Source Code

023194,000001: # Copyright: Public domain. 023195,000002: # Filename: P11.agc 023196,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 023197,000004: # It is part of the source code for the Command Module's (CM) 023198,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 023199,000006: # Assembler: yaYUL 023200,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>. 023201,000008: # Website: www.ibiblio.org/apollo. 023202,000009: # Pages: 533-550 023203,000010: # Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file 023204,000011: # of the same name, using Comanche055 page 023205,000012: # images 0533.jpg - 0550.jpg. 023206,000013: # 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT, 023207,000014: # STATSW -> SATSW. 023208,000015: # 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q. 023209,000016: # Added an SBANK= prior to a 2CADR. 023210,000017: # 2010-08-24 JL Fixed page numbers. Added missing comment character on p537. 023211,000018: # 2011-05-08 JL Flagged SBANK= workaround for future removal. 023212,000019: # 2011-05-17 JL Removed all SBANK= workarounds. 023213,000020: 023214,000021: # This source code has been transcribed or otherwise adapted from digitized 023215,000022: # images of a hardcopy from the MIT Museum. The digitization was performed 023216,000023: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 023217,000024: # thanks to both. The images (with suitable reduction in storage size and 023218,000025: # consequent reduction in image quality as well) are available online at 023219,000026: # www.ibiblio.org/apollo. If for some reason you find that the images are 023220,000027: # illegible, contact me at info@sandroid.org about getting access to the 023221,000028: # (much) higher-quality images which Paul actually created. 023222,000029: 023223,000030: # Notations on the hardcopy document read, in part: 023224,000031: 023225,000032: # Assemble revision 055 of AGC program Comanche by NASA 023226,000033: # 2021113-051. 10:28 APR. 1, 1969 023227,000034: 023228,000035: # This AGC program shall also be referred to as 023229,000036: # Colossus 2A 023230,000037: # Page 533 023231,000038: # EARTH ORBIT INSERTION MONITOR PROGRAM 023232,000039: # ************************************* 023233,000040: 023234,000041: # PROGRAM DESCRIPTION -P11- 023235,000042: 023236,000043: # MOD NO. 1 023237,000044: # MOD BY ELIASSEN 023238,000045: 023239,000046: # FUNCTIONAL DESCRIPTION 023240,000047: 023241,000048: # P11 IS INITIATED BY 023242,000049: 023243,000050: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR 023244,000051: # B) BACKUP THRU VERB 75 ENTER 023245,000052: 023246,000053: # PROGRAM WILL 023247,000054: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP) 023248,000055: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED 023249,000056: # 3. INITIATE SERVICER AT PREREAD1 023250,000057: # 4. CHANGE MAJOR MODE TO 11 023251,000058: # 5. CLEAR DSKY IN CASE OF V 75 023252,000059: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY 023253,000060: # 7. TERMINATE GYROCOMPASSING __ __ 023254,000061: # 8. COMPUTE INITIAL VECTORS RN, VN _ _ _ 023255,000062: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE 023256,000063: # _ _ X Y Z 023257,000064: # U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF 023258,000065: # _Z _ _ 023259,000066: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH 023260,000067: # _X _ _ 023261,000068: # U =U * U 023262,000069: # U Z X 023263,000070: # 10. SET REFSMMAT KNOWN FLAG 023264,000071: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO 023265,000072: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS 023266,000073: 023267,000074: # R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS 023268,000075: # R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS 023269,000076: # R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM 023270,000077: # 023271,000078: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES 023272,000079: 023273,000080: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.) 023274,000081: # DESIRED ATTITUDE IS AS STORED AT L.O. 023275,000082: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO) 023276,000083: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL 023277,000084: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER 023278,000085: # Page 534 023279,000086: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX. 023280,000087: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1 023281,000088: 023282,000089: # SUBROUTINES CALLED 023283,000090: 023284,000091: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG 023285,000092: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL 023286,000093: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG 023287,000094: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1 023288,000095: # SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST 023289,000096: 023290,000097: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT) 023291,000098: 023292,000099: # DSKY -- 023293,000100: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS 023294,000101: # R2 MINUTES 023295,000102: 023296,000103: # DSKY -- 023297,000104: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES 023298,000105: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES 023299,000106: # R3 TFF IN MINUTES/SECS 023300,000107: 023301,000108: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST 023302,000109: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY. 023303,000110: # NORMAL EXIT MODE 023304,000111: 023305,000112: # ASTRONAUT VERB 37 ENTER 00 ENTER 023306,000113: 023307,000114: # ALARM MODES -- NONE 023308,000115: 023309,000116: # ABORT EXIT MODES -- 023310,000117: 023311,000118: # OUTPUT 023312,000119: 023313,000120: # TLIFTOFF (DP) TEPHEM (TP) 023314,000121: # REFSMMAT 023315,000122: # DSKY DISPLAY 023316,000123: # FDAI DISPLAY 023317,000124: 023318,000125: # ERASABLE INITIALIZATION 023319,000126: 023320,000127: # AZO, AXO, -AYO 023321,000128: # LATITUDE 023322,000129: # PADLONG 023323,000130: # TEPHEM 023324,000131: # PGNCSALT 023325,000132: # POLYNUM THRU POLYNUM +14D 023326,000133: # RPSTART 023327,000134: # POLYSTOP 023328,000135: # FLAGS SET OR RESET 023329,000136: # Page 535 023330,000137: # SET REFSMFLG 023331,000138: # SET DVMON IDLE FLAG 023332,000139: # CLEAR ERADFLAG 023333,000140: 023334,000141: # DEBRIS 023335,000142: 023336,000143: # LIFTTEMP 023337,000144: # POLYNUM THRU POLYNUM +7 023338,000145: # SPOLYARG 023339,000146: # BODY1, BODY2, BODY3 023340,000147: # VMAG2, ALTI, HDOT 023341,000148: # CENTRALS, CORE SET, AND VAC AREAS 023342,000149: 023343,000150: 04,3303 COUNT 34/P11 023344,000151: 023345,000152: 04,3303 5035 BITS5-6 = SUPER011 023346,000153: 42,3606 BANK 42 023347,000154: 34,2000 SETLOC P11ONE 023348,000155: 34,2000 BANK 023349,000156: 023350,000157: 34,2002 E3,1706 EBANK= TEPHEM 023351,000158: 34,2002 35051 P11 CA EBANK3 023352,000159: 34,2003 54003 TS EBANK 023353,000160: 023354,000161: 34,2004 00006 EXTEND 023355,000162: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11 023356,000163: 34,2006 52757 DXCH -PHASE3 023357,000164: 34,2007 45021 CS ZERO 023358,000165: 34,2010 22007 ZL 023359,000166: 34,2011 55265 TS LIFTTEMP 023360,000167: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION 023361,000168: 34,2013 00006 P11+7 EXTEND 023362,000169: 34,2014 32301 DCA REP11SA 023363,000170: 34,2015 53337 DXCH TLIFTOFF 023364,000171: 023365,000172: 34,2016 00006 EXTEND 023366,000173: 34,2017 30025 DCA TIME2 023367,000174: 34,2020 53266 DXCH LIFTTEMP # FORE RESTARTS 023368,000175: 023369,000176: 34,2021 35021 CA ZERO 023370,000177: 34,2022 22007 ZL 023371,000178: 34,2023 52025 DXCH TIME2 023372,000179: 34,2024 53337 REP11A-2 DXCH TLIFTOFF 023373,000180: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE 023374,000181: 023375,000182: 34,2026 00004 REP11A INHINT 023376,000183: 34,2027 00006 EXTEND 023377,000184: 34,2030 31710 DCA TEPHEM +1 023378,000185: 34,2031 53271 DXCH TEPHEM1 +1 023379,000186: 34,2032 31706 CA TEPHEM 023380,000187: # Page 536 023381,000188: 34,2033 57267 XCH TEPHEM1 023382,000189: 023383,000190: 34,2034 00006 EXTEND 023384,000191: 34,2035 31337 DCA TLIFTOFF 023385,000192: 34,2036 21271 DAS TEPHEM1 +1 023386,000193: 34,2037 27267 ADS TEPHEM1 # CORRECT FOR OVERFLOW 023387,000194: 023388,000195: 34,2040 05412 TC PHASCHNG 023389,000196: 34,2041 05023 OCT 05023 023390,000197: 34,2042 22000 OCT 22000 023391,000198: 023392,000199: 34,2043 00004 INHINT 023393,000200: 34,2044 00006 EXTEND 023394,000201: 34,2045 31270 DCA TEPHEM1 023395,000202: 34,2046 53707 DXCH TEPHEM 023396,000203: 34,2047 31271 CA TEPHEM1 +2 023397,000204: 34,2050 57710 XCH TEPHEM +2 023398,000205: 023399,000206: 34,2051 32000 CAF EBDVCNT 023400,000207: 34,2052 54003 TS EBANK 023401,000208: 34,2053 E7,1431 EBANK= DVCNTR 023402,000209: 34,2053 04740 TC IBNKCALL 023403,000210: 34,2054 76722 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG 023404,000211: 023405,000212: 34,2055 05412 TC PHASCHNG 023406,000213: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART 023407,000214: 34,2057 22000 OCT 22000 023408,000215: 023409,000216: 34,2060 35036 CAF .5SEC # START ATT ERROR DISPLAY 023410,000217: 34,2061 05245 TC WAITLIST # IN .5 SEC 023411,000218: 34,2062 E6,1704 EBANK= BODY3 023412,000219: 34,2062 02320 70066 2CADR ATERTASK 023413,000220: 023414,000221: 34,2064 05354 TC NEWMODEX # DISPLAY MM 11 023415,000222: 34,2065 00013 MM 11 B-14 023416,000223: 023417,000224: 34,2066 05546 TC UPFLAG 023418,000225: 34,2067 00022 ADRES NODOP01 023419,000226: 023420,000227: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST 023421,000228: 34,2071 54332 TS DNLSTCOD 023422,000229: 023423,000230: 34,2072 04662 TC BANKCALL 023424,000231: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75 023425,000232: 023426,000233: 34,2074 05372 TC 2PHSCHNG 023427,000234: 34,2075 40514 OCT 40514 # PROTECT ATERTASK 023428,000235: 34,2076 00073 OCT 00073 023429,000236: 34,2077 32001 CAF EBQPLACE 023430,000237: # Page 537 023431,000238: 34,2100 54003 TS EBANK 023432,000239: 023433,000240: 34,2101 E5,1426 EBANK= QPLACES 023434,000241: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR 023435,000242: 34,2102 55426 TS QPLACES 023436,000243: 34,2103 06006 TC INTPRET 023437,000244: 34,2104 64375 VLOAD MXV 023438,000245: 34,2105 02467 THETAN 023439,000246: 34,2106 02672 XSM 023440,000247: 34,2107 53372 VSL1 VAD 023441,000248: 34,2110 02650 ERCOMP 023442,000249: 34,2111 16650 STODL ERCOMP 023443,000250: 34,2112 01337 TLIFTOFF 023444,000251: 34,2113 52131 SSP GOTO 023445,000252: 34,2114 00052 S2 023446,000253: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR 023447,000254: 34,2116 66373 EARTHR +3 023448,000255: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE 023449,000256: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF 023450,000257: 34,2121 53760 DXCH OGC 023451,000258: 34,2122 22007 ZL 023452,000259: 34,2123 30033 CA CDUY 023453,000260: 34,2124 53762 DXCH IGC 023454,000261: 34,2125 22007 ZL 023455,000262: 34,2126 30034 CA CDUZ 023456,000263: 34,2127 53764 DXCH MGC 023457,000264: 34,2130 06006 TC INTPRET # _ 023458,000265: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1 023459,000266: 34,2132 02760 OGC 023460,000267: 34,2133 02760 STORE OGC 023461,000268: 34,2134 77731 SSP # ZERO RTX2 023462,000269: 34,2135 03747 RTX2 # FOR 023463,000270: 34,2136 00000 0 # EARTH 023464,000271: 34,2137 65345 DLOAD PDDL 023465,000272: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS 023466,000273: 34,2141 01264 PADLONG # LONGITUDE 023467,000274: 34,2142 55525 PDDL VDEF 023468,000275: 34,2143 02403 LATITUDE # GEODETIC LATITUDE 023469,000276: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE 023470,000277: 34,2145 15335 HI6ZEROS # TIME = 0 023471,000278: 34,2146 45014 CLEAR CALL 023472,000279: 34,2147 00662 ERADFLAG 023473,000280: 34,2150 26441 LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS. 023474,000281: 023475,000282: 34,2151 35232 STCALL RN1 # _ 023476,000283: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION 023477,000284: 34,2153 53476 VCOMP UNIT 023478,000285: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV) 023479,000286: 34,2155 01232 RN1 023480,000287: 34,2156 74235 VXV VXSC 023481,000288: # Page 538 023482,000289: 34,2157 01714 UNITW # SCALED AT 1 023483,000290: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R 023484,000291: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS 023485,000292: 34,2162 25240 STOVL VN1 023486,000293: 34,2163 01752 REFSMMAT +12D 023487,000294: 34,2164 53435 VXV UNIT 023488,000295: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST 023489,000296: 34,2166 47206 PUSH VXV 023490,000297: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH 023491,000298: 34,2170 65256 UNIT PDDL 023492,000299: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH 023493,000300: 34,2172 74346 COS VXSC 023494,000301: 34,2173 77626 STADR 023495,000302: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE 023496,000303: 34,2175 02634 LAUNCHAZ 023497,000304: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST 023498,000305: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1 023499,000306: 34,2200 01736 REFSMMAT 023500,000307: 34,2201 01736 STORE REFSMMAT 023501,000308: 023502,000309: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3 023503,000310: 34,2203 01752 REFSMMAT +12D 023504,000311: 34,2204 77676 VCOMP 023505,000312: 34,2205 01744 STORE REFSMMAT +6 023506,000313: 34,2206 45345 DLOAD DSU 023507,000314: 34,2207 15333 DPHALF # 1/2 REV 023508,000315: 34,2210 02634 LAUNCHAZ 023509,000316: 34,2211 65215 DAD PDDL 023510,000317: 34,2212 02401 AZIMUTH 023511,000318: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF 023512,000319: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE 023513,000320: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY 023514,000321: 34,2216 77414 SET EXIT 023515,000322: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG 023516,000323: 023517,000324: 34,2220 05412 TC PHASCHNG 023518,000325: 34,2221 04023 OCT 04023 023519,000326: 023520,000327: 34,2222 00006 EXTEND 023521,000328: 34,2223 32306 DCA P11SCADR 023522,000329: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT 023523,000330: 023524,000331: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8) 023525,000332: 34,2226 55074 TS 1/PIPADT 023526,000333: 023527,000334: 34,2227 E6,1501 EBANK= RCSFLAGS 023528,000335: 34,2227 35057 CA EBANK6 023529,000336: 34,2230 54003 TS EBANK 023530,000337: 023531,000338: 34,2231 00004 INHINT 023532,000339: # Page 539 023533,000340: 34,2232 45021 CS ZERO 023534,000341: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF 023535,000342: 023536,000343: 34,2234 40025 CS TIME1 023537,000344: 34,2235 65042 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF 023538,000345: 023539,000346: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE 023540,000347: 34,2237 12242 TCF +3 # TIME POSITIVE 023541,000348: 34,2240 12242 TCF +2 # CANNOT GET HERE 023542,000349: 34,2241 35021 CA ZERO # TIME NEGATIVE -- SET TO 1 023543,000350: 34,2242 65017 AD ONE # RESTORE TIME -- OR MAKE POSITIVE 023544,000351: 023545,000352: 34,2243 05245 TC WAITLIST 023546,000353: 34,2244 E6,1661 EBANK= AOG 023547,000354: 34,2244 02744 76066 2CADR READACCS 023548,000355: 023549,000356: 34,2246 05372 TC 2PHSCHNG 023550,000357: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3 023551,000358: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS 023552,000359: 023553,000360: 34,2251 04701 TC POSTJUMP 023554,000361: 34,2252 77236 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB 023555,000362: 023556,000363: 023557,000364: 34,2253 E3,1706 EBANK= TEPHEM 023558,000365: 34,2253 00004 REP11 INHINT 023559,000366: 34,2254 10763 CCS PHASE5 023560,000367: 34,2255 05217 TC ENDOFJOB 023561,000368: 023562,000369: 34,2256 11265 CCS LIFTTEMP 023563,000370: 34,2257 12263 TCF +4 023564,000371: 34,2260 12263 TCF +3 023565,000372: 34,2261 12263 TCF +2 023566,000373: 34,2262 12013 TCF P11+7 023567,000374: 023568,000375: 34,2263 41336 CS TLIFTOFF 023569,000376: 34,2264 00006 EXTEND 023570,000377: 34,2265 62273 BZMF ENDREP11 023571,000378: 023572,000379: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF ** 023573,000380: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT 023574,000381: 023575,000382: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF 023576,000383: 34,2271 31266 DCA LIFTTEMP 023577,000384: 34,2272 12024 TCF REP11A-2 023578,000385: 023579,000386: 34,2273 00006 ENDREP11 EXTEND 023580,000387: 34,2274 32301 DCA REP11SA 023581,000388: 34,2275 12025 TCF REP11A-1 023582,000389: # Page 540 023583,000390: 34,2276 77766 00011 REP11S 2OCT 7776600011 023584,000391: 023585,000392: 34,2300 77764 00013 REP11SA 2OCT 7776400013 023586,000393: 023587,000394: 34,2302 02451 P11XIT GENADR P11OUT 023588,000395: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18) 023589,000396: 023590,000397: 34,2305 E6,1704 EBANK= BODY3 023591,000398: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT 023592,000399: 023593,000400: 34,2307 6214 POWDNCOD EQUALS THREE 023594,000401: 023595,000402: 34,2307 E6,1704 EBANK= BODY3 023596,000403: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY 023597,000404: # VI INERTIAL VELOCITY MAGNITUDE 023598,000405: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS 023599,000406: # H ALTITUDE ABOVE L PAD RADIUS 023600,000407: 023601,000408: 34,2307 06006 VHHDOT TC INTPRET 023602,000409: 34,2310 77624 CALL # LOAD VMAGI, ALTI, 023603,000410: 34,2311 70542 S11.1 # HDOT FOR DISPLAY 023604,000411: 34,2312 77776 EXIT 023605,000412: 34,2313 05412 TC PHASCHNG 023606,000413: 34,2314 00035 OCT 00035 023607,000414: 023608,000415: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3 023609,000416: 34,2316 04662 TC BANKCALL # VI HDOT H 023610,000417: 34,2317 20707 CADR REGODSP 023611,000418: 023612,000419: 34,2320 35006 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS 023613,000420: 34,2321 05147 TC FINDVAC # COMES HERE AT L.O. + .33 SEC 023614,000421: 34,2322 E6,1704 EBANK= BODY3 023615,000422: 34,2322 02345 70066 2CADR ATERJOB 023616,000423: 023617,000424: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR 023618,000425: 34,2325 75015 MASK BIT3 # NEEDLER 023619,000426: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS 023620,000427: 34,2327 04740 TC IBNKCALL # AND GO 023621,000428: 34,2330 42420 CADR NEEDLER # DO IT 023622,000429: 34,2331 35017 CA BIT1 # SET SW 023623,000430: 34,2332 55725 TS SATSW # FOR DISPLAY 023624,000431: 34,2333 05324 TC TASKOVER 023625,000432: 34,2334 40220 GETDOWN STQ SETPD 023626,000433: 34,2335 02242 INCORPEX 023627,000434: 34,2336 00001 0D 023628,000435: 34,2337 77745 DLOAD 023629,000436: 34,2340 15335 HI6ZEROS 023630,000437: # Page 541 023631,000438: 34,2341 14007 STODL 6D 023632,000439: 34,2342 15333 DPHALF 023633,000440: 34,2343 34011 STCALL 8D 023634,000441: 34,2344 26446 LALOTORV +5 023635,000442: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST 023636,000443: 023637,000444: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF 023638,000445: # 2 3 4 5 6 023639,000446: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T 023640,000447: # SCALED TO 32 REVS. -14 023641,000448: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2 023642,000449: # WHERE TL GE RPSTART 023643,000450: # TL LE (-POLYSTOP + RPSTART) 023644,000451: # COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM 023645,000452: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C). 023646,000453: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV 023647,000454: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC 023648,000455: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS 023649,000456: 023650,000457: # FOR SIMPLICITY, LET P = 2*PI*PITCH 023651,000458: # R = 2*PI*ROLL 023652,000459: 023653,000460: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN 023654,000461: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC, 023655,000462: # YDC, AND ZDC. 023656,000463: 023657,000464: # * ( SIN(P) 0 -COS(P) ) (XDC) 023658,000465: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC) 023659,000466: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC) 023660,000467: 023661,000468: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 023662,000469: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED 023663,000470: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED 023664,000471: # AS THE DESIRED CDU ANGLES. 023665,000472: 023666,000473: # (XDC) (OGC) 023667,000474: # (YDC) ---) CALCGTA ---) (IGC) 023668,000475: # (ZDC) (MGC) 023669,000476: # _ 023670,000477: # DEFINE THE VECTOR DELTACDU. 023671,000478: 023672,000479: # _ (OGC) (CDUX) 023673,000480: # DELTACDU = (IGC) - (CDUY) 023674,000481: # (MGC) (CDUZ) 023675,000482: # _ _ * _ 023676,000483: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU 023677,000484: 023678,000485: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES 023679,000486: # Page 542 023680,000487: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES 023681,000488: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX 023682,000489: # _ 023683,000490: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN 023684,000491: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE 023685,000492: # ERROR DISPLAY ROUTINE. 023686,000493: 023687,000494: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6 023688,000495: 34,2346 74105 MASK OCT60000 # BITS 14, 15 023689,000496: 34,2347 00006 EXTEND 023690,000497: 34,2350 12352 BZF +2 # OK -- CONTINUE 023691,000498: 34,2351 05217 TC ENDOFJOB # STAURN STICK ON -- KILL JOB 023692,000499: 34,2352 35006 CAF BIT10 # CHECK IF S/C CONTROL 023693,000500: 34,2353 00006 EXTEND # OF SATURN PANEL 023694,000501: 34,2354 02030 RAND CHAN30 # SWITCH IS ON 023695,000502: 34,2355 00006 EXTEND 023696,000503: 34,2356 12510 BZF STRSAT # IT IS -- GO STEER 023697,000504: 34,2357 11725 CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE 023698,000505: 34,2360 02363 TC ATTDISP # NO -- CONTINUE 023699,000506: 34,2361 02513 TC ATRESET # YES -- REINITIALIZE NEEDLER 023700,000507: 34,2362 02513 TC ATRESET # YES -- REINITIALIZE NEEDLER 023701,000508: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME 023702,000509: 34,2364 60025 AD TIME1 023703,000510: 34,2365 00006 EXTEND 023704,000511: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD 023705,000512: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART 023706,000513: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION 023707,000514: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS 023708,000515: 34,2372 00006 EXTEND 023709,000516: 34,2373 62375 BZMF +2 023710,000517: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD 023711,000518: 34,2375 30024 CA TIME2 023712,000519: 34,2376 00006 EXTEND 023713,000520: 34,2377 62401 BZMF +2 023714,000521: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD 023715,000522: 34,2401 31661 CAE POLYNUM 023716,000523: 34,2402 54001 TS L 023717,000524: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL 023718,000525: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS 023719,000526: 34,2405 35021 CA ZERO # RETURN WITH PITCH(32REV) 023720,000527: 34,2406 54163 TS MODE # STORED MPAC, MPAC +1 023721,000528: 34,2407 06006 TC INTPRET 023722,000529: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV) 023723,000530: 34,2411 00001 0 023724,000531: 34,2412 20206 5 023725,000532: 34,2413 77606 PUSH # LET P(RAD) = 2*PI*PITCH(REV) 023726,000533: 34,2414 77650 GOTO 023727,000534: 34,2415 76155 ATTDISP1 # AROUND SETLOC 023728,000535: # Page 543 023729,000536: # * 023730,000537: # CONSTRUCT SM TO S/C MATRIX, TSMV 023731,000538: 023732,000539: 37,2000 SETLOC P11TWO 023733,000540: 37,2000 BANK # 36 IN COL., 34 IN DISK 023734,000541: 023735,000542: 37,2155 COUNT 36/P11 023736,000543: 023737,000544: 37,2155 57546 ATTDISP1 COS DCOMP 023738,000545: 37,2156 14017 STODL 14D # -.5*COS(P) 023739,000546: 37,2157 77756 SIN 023740,000547: 37,2160 14013 STODL 10D # .5*SIN(P) 023741,000548: 37,2161 15335 ZEROVECS 023742,000549: 37,2162 00015 STORE 12D # 0 023743,000550: 023744,000551: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T 023745,000552: 37,2163 41335 SLOAD DMP 023746,000553: 37,2164 03310 SPOLYARG # TIME1 - RSPSTART, CSECS B-14. 023747,000554: 37,2165 03301 SATRLRT 023748,000555: 37,2166 45261 SL DSU 023749,000556: 37,2167 20217 14D 023750,000557: 37,2170 15333 DPHALF 023751,000558: 37,2171 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH, 023752,000559: 37,2172 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM). 023753,000560: 37,2173 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C) 023754,000561: 37,2174 77634 RTB # DETERMINE IF ROLLOUT 023755,000562: 37,2175 70604 RLTST # IS COMPLETED 023756,000563: 37,2176 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV 023757,000564: 37,2177 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV) 023758,000565: 37,2200 72405 DMP SL1 023759,000566: 37,2201 00017 14D 023760,000567: 37,2202 14027 STODL 22D # -.5*COS(R)*COS(P) 023761,000568: 37,2203 77676 DCOMP 023762,000569: 37,2204 00023 STORE 18D # -.5*COS(R) 023763,000570: 37,2205 72405 DMP SL1 023764,000571: 37,2206 00013 10D 023765,000572: 37,2207 14033 STODL 26D # -.5*COS(R)*SIN(P) 023766,000573: 37,2210 41556 SIN PUSH 023767,000574: 37,2211 00031 STORE 24D # .5*SIN(R) 023768,000575: 37,2212 72405 DMP SL1 023769,000576: 37,2213 00017 14D 023770,000577: 37,2214 14021 STODL 16D # -.5*SIN(R)*COS(P) 023771,000578: 37,2215 77676 DCOMP 023772,000579: 37,2216 72405 DMP SL1 023773,000580: 37,2217 00013 10D 023774,000581: 37,2220 24025 STOVL 20D # -.5*SIN(R)*SIN(P) 023775,000582: 37,2221 00013 10D 023776,000583: 023777,000584: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA 023778,000585: # Page 544 023779,000586: 37,2222 77656 UNIT 023780,000587: 37,2223 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P)) 023781,000588: 37,2224 00021 16D 023782,000589: 37,2225 77656 UNIT 023783,000590: 37,2226 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R), 023784,000591: 37,2227 00027 22D # -SIN(R)*SIN(P)) 023785,000592: 37,2230 77656 UNIT 023786,000593: 37,2231 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R), 023787,000594: 37,2232 47205 CALCGTA # -COS(R)*SIN(P)) 023788,000595: 023789,000596: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC 023790,000597: # _ _ _ 023791,000598: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX 023792,000599: # 023793,000600: # ENTER HERE IF ATTITUDE HOLD 023794,000601: 023795,000602: 37,2233 41575 NOPOLYM VLOAD PUSH # OGC IGC 023796,000603: 37,2234 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY 023797,000604: 37,2235 45006 PUSH CALL # MGC OGC 023798,000605: 37,2236 47477 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT 023799,000606: 37,2237 47175 VLOAD RTB # _ DPHI OGC-CDUX , PD4 023800,000607: 37,2240 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0 023801,000608: 37,2241 45552 V1STO2S # DPSI MGC-CDUZ , 2 023802,000609: 37,2242 27317 STOVL BOOSTEMP 023803,000610: 37,2243 15335 ZEROVECS 023804,000611: 37,2244 24001 STOVL 0 023805,000612: 37,2245 00767 CDUSPOT 023806,000613: 37,2246 47034 RTB RTB 023807,000614: 37,2247 45552 V1STO2S 023808,000615: 37,2250 70564 DELSTOR 023809,000616: 37,2251 14013 STODL 10D 023810,000617: 37,2252 00741 SINCDUZ 023811,000618: 37,2253 72405 DMP SL1 023812,000619: 37,2254 00001 0 023813,000620: 37,2255 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS 023814,000621: 37,2256 00005 4 023815,000622: 37,2257 77650 GOTO 023816,000623: 37,2260 70416 ATTDISP2 023817,000624: 023818,000625: 34,2000 SETLOC P11ONE 023819,000626: 34,2000 BANK 023820,000627: 34,2416 COUNT 34/P11 023821,000628: 023822,000629: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ)) 023823,000630: 34,2417 00747 COSCDUZ 023824,000631: 34,2420 41405 DMP PUSH 023825,000632: 34,2421 00001 0 023826,000633: 34,2422 72405 DMP SL1 023827,000634: 34,2423 00751 COSCDUX 023828,000635: 34,2424 41325 PDDL DMP 023829,000636: # Page 545 023830,000637: 34,2425 00743 SINCDUX 023831,000638: 34,2426 00003 2 023832,000639: 34,2427 72415 DAD SL1 023833,000640: 34,2430 77626 STADR 023834,000641: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ) 023835,000642: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX)) 023836,000643: 34,2433 00743 SINCDUX 023837,000644: 34,2434 41325 PDDL DMP 023838,000645: 34,2435 00751 COSCDUX 023839,000646: 34,2436 00003 2 023840,000647: 34,2437 72425 DSU SL1 023841,000648: 34,2440 77626 STADR 023842,000649: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ) 023843,000650: 34,2442 77751 TLOAD # +DPSI*COS(CDUX)) 023844,000651: 34,2443 00021 16D 023845,000652: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2 023846,000653: 34,2445 77776 EXIT 023847,000654: 023848,000655: 34,2446 31725 CA SATSW 023849,000656: 34,2447 10000 CCS A # CHK TAKEOVER STATUS 023850,000657: 34,2450 02471 TC SATOUT # POS -- DISPLAY ONLY 023851,000658: 34,2451 02477 TC AKLOAD # 0 STORE BIAS 023852,000659: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V 023853,000660: 34,2453 76351 TLOAD TAD 023854,000661: 34,2454 03327 BIASAK 023855,000662: 34,2455 03077 AK 023856,000663: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS 023857,000664: 34,2457 77776 EXIT 023858,000665: 34,2460 31476 CA AK 023859,000666: 34,2461 02623 TC RESCALES 023860,000667: 34,2462 55476 TS AK 023861,000668: 34,2463 31477 CA AK1 023862,000669: 34,2464 02623 TC RESCALES 023863,000670: 34,2465 55477 TS AK1 023864,000671: 34,2466 31500 CA AK2 023865,000672: 34,2467 02623 TC RESCALES 023866,000673: 34,2470 55500 TS AK2 023867,000674: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER 023868,000675: 023869,000676: 34,2471 04662 SATOUT TC BANKCALL 023870,000677: 34,2472 42420 CADR NEEDLER 023871,000678: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC 023872,000679: 34,2474 04662 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX 023873,000680: 34,2475 01732 CADR DELAYJOB 023874,000681: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE 023875,000682: 023876,000683: 34,2477 41476 AKLOAD CS AK # STORE AKS 023877,000684: 34,2500 55726 TS BIASAK # INTO BIAS 023878,000685: 34,2501 41477 CS AK1 # COMPLEMENTED 023879,000686: 34,2502 55727 TS BIASAK +1 023880,000687: # Page 546 023881,000688: 34,2503 41500 CS AK2 023882,000689: 34,2504 55730 TS BIASAK +2 023883,000690: 34,2505 45017 CS BIT1 # SET SW 023884,000691: 34,2506 55725 TS SATSW # TO STEER 023885,000692: 34,2507 02452 TC STEERSAT # GO STEER 023886,000693: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEDLER 023887,000694: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED 023888,000695: 34,2512 62363 BZMF ATTDISP # YES -- CONTINUE 023889,000696: 34,2513 41501 ATRESET CS RCSFLAGS # NO -- SET 023890,000697: 34,2514 75015 MASK BIT3 # INITIALIZATION SW 023891,000698: 34,2515 27501 ADS RCSFLAGS # FOR NEDLER 023892,000699: 34,2516 04662 TC BANKCALL # AND GO 023893,000700: 34,2517 42420 CADR NEEDLER # DO IT 023894,000701: 34,2520 36211 CAF REVCNT # OCT 6 023895,000702: 34,2521 04662 TC BANKCALL # DELAY JOB 023896,000703: 34,2522 01732 CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED 023897,000704: 34,2523 11725 CCS SATSW # CHECK SW STATUS 023898,000705: 34,2524 02534 TC TAKEON # POS STEER INIT. 023899,000706: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY 023900,000707: 34,2526 35017 CA BIT1 # NEG RETURN TO DISPLAY 023901,000708: 34,2527 55725 TS SATSW # SW = DISPLAY ON 023902,000709: 34,2530 45007 CS BIT9 # DISABLE 023903,000710: 34,2531 00006 EXTEND # SIVB 023904,000711: 34,2532 03012 WAND CHAN12 # TAKEOVER 023905,000712: 34,2533 02471 TC SATOUT # DISPLAY 023906,000713: 34,2534 35007 TAKEON CAF BIT9 # ENABLE 023907,000714: 34,2535 00006 EXTEND # SIVB 023908,000715: 34,2536 05012 WOR CHAN12 # TAKEOVER 023909,000716: 34,2537 35021 CA ZERO # INDICATE NEEDLER 023910,000717: 34,2540 55725 TS SATSW # WAS INITIALIZED 023911,000718: 34,2541 02471 TC SATOUT 023912,000719: 34,2542 51575 S11.1 VLOAD ABVAL 023913,000720: 34,2543 01177 VN 023914,000721: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC 023915,000722: 34,2545 01171 RN 023916,000723: 34,2546 50256 UNIT DOT 023917,000724: 34,2547 01177 VN 023918,000725: 34,2550 77752 SL1 023919,000726: 34,2551 17737 STODL HDOT 023920,000727: 34,2552 05152 RPAD 023921,000728: 34,2553 77214 BOF VLOAD 023922,000729: 34,2554 00355 AMOONFLG 023923,000730: 34,2555 70560 EARTHALT 023924,000731: 34,2556 02026 RLS 023925,000732: 34,2557 60446 ABVAL SR2 023926,000733: 34,2560 77621 EARTHALT BDSU 023927,000734: 34,2561 00045 36D 023928,000735: 34,2562 03735 STORE ALTI 023929,000736: 34,2563 77616 RVQ 023930,000737: 34,2564 31716 DELSTOR CA BOOSTEMP 023931,000738: # Page 547 023932,000739: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4 023933,000740: 34,2566 20154 MSU MPAC 023934,000741: 34,2567 50120 INDEX FIXLOC 023935,000742: 34,2570 54000 TS 0 023936,000743: 34,2571 31717 CA BOOSTEMP +1 023937,000744: 34,2572 00006 EXTEND 023938,000745: 34,2573 20155 MSU MPAC +1 023939,000746: 34,2574 50120 INDEX FIXLOC 023940,000747: 34,2575 54002 TS 2 023941,000748: 34,2576 31720 CA BOOSTEMP +2 023942,000749: 34,2577 00006 EXTEND 023943,000750: 34,2600 20156 MSU MPAC +2 023944,000751: 34,2601 50120 INDEX FIXLOC 023945,000752: 34,2602 54004 TS 4 023946,000753: 34,2603 16030 TCF DANZIG 023947,000754: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT 023948,000755: 34,2605 00006 EXTEND # IS COMPLETED 023949,000756: 34,2606 71701 MP SATRLRT +1 023950,000757: 34,2607 00006 EXTEND 023951,000758: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING 023952,000759: 34,2611 00006 EXTEND # ROLLOUT COMPLETED 023953,000760: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION 023954,000761: 34,2613 52155 DXCH MPAC 023955,000762: 34,2614 06030 TC DANZIG 023956,000763: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF 023957,000764: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD 023958,000765: 34,2617 00001 0 023959,000766: 34,2620 76233 NOPOLYM 023960,000767: 34,2621 01673 COEFPOLY ADRES POLYLOC 023961,000768: 34,2622 01476 V06N62 VN 0662 023962,000769: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR 023963,000770: 34,2624 71731 MP SATSCALE # NEW HARDWARE 023964,000771: 34,2625 20001 DDOUBL # SCALING FOR 023965,000772: 34,2626 20001 DDOUBL # STEERING 023966,000773: 34,2627 00002 TC Q # SATURN 023967,000774: 023968,000775: # SATURN TAKEOVER FUNCTION 023969,000776: # ************************ 023970,000777: # 023971,000778: # PROGRAM DESCRIPTION 023972,000779: 023973,000780: # MOD NUMBER 1 023974,000781: # MOD BY ELIASSEN 023975,000782: 023976,000783: # FUNCTIONAL DESCRIPTION 023977,000784: 023978,000785: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE 023979,000786: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH 023980,000787: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ). 023981,000788: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE 023982,000789: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC 023983,000790: # Page 548 023984,000791: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND 023985,000792: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE- 023986,000793: # SULTS IN A ZERO RATE COMMAND. 023987,000794: 023988,000795: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE 023989,000796: # OF THE RATE COMMAND. 023990,000797: 023991,000798: # CALLING SEQUENCE 023992,000799: 023993,000800: # DAPFIG +9D TC POSTJUMP 023994,000801: # CADR SATSTKON 023995,000802: 023996,000803: # SUBROUTINES CALLED 023997,000804: 023998,000805: # ENDEXT 023999,000806: # IBNKCALL 024000,000807: # STICKCHK 024001,000808: # NEEDLER 024002,000809: # T5RUPT 024003,000810: # RESUME 024004,000811: 024005,000812: # ASTRONAUT REQUESTS 024006,000813: 024007,000814: # ENTRY -- VERB 46 ENTER 024008,000815: # (CONDITION -- BITS 13, 14 OF DAPDATR1 SET) 024009,000816: 024010,000817: # EXIT -- VERB 48 ENTER (FLASH V06N46) 024011,000818: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1 024012,000819: # VERB 34 ENTER 024013,000820: # VERB 46 ENTER 024014,000821: 024015,000822: # NORMAL EXIT MODE 024016,000823: 024017,000824: # VERB 46 ENTER (SEE ASTRONAUT ABOVE) 024018,000825: 024019,000826: # ALARM OR ABORT EXIT MODES 024020,000827: 024021,000828: # NONE 024022,000829: 024023,000830: # OUTPUT 024024,000831: 024025,000832: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD 024026,000833: 024027,000834: # ERASABLE INITIALIZATION 024028,000835: 024029,000836: # DAPDATR1 (BITS 13, 14 MUST BE SET) 024030,000837: 024031,000838: # DEBRIS 024032,000839: 024033,000840: # CENTRALS 024034,000841: # Page 549 024035,000842: # CDUXCMD, CDUYCMD, CDUZCMD 024036,000843: 024037,000844: 43,3215 BANK 43 024038,000845: 43,2000 SETLOC EXTVERBS 024039,000846: 43,2000 BANK 024040,000847: 024041,000848: 43,3215 COUNT 23/STTKE 024042,000849: 43,3215 00006 SATSTKON EXTEND 024043,000850: 43,3216 33233 DCA 2REDOSAT 024044,000851: 43,3217 00004 INHINT 024045,000852: 43,3220 53313 DXCH T5LOC 024046,000853: 43,3221 34777 CAF POSMAX 024047,000854: 43,3222 54030 TS TIME5 024048,000855: 43,3223 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF 024049,000856: 43,3224 74105 MASK RELTAB11 # FLAGWRD6 024050,000857: 43,3225 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5 024051,000858: 43,3226 04740 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN 024052,000859: 43,3227 42632 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED 024053,000860: 43,3230 00003 RELINT 024054,000861: 43,3231 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46 024055,000862: 024056,000863: 43,3232 E6,1704 EBANK= BODY3 024057,000864: 43,3232 02765 46106 2REDOSAT 2CADR REDOSAT 024058,000865: 024059,000866: 024060,000867: 43,3234 30,2000 SBANK= LOWSUPER 024061,000868: 32,2017 BANK 32 024062,000869: 23,2000 SETLOC P11FOUR 024063,000870: 23,2000 BANK 024064,000871: 024065,000872: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS 024066,000873: 23,2766 00006 EXTEND 024067,000874: 23,2767 22012 QXCH QRUPT 024068,000875: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX 024069,000876: 23,2771 75015 MASK BIT3 # FOR 024070,000877: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION 024071,000878: 23,2773 04740 TC IBNKCALL 024072,000879: 23,2774 42420 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC. 024073,000880: 23,2775 35007 CAF BIT9 # SIVB 024074,000881: 23,2776 00006 EXTEND # TAKEOVER 024075,000882: 23,2777 05012 WOR CHAN12 # ENABLE 024076,000883: 23,3000 00006 EXTEND # SET UP T5 CYCLE 024077,000884: 23,3001 33042 DCA 2SATSTCK 024078,000885: 23,3002 53313 DXCH T5LOC 024079,000886: 23,3003 33040 CAF 100MST5 # IN 100 MSECS 024080,000887: 23,3004 54030 TS TIME5 024081,000888: 23,3005 15333 TCF RESUME # END OF SATURN STICK INITIALIZATION 024082,000889: 024083,000890: # THIS SECTION IS EXECUTED EVERY 100 MSECS. 024084,000891: # Page 550 024085,000892: 23,3006 22016 SATSTICK LXCH BANKRUPT 024086,000893: 23,3007 00006 EXTEND 024087,000894: 23,3010 22012 QXCH QRUPT 024088,000895: 024089,000896: 23,3011 33041 CAF 2SATSTCK # SET UP RUPT 024090,000897: 23,3012 55312 TS T5LOC # LO ORDER LOC SET 024091,000898: 23,3013 33040 CAF 100MST5 # 100 MSECS 024092,000899: 23,3014 54030 TS TIME5 024093,000900: 23,3015 33037 CAF STIKBITS 024094,000901: 23,3016 00006 EXTEND 024095,000902: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME 024096,000903: 23,3020 73037 MASK STIKBITS 024097,000904: 23,3021 04740 TC IBNKCALL # SET RATE INDICES 024098,000905: 23,3022 43130 CADR STICKCHK # FOR PITCH YAW AND ROLL 024099,000906: 024100,000907: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES 024101,000908: 23,3024 31721 CA SATRATE 024102,000909: 23,3025 55476 TS AK # ROLL 024103,000910: 23,3026 51657 INDEX PMANNDX 024104,000911: 23,3027 31721 CA SATRATE 024105,000912: 23,3030 55477 TS AK1 # PITCH 024106,000913: 23,3031 51660 INDEX YMANNDX 024107,000914: 23,3032 31721 CA SATRATE 024108,000915: 23,3033 55500 TS AK2 # YAW 024109,000916: 024110,000917: 23,3034 04740 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY 024111,000918: 23,3035 42420 CADR NEEDLER 024112,000919: 23,3036 15333 TCF RESUME # END OF SATURN STICK CONTROL 024113,000920: 024114,000921: 23,3037 00077 STIKBITS OCT 00077 024115,000922: 23,3040 37766 100MST5 DEC 16374 B-14 024116,000923: 23,3041 E6,1704 EBANK= BODY3 024117,000924: 23,3041 03006 46066 2SATSTCK 2CADR SATSTICK End of include-file P11.agc. Parent file is MAIN.agc