3720           61523                           SU       ADBVEL                                
046182,000435: 21,3721           00006                           EXTEND                                         
046183,000436: 21,3722           73440                           MP       SLOPE2                                #  (HYSTERESIS SLOPE)
046184,000437: 21,3723           53511                           DXCH     KMPAC                                 
046185,000438: 21,3724           00006                           EXTEND                                         

Page 1034

046187,000440: 21,3725           41516                           DCS      EDOT                                  
046188,000441: 21,3726           21511                           DAS      KMPAC                                 
046189,000442: 

Page 1035

046191,000444:                                                                                                  #  COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
046192,000445: 
046193,000446:                                                                                                  #             T  = J/M(DELTA W)
046194,000447:                                                                                                  #              J
046195,000448: 
046196,000449:                                                                                                  #        DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
046197,000450:                                                                                                  #                  SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
046198,000451: 
046199,000452:                                                                                                  #            J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
046200,000453:                                                                                                  #                        (57.3/450)(B24/1600)(1/.8)
046201,000454:                                                                                                  #                  FOR 1 JET OPERATION  (M = 700 FT-LB).
046202,000455:                                                                                                  #                  IE J/M = J(SLUG-FTFT) X 0.00000085601606
046203,000456: 
046204,000457:                                                                                                  #                  THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
046205,000458:                                                                                                  #                  KEYBOARD ENTRY ARE
046206,000459:                                                                                                  #                        J/M  (ROLL)
046207,000460:                                                                                                  #                        J/M1 (PITCH)
046208,000461:                                                                                                  #                        J/M2 (YAW)
046209,000462: 
046210,000463:                                                                                                  #             T  = JET ON-TIME    SCALED 16384/1600 SEC
046211,000464:                                                                                                  #              J
046212,000465: 
046213,000466:                                                                                                  #                  THE COMPUTER VARIABLES ARE
046214,000467:                                                                                                  #                        TAU  (ROLL)
046215,000468:                                                                                                  #                        TAU1 (PITCH)
046216,000469:                                                                                                  #                        TAU2 (YAW)
046217,000470: 
046218,000471: 21,3727           51506        JTIME              INDEX    SPNDX                                 #  PICK UP S/C INERTIA/TORQUE RATIO
046219,000472: 21,3730           31623                           CA       J/M                                   #  SCALED (57.3/450)(B24/1600)
046220,000473: 21,3731           02042                           TC       SMALLMP                               #  FOR 1-JET OPERATION
046221,000474: 21,3732           35005                           CA       BIT11                                 
046222,000475: 21,3733           02042                           TC       SMALLMP                               
046223,000476: 21,3734           11510                           CCS      KMPAC                                 
046224,000477: 21,3735           13741                           TCF      +4                                    
046225,000478: 21,3736           13745                           TCF      TAUNORM                               
046226,000479: 21,3737           13743                           TCF      +4                                    
046227,000480: 21,3740           13745                           TCF      TAUNORM                               
046228,000481: 21,3741           34777                           CA       POSMAX                                
046229,000482: 21,3742           13746                           TCF      DOJET                                 
046230,000483: 21,3743           35001                           CA       NEGMAX                                
046231,000484: 21,3744           13746                           TCF      DOJET                                 
046232,000485: 
046233,000486: 21,3745           31511        TAUNORM            CA       KMPAC      +1                         
046234,000487: 21,3746           51506        DOJET              INDEX    SPNDX                                 
046235,000488: 21,3747           55561                           TS       TAU                                   
046236,000489: 21,3750           11506                           CCS      SPNDX                                 
046237,000490: 21,3751           13445                           TCF      JLOOP                                 
046238,000491: 21,3752           13757                           TCF      T6PROG                                
046239,000492: 

Page 1036

046241,000494: 21,3753           35021        ZEROCMDS           CAF      ZERO                                  
046242,000495: 21,3754           55561                           TS       TAU                                   
046243,000496: 21,3755           55562                           TS       TAU1                                  
046244,000497: 21,3756           55563                           TS       TAU2                                  
046245,000498: 21,3757           00006        T6PROG             EXTEND                                         #  WHEN THE ROTATION COMMANDS (TAUS)
046246,000499: 21,3760           33764                           DCA      JETADDR                               #  HAVE BEEN DETERMINED
046247,000500: 21,3761           53313                           DXCH     T5LOC                                 #  RESET T5LOC FOR PHASE3
046248,000501: 21,3762           15333                           TCF      RESUME                                
046249,000502: 
046250,000503: 21,3763  E6,1510                                  EBANK=   KMPAC                                 
046251,000504: 21,3763           02552 36066  JETADDR            2CADR    JETSLECT                              
046252,000505: 

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