Source Code

022728,000001: # Copyright: Public domain. 022729,000002: # Filename: P11.agc 022730,000003: # Purpose: Part of the source code for Colossus, build 249. 022731,000004: # It is part of the source code for the Command Module's (CM) 022732,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 022733,000006: # Assembler: yaYUL 022734,000007: # Reference: pp. 528-544 of 1701.pdf. 022735,000008: # Contact: Ron Burkey <info@sandroid.org>. 022736,000009: # Website: www.ibiblio.org/apollo. 022737,000010: # Mod history: 08/13/04 RSB Began transcribing. 022738,000011: # 2011-05-07 JL Flag SBANK= workarounds for future removal. 022739,000012: 022740,000013: # The contents of the "Colossus249" files, in general, are transcribed 022741,000014: # from a scanned document obtained from MIT's website, 022742,000015: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 022743,000016: # document read, in part: 022744,000017: 022745,000018: # Assemble revision 249 of AGC program Colossus by NASA 022746,000019: # 2021111-041. October 28, 1968. 022747,000020: 022748,000021: # This AGC program shall also be referred to as 022749,000022: # Colossus 1A 022750,000023: 022751,000024: # Prepared by 022752,000025: # Massachusetts Institute of Technology 022753,000026: # 75 Cambridge Parkway 022754,000027: # Cambridge, Massachusetts 022755,000028: # under NASA contract NAS 9-4065. 022756,000029: 022757,000030: # Refer directly to the online document mentioned above for further information. 022758,000031: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 022759,000032: 022760,000033: # In some cases, where the source code for Luminary 131 overlaps that of 022761,000034: # Colossus 249, this code is instead copied from the corresponding Luminary 131 022762,000035: # source file, and then is proofed to incorporate any changes. 022763,000036: 022764,000037: # Page 528 022765,000038: # EARTH ORBIT INSERTION MONITOR PROGRAM 022766,000039: # ************************************* 022767,000040: 022768,000041: # PROGRAM DESCRIPTION -P11- 022769,000042: 022770,000043: # MOD NO. 1 022771,000044: # MOD BY ELIASSEN 022772,000045: 022773,000046: # FUNCTIONAL DESCRIPTION 022774,000047: 022775,000048: # P11 IS INITIATED BY 022776,000049: 022777,000050: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR 022778,000051: # B) BACKUP THRU VERB 75 ENTER 022779,000052: 022780,000053: # PROGRAM WILL 022781,000054: 022782,000055: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP) 022783,000056: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED 022784,000057: # 3. INITIATE SERVICER AT PREREAD1 022785,000058: # 4. CHANGE MAJOR MODE TO 11 022786,000059: # 5. CLEAR DSKY IN CASE OF V 75 022787,000060: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY 022788,000061: # 7. TERMINATE GYROCOMPASSING __ __ 022789,000062: # 8. COMPUTE INITIAL VECTORS RN, VN _ _ _ 022790,000063: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE 022791,000064: # _ _ X Y Z 022792,000065: # U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF 022793,000066: # _Z _ _ 022794,000067: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH 022795,000068: # _X _ _ 022796,000069: # U =U * U 022797,000070: # U Z X 022798,000071: # 10. SET REFSMMAT KNOWN FLAG 022799,000072: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO 022800,000073: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS 022801,000074: 022802,000075: # R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS 022803,000076: # R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS 022804,000077: # R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM 022805,000078: # 022806,000079: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES 022807,000080: 022808,000081: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.) 022809,000082: # DESIRED ATTITUDE IS AS STORED AT L.O. 022810,000083: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER L.O.) 022811,000084: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL 022812,000085: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER 022813,000086: # Page 529 022814,000087: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX. 022815,000088: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1 022816,000089: 022817,000090: # SUBROUTINES CALLED 022818,000091: 022819,000092: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG 022820,000093: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL 022821,000094: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG 022822,000095: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1 022823,000096: # SERVEXIT TASKOVER TCDANZIG V1STO25 WAITLIST 022824,000097: 022825,000098: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT) 022826,000099: 022827,000100: # DSKY -- 022828,000101: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS 022829,000102: # R2 MINUTES 022830,000103: 022831,000104: # DSKY -- 022832,000105: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES 022833,000106: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES 022834,000107: # R3 TFF IN MINUTES/SECS 022835,000108: 022836,000109: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST 022837,000110: # HIT KEY RELEASE BUTTON TO RETURN TO NORMAL NOUN 62 DISPLAY. 022838,000111: 022839,000112: # NORMAL EXIT MODE 022840,000113: 022841,000114: # ASTRONAUT VERB 37 ENTER 00 ENTER 022842,000115: 022843,000116: # ALARM MODES -- NONE 022844,000117: 022845,000118: # ABORT EXIT MODES -- 022846,000119: 022847,000120: # EARLY BOOST ABORT FOLLOWED BY REENTRY V 37 E 62 E 022848,000121: # LATE BOOST ABORT FOLLOWED BY REENTRY V 37 E 61 E 022849,000122: 022850,000123: # OUTPUT 022851,000124: 022852,000125: # TLIFTOFF (DP) TEPHEM (TP) 022853,000126: # REFSMMAT 022854,000127: # DSKY DISPLAY 022855,000128: # FDAI DISPLAY 022856,000129: 022857,000130: # ERASABLE INITIALIZATION 022858,000131: 022859,000132: # AZO, AXO, -AYO 022860,000133: # LATITUDE 022861,000134: # PADLONG 022862,000135: # TEPHEM 022863,000136: # PGNCSALT 022864,000137: # Page 530 022865,000138: # POLYNUM THRU POLYNUM +14D 022866,000139: # RPSTART 022867,000140: # POLYSTOP 022868,000141: 022869,000142: # FLAGS SET OR RESET 022870,000143: 022871,000144: # SET REFSMFLG 022872,000145: # SET DVMON IDLE FLAG 022873,000146: # CLEAR ERADFLAG 022874,000147: 022875,000148: # DEBRIS 022876,000149: 022877,000150: # LIFTTEMP 022878,000151: # POLYNUM THRU POLYNUM +7 022879,000152: # SPOLYARG 022880,000153: # BODY1, BODY2, BODY3 022881,000154: # VMAG2, ALTI, HDOT 022882,000155: # CENTRALS, CORE SET, AND VAC AREAS 022883,000156: 022884,000157: 04,3447 COUNT 34/P11 022885,000158: 022886,000159: 04,3447 4730 BITS5-6 = SUPER011 022887,000160: 42,3521 BANK 42 022888,000161: 34,2000 SETLOC P11ONE 022889,000162: 34,2000 BANK 022890,000163: 022891,000164: 34,2002 E3,1706 EBANK= TEPHEM 022892,000165: 34,2002 34744 P11 CA EBANK3 022893,000166: 34,2003 54003 TS EBANK 022894,000167: 022895,000168: 34,2004 00006 EXTEND 022896,000169: 34,2005 32273 DCA REP11S # DIRECT RESTARTS TO REP11 022897,000170: 34,2006 52757 DXCH -PHASE3 022898,000171: 34,2007 44714 CS ZERO 022899,000172: 34,2010 22007 ZL 022900,000173: 34,2011 55265 TS LIFTTEMP 022901,000174: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION 022902,000175: 34,2013 00006 P11+7 EXTEND 022903,000176: 34,2014 32275 DCA REP11SA 022904,000177: 34,2015 53337 DXCH TLIFTOFF 022905,000178: 022906,000179: 34,2016 00006 EXTEND 022907,000180: 34,2017 30025 DCA TIME2 022908,000181: 34,2020 53266 DXCH LIFTTEMP # FORE RESTARTS 022909,000182: 022910,000183: 34,2021 34714 CA ZERO 022911,000184: 34,2022 22007 ZL 022912,000185: 34,2023 52025 DXCH TIME2 022913,000186: 34,2024 53337 REP11A-2 DXCH TLIFTOFF 022914,000187: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE 022915,000188: # Page 531 022916,000189: 34,2026 00004 REP11A INHINT 022917,000190: 34,2027 00006 EXTEND 022918,000191: 34,2030 31710 DCA TEPHEM +1 022919,000192: 34,2031 53271 DXCH TEPHEM1 +1 022920,000193: 34,2032 31706 CA TEPHEM 022921,000194: 34,2033 57267 XCH TEPHEM1 022922,000195: 022923,000196: 34,2034 00006 EXTEND 022924,000197: 34,2035 31337 DCA TLIFTOFF 022925,000198: 34,2036 21271 DAS TEPHEM1 +1 022926,000199: 34,2037 27267 ADS TEPHEM1 # CORRECT FOR OVERFLOW 022927,000200: 022928,000201: 34,2040 05301 TC PHASCHNG 022929,000202: 34,2041 05023 OCT 05023 022930,000203: 34,2042 22000 OCT 22000 022931,000204: 022932,000205: 34,2043 00004 INHINT 022933,000206: 34,2044 00006 EXTEND 022934,000207: 34,2045 31270 DCA TEPHEM1 022935,000208: 34,2046 53707 DXCH TEPHEM 022936,000209: 34,2047 31271 CA TEPHEM1 +2 022937,000210: 34,2050 57710 XCH TEPHEM +2 022938,000211: 022939,000212: 34,2051 32000 CAF EBDVCNT 022940,000213: 34,2052 54003 TS EBANK 022941,000214: 34,2053 E7,1431 EBANK= DVCNTR 022942,000215: 34,2053 04633 TC IBNKCALL 022943,000216: 34,2054 76625 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG 022944,000217: 022945,000218: 34,2055 05301 TC PHASCHNG 022946,000219: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART 022947,000220: 34,2057 22000 OCT 22000 022948,000221: 022949,000222: 34,2060 34731 CAF .5SEC # START ATT ERROR DISPLAY 022950,000223: 34,2061 05140 TC WAITLIST # IN .5 SEC 022951,000224: 34,2062 E6,1704 EBANK= BODY3 022952,000225: 34,2062 02314 70066 2CADR ATERTASK 022953,000226: 022954,000227: 34,2064 05243 TC NEWMODEX # DISPLAY MM 11 022955,000228: 34,2065 00013 MM 11 B-14 022956,000229: 022957,000230: 34,2066 04555 TC BANKCALL 022958,000231: 34,2067 20607 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75 022959,000232: 022960,000233: 34,2070 05261 TC 2PHSCHNG 022961,000234: 34,2071 40514 OCT 40514 # PROTECT ATERTASK 022962,000235: 34,2072 00073 OCT 00073 022963,000236: 34,2073 32001 CAF EBQPLACE 022964,000237: 34,2074 54003 TS EBANK 022965,000238: # Page 532 022966,000239: 34,2075 E5,1426 EBANK= QPLACES 022967,000240: 34,2075 32276 CA P11XIT # SET EXIT FROM PROUT IN EARTHR 022968,000241: 34,2076 55426 TS QPLACES 022969,000242: 34,2077 22007 ZL # STORE DP GIMBAL 022970,000243: 34,2100 30032 CA CDUX # ANGLES FOR ATTITUDE 022971,000244: 34,2101 53760 DXCH OGC # ERROR DISPLAY 022972,000245: 34,2102 22007 ZL # AFTER L.O. 022973,000246: 34,2103 30033 CA CDUY 022974,000247: 34,2104 53762 DXCH IGC 022975,000248: 34,2105 22007 ZL 022976,000249: 34,2106 30034 CA CDUZ 022977,000250: 34,2107 53764 DXCH MGC 022978,000251: 34,2110 06006 TC INTPRET 022979,000252: 34,2111 74575 VLOAD VSR1 # SCALE OGC B-1 022980,000253: 34,2112 02760 OGC 022981,000254: 34,2113 02760 STORE OGC 022982,000255: 34,2114 64375 VLOAD MXV 022983,000256: 34,2115 02467 THETAN 022984,000257: 34,2116 02672 XSM 022985,000258: 34,2117 53372 VSL1 VAD 022986,000259: 34,2120 02650 ERCOMP 022987,000260: 34,2121 16650 STODL ERCOMP 022988,000261: 34,2122 01337 TLIFTOFF 022989,000262: 34,2123 52131 SSP GOTO 022990,000263: 34,2124 00052 S2 022991,000264: 34,2125 66424 CADR PROUT # RETURN FROM EARTHR 022992,000265: 34,2126 66373 EARTHR +3 022993,000266: 34,2127 06006 MATRXJOB TC INTPRET 022994,000267: 34,2130 77731 SSP # ZERO RTX2 022995,000268: 34,2131 03747 RTX2 # FOR 022996,000269: 34,2132 00000 0 # EARTH 022997,000270: 34,2133 65345 DLOAD PDDL 022998,000271: 34,2134 01273 PGNCSALT # ALTITUDE OF PGNCS 022999,000272: 34,2135 01264 PADLONG # LONGITUDE 023000,000273: 34,2136 55525 PDDL VDEF 023001,000274: 34,2137 02403 LATITUDE # GEODETIC LATITUDE 023002,000275: 34,2140 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE 023003,000276: 34,2141 15332 HI6ZEROS # TIME = 0 023004,000277: 34,2142 45014 CLEAR CALL 023005,000278: 34,2143 00662 ERADFLAG 023006,000279: 34,2144 26373 LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS. 023007,000280: 023008,000281: 34,2145 35232 STCALL RN1 023009,000282: 34,2146 77256 CALCGRAV # RETURN WITH GRAVITY 023010,000283: 34,2147 77656 UNIT # IN MPAC 023011,000284: 34,2150 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV) 023012,000285: 34,2151 01232 RN1 023013,000286: 34,2152 74235 VXV VXSC 023014,000287: 34,2153 01714 UNITW # SCALED AT 1 023015,000288: 34,2154 30300 -ERTHRAT # V = EARTHRATE X R 023016,000289: # Page 533 023017,000290: 34,2155 77712 VSL4 # SCALE TO 2(7) M/CS 023018,000291: 34,2156 25240 STOVL VN1 023019,000292: 34,2157 01752 REFSMMAT +12D 023020,000293: 34,2160 53435 VXV UNIT 023021,000294: 34,2161 01714 UNITW # (REF3 X UNITW) = EAST 023022,000295: 34,2162 47206 PUSH VXV 023023,000296: 34,2163 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH 023024,000297: 34,2164 65256 UNIT PDDL 023025,000298: 34,2165 02634 LAUNCHAZ # COS(AZ)*SOUTH 023026,000299: 34,2166 74346 COS VXSC 023027,000300: 34,2167 77626 STADR 023028,000301: 34,2170 62041 STODL REFSMMAT # TEMPORARY STORAGE 023029,000302: 34,2171 02634 LAUNCHAZ 023030,000303: 34,2172 74356 SIN VXSC # SIN(AZ)*EAST 023031,000304: 34,2173 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1 023032,000305: 34,2174 01736 REFSMMAT 023033,000306: 34,2175 01736 STORE REFSMMAT 023034,000307: 023035,000308: 34,2176 53435 VXV UNIT # (REF1 X REF3) = -REF3 023036,000309: 34,2177 01752 REFSMMAT +12D 023037,000310: 34,2200 77676 VCOMP 023038,000311: 34,2201 01744 STORE REFSMMAT +6 023039,000312: 34,2202 45345 DLOAD DSU 023040,000313: 34,2203 15330 DPHALF # 1/2 REV 023041,000314: 34,2204 02634 LAUNCHAZ 023042,000315: 34,2205 65215 DAD PDDL 023043,000316: 34,2206 02401 AZIMUTH 023044,000317: 34,2207 03301 SATRLRT # SET SATRLRT = -SATRLRT IF 023045,000318: 34,2210 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE 023046,000319: 34,2211 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY 023047,000320: 34,2212 77414 SET EXIT 023048,000321: 34,2213 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG 023049,000322: 023050,000323: 34,2214 05301 TC PHASCHNG 023051,000324: 34,2215 04023 OCT 04023 023052,000325: 023053,000326: 34,2216 00006 EXTEND 023054,000327: 34,2217 32302 DCA P11SCADR 023055,000328: 34,2220 53223 DXCH AVGEXIT # SET AVGEXIT 023056,000329: 023057,000330: 34,2221 37665 CA PRIO31 # 2 SECONDS AT 2(+8) 023058,000331: 34,2222 55074 TS 1/PIPADT 023059,000332: 023060,000333: 34,2223 E6,1501 EBANK= RCSFLAGS 023061,000334: 34,2223 34752 CA EBANK6 023062,000335: 34,2224 54003 TS EBANK 023063,000336: 023064,000337: 34,2225 00004 INHINT 023065,000338: 34,2226 44714 CS ZERO 023066,000339: 34,2227 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF 023067,000340: # Page 534 023068,000341: 34,2230 40025 CS TIME1 023069,000342: 34,2231 64735 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF 023070,000343: 023071,000344: 34,2232 10000 CCS A # CHECK TO INSURE DT IS POSITIVE 023072,000345: 34,2233 12236 TCF +3 # TIME POSITIVE 023073,000346: 34,2234 12236 TCF +2 # CANNOT GET HERE 023074,000347: 34,2235 34714 CA ZERO # TIME NEGATIVE -- SET TO 1 023075,000348: 34,2236 64712 AD ONE # RESTORE TIME -- OR MAKE POSITIVE 023076,000349: 023077,000350: 34,2237 05140 TC WAITLIST 023078,000351: 34,2240 E6,1661 EBANK= AOG 023079,000352: 34,2240 02647 76066 2CADR READACCS 023080,000353: 023081,000354: 34,2242 05261 TC 2PHSCHNG 023082,000355: 34,2243 00003 OCT 00003 # TURN OFF GROUP 3 023083,000356: 34,2244 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS 023084,000357: 023085,000358: 34,2245 04574 TC POSTJUMP 023086,000359: 34,2246 77141 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB 023087,000360: 34,2247 E3,1706 EBANK= TEPHEM 023088,000361: 34,2247 00004 REP11 INHINT 023089,000362: 34,2250 10763 CCS PHASE5 023090,000363: 34,2251 05112 TC ENDOFJOB 023091,000364: 023092,000365: 34,2252 11265 CCS LIFTTEMP 023093,000366: 34,2253 12257 TCF +4 023094,000367: 34,2254 12257 TCF +3 023095,000368: 34,2255 12257 TCF +2 023096,000369: 34,2256 12013 TCF P11+7 023097,000370: 023098,000371: 34,2257 41336 CS TLIFTOFF 023099,000372: 34,2260 00006 EXTEND 023100,000373: 34,2261 62267 BZMF ENDREP11 023101,000374: 023102,000375: 34,2262 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF ** 023103,000376: 34,2263 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT 023104,000377: 023105,000378: 34,2264 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF 023106,000379: 34,2265 31266 DCA LIFTTEMP 023107,000380: 34,2266 12024 TCF REP11A-2 023108,000381: 023109,000382: 34,2267 00006 ENDREP11 EXTEND 023110,000383: 34,2270 32275 DCA REP11SA 023111,000384: 34,2271 12025 TCF REP11A-1 023112,000385: 34,2272 77766 00011 REP11S 2OCT 7776600011 023113,000386: # Page 535 023114,000387: 34,2274 77764 00013 REP11SA 2OCT 7776400013 023115,000388: 023116,000389: 34,2276 02451 P11XIT GENADR P11OUT 023117,000390: 34,2277 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18) 023118,000391: 023119,000392: 34,2301 E6,1704 EBANK= BODY3 023120,000393: 34,2301 02303 70066 P11SCADR 2CADR VHHDOT 023121,000394: 023122,000395: 34,2303 E6,1704 EBANK= BODY3 023123,000396: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY 023124,000397: # VI INERTIAL VELOCITY MAGNITUDE 023125,000398: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS 023126,000399: # H ALTITUDE ABOVE L PAD RADIUS 023127,000400: 023128,000401: 34,2303 06006 VHHDOT TC INTPRET 023129,000402: 34,2304 77624 CALL # LOAD VMAGI, ALTI, 023130,000403: 34,2305 70436 S11.1 # HDOT FOR DISPLAY 023131,000404: 34,2306 77776 EXIT 023132,000405: 34,2307 32511 CAF V06N62 # DISPLAY IN R1 R2 . R3 023133,000406: 34,2310 04555 TC BANKCALL # VI HDOT H 023134,000407: 34,2311 20621 CADR REGODSPR # DISPLAY INTERFACE -- IMMEDIATE RETURN 023135,000408: 34,2312 04555 TC BANKCALL 023136,000409: 34,2313 77132 CADR SERVEXIT # END OF P11SERVE CYCLE 023137,000410: 34,2314 34701 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS 023138,000411: 34,2315 05042 TC FINDVAC # COMES HERE AT L.O. + .33 SEC 023139,000412: 34,2316 E6,1704 EBANK= BODY3 023140,000413: 34,2316 02326 70066 2CADR ATERJOB 023141,000414: 023142,000415: 34,2320 41501 CS RCSFLAGS # SET BIT3 FOR 023143,000416: 34,2321 74710 MASK BIT3 # NEEDLER 023144,000417: 34,2322 27501 ADS RCSFLAGS # INITIALIZATION PASS 023145,000418: 34,2323 04633 TC IBNKCALL # AND GO 023146,000419: 34,2324 42404 CADR NEEDLER # DO IT 023147,000420: 34,2325 05213 TC TASKOVER 023148,000421: 023149,000422: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST 023150,000423: 023151,000424: # COMPUTE DESIRED PITCH W.R.T. LAUNCH SITE LOCAL VERTICAL. 023152,000425: # PITCH = -.0000469184028+.00137571556*T+.0231502280*T*T-.0205929365*T*T*T 023153,000426: # SCALED TO 32 REVOLUTIONS. 023154,000427: # IF TL = TIME FROM LAUNCH IN SECONDS, THEN T = 100(TL-10SEC)/(2**14) 023155,000428: # WHERE TL GE 10 SEC 023156,000429: # TL LE 133 SEC 023157,000430: 023158,000431: # COMPUTE DESIRED ROLL WEHRE ROLL EQUALS COUNTER-CLOCKWISE ANGLE FROM 023159,000432: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C). 023160,000433: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV 023161,000434: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC 023162,000435: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS 023163,000436: # Page 536 023164,000437: 023165,000438: # FOR SIMPLICITY, LET P = 2*PI*PITCH 023166,000439: # R = 2*PI*ROLL 023167,000440: 023168,000441: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN 023169,000442: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC, 023170,000443: # YDC, AND ZDC. 023171,000444: 023172,000445: # * ( SIN(P) 0 -COS(P) ) (XDC) 023173,000446: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC) 023174,000447: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC) 023175,000448: 023176,000449: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 023177,000450: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED 023178,000451: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED 023179,000452: # AS THE DESIRED CDU ANGLES. 023180,000453: 023181,000454: # (XDC) (OGC) 023182,000455: # (YDC) ---) CALCGTA ---) (IGC) 023183,000456: # (ZDC) (MGC) 023184,000457: # _ 023185,000458: # DEFINE THE VECTOR DELTACDU. 023186,000459: 023187,000460: # _ (OGC) (CDUX) 023188,000461: # DELTACDU = (IGC) - (CDUY) 023189,000462: # (MGC) (CDUZ) 023190,000463: # _ _ * _ 023191,000464: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU 023192,000465: 023193,000466: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES 023194,000467: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES 023195,000468: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX 023196,000469: # _ 023197,000470: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN 023198,000471: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDA1 ATTITUDE 023199,000472: # ERROR DISPLAY ROUTINE. 023200,000473: 023201,000474: 34,2326 30024 ATERJOB CAE TIME2 # CHECK IF MORE THAN 023202,000475: 34,2327 00006 EXTEND # 164 SECONDS FROM L.O. 023203,000476: 34,2330 62332 BZMF +2 023204,000477: 34,2331 12424 TCF SATCLEAR # YES -- CLEAR ERROR COUNTER + EXIT 023205,000478: 34,2332 30102 CAE FLAGWRD6 # CHECK FLAGWRD6 023206,000479: 34,2333 74105 MASK OCT60000 # BITS 14 + 15 023207,000480: 34,2334 00006 EXTEND 023208,000481: 34,2335 12337 BZF ATTDISP # NO SATURN STICK ON 023209,000482: 34,2336 02420 TC ATERSET # EXIT -- SATURN STICK IN USE 023210,000483: 34,2337 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME 023211,000484: 34,2340 60025 AD TIME1 023212,000485: # Page 537 023213,000486: 34,2341 00006 EXTEND 023214,000487: 34,2342 62504 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD 023215,000488: 34,2343 54154 TS MPAC # MPAC = TIME1 - RPSTART 023216,000489: 34,2344 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION 023217,000490: 34,2345 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS 023218,000491: 34,2346 00006 EXTEND 023219,000492: 34,2347 62351 BZMF +2 023220,000493: 34,2350 12416 TCF SATOUT # EXIT IF TIME1 OR THAN (RPSTART-POLYSTOP) 023221,000494: 34,2351 31661 CAE POLYNUM 023222,000495: 34,2352 54001 TS L 023223,000496: 34,2353 32510 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL 023224,000497: 34,2354 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS 023225,000498: 023226,000499: # THE FOLLOWING PAD LOADED COEFFICIENTS ARE 023227,000500: # USED TO COMPUTE THE PITCH POLYNOMIAL 023228,000501: 023229,000502: # ----- SUNDISK SI COEFS ----- 023230,000503: # POLYNUM FIVE POLYNOMIAL DEGREE -1 023231,000504: # +1 2DEC -.469184028 E-4 A0 023232,000505: # +3 2DEC .137571556 E-2 A1 023233,000506: # +5 2DEC .231502280 E-1 A2 023234,000507: # +7 2DEC -.205929365 E-1 A3 023235,000508: # +9D 2DEC 0 A4 023236,000509: # +11D 2DEC 0 A5 023237,000510: # +13D 2DEC 0 A6 023238,000511: # POLYLOC = POLYNUM +10D 023239,000512: 023240,000513: 34,2355 34714 CA ZERO # RETURN WITH PITCH(32REV) 023241,000514: 34,2356 54163 TS MODE # STORED MPAC, MPAC +1 023242,000515: 34,2357 06006 TC INTPRET 023243,000516: 34,2360 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV) 023244,000517: 34,2361 00001 0 023245,000518: 34,2362 20206 5 023246,000519: 34,2363 77606 PUSH # LET P(RAD) = 2*PI*PITCH(REV) 023247,000520: 023248,000521: 34,2364 77650 GOTO 023249,000522: 34,2365 76103 ATTDISP1 # AROUND SETLOC 023250,000523: 023251,000524: # * 023252,000525: # CONSTRUCT SM TO S/C MATRIX, TSMV 023253,000526: 023254,000527: 37,2000 SETLOC P11TWO 023255,000528: 37,2000 BANK # 36 IN COL., 34 IN DISK 023256,000529: 023257,000530: 37,2103 COUNT 36/P11 023258,000531: 023259,000532: 37,2103 57546 ATTDISP1 COS DCOMP 023260,000533: 37,2104 14017 STODL 14D # -.5*COS(P) 023261,000534: 37,2105 77756 SIN 023262,000535: 37,2106 14013 STODL 10D # .5*SIN(P) 023263,000536: 37,2107 15332 ZEROVECS 023264,000537: # Page 538 023265,000538: 37,2110 00015 STORE 12D # 0 023266,000539: 023267,000540: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T 023268,000541: 023269,000542: 37,2111 41335 SLOAD DMP 023270,000543: 37,2112 03310 SPOLYARG # TIME1 - RSPSTART, CSECS B-14. 023271,000544: 37,2113 03301 SATRLRT 023272,000545: 37,2114 45261 SL DSU 023273,000546: 37,2115 20217 14D 023274,000547: 37,2116 15330 DPHALF 023275,000548: 37,2117 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH, 023276,000549: 37,2120 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM). 023277,000550: 37,2121 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C) 023278,000551: 37,2122 77634 RTB # DETERMINE IF ROLLOUT 023279,000552: 37,2123 70473 RLTST # IS COMPLETED 023280,000553: 37,2124 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV 023281,000554: 37,2125 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV) 023282,000555: 37,2126 72405 DMP SL1 023283,000556: 37,2127 00017 14D 023284,000557: 37,2130 14027 STODL 22D # -.5*COS(R)*COS(P) 023285,000558: 37,2131 77676 DCOMP 023286,000559: 37,2132 00023 STORE 18D # -.5*COS(R) 023287,000560: 37,2133 72405 DMP SL1 023288,000561: 37,2134 00013 10D 023289,000562: 37,2135 14033 STODL 26D # -.5*COS(R)*SIN(P) 023290,000563: 37,2136 41556 SIN PUSH 023291,000564: 37,2137 00031 STORE 24D # .5*SIN(R) 023292,000565: 37,2140 72405 DMP SL1 023293,000566: 37,2141 00017 14D 023294,000567: 37,2142 14021 STODL 16D # -.5*SIN(R)*COS(P) 023295,000568: 37,2143 77676 DCOMP 023296,000569: 37,2144 72405 DMP SL1 023297,000570: 37,2145 00013 10D 023298,000571: 37,2146 24025 STOVL 20D # -.5*SIN(R)*SIN(P) 023299,000572: 37,2147 00013 10D 023300,000573: 023301,000574: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA 023302,000575: 023303,000576: 37,2150 77656 UNIT 023304,000577: 37,2151 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P)) 023305,000578: 37,2152 00021 16D 023306,000579: 37,2153 77656 UNIT 023307,000580: 37,2154 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R), 023308,000581: 37,2155 00027 22D # -SIN(R)*SIN(P)) 023309,000582: 37,2156 77656 UNIT 023310,000583: 37,2157 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R), 023311,000584: 37,2160 47140 CALCGTA # -COS(R)*SIN(P)) 023312,000585: 023313,000586: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC 023314,000587: # _ _ _ 023315,000588: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX 023316,000589: # Page 539 023317,000590: # ENTER HERE IF ATTITUDE HOLD 023318,000591: 023319,000592: 37,2161 41575 NOPOLYM VLOAD PUSH # OGC IGC 023320,000593: 37,2162 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY 023321,000594: 37,2163 45006 PUSH CALL # MGC OGC 023322,000595: 37,2164 47432 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT 023323,000596: 37,2165 47175 VLOAD RTB # _ DPHI OGC-CDUX , PD4 023324,000597: 37,2166 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0 023325,000598: 37,2167 45547 V1STO2S # DPSI MGC-CDUZ , 2 023326,000599: 37,2170 27317 STOVL BOOSTEMP 023327,000600: 37,2171 15332 ZEROVECS 023328,000601: 37,2172 24001 STOVL 0 023329,000602: 37,2173 00767 CDUSPOT 023330,000603: 37,2174 47034 RTB RTB 023331,000604: 37,2175 45547 V1STO2S 023332,000605: 37,2176 70453 DELSTOR 023333,000606: 37,2177 14013 STODL 10D 023334,000607: 37,2200 00741 SINCDUZ 023335,000608: 37,2201 72405 DMP SL1 023336,000609: 37,2202 00001 0 023337,000610: 37,2203 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS 023338,000611: 37,2204 00005 4 023339,000612: 37,2205 77650 GOTO 023340,000613: 37,2206 70366 ATTDISP2 023341,000614: 023342,000615: 34,2000 SETLOC P11ONE 023343,000616: 34,2000 BANK 023344,000617: 34,2366 COUNT 34/P11 023345,000618: 023346,000619: 34,2366 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ)) 023347,000620: 34,2367 00747 COSCDUZ 023348,000621: 34,2370 41405 DMP PUSH 023349,000622: 34,2371 00001 0 023350,000623: 34,2372 72405 DMP SL1 023351,000624: 34,2373 00751 COSCDUX 023352,000625: 34,2374 41325 PDDL DMP 023353,000626: 34,2375 00743 SINCDUX 023354,000627: 34,2376 00003 2 023355,000628: 34,2377 72415 DAD SL1 023356,000629: 34,2400 77626 STADR 023357,000630: 34,2401 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ) 023358,000631: 34,2402 72405 DMP SL1 # +DPSI*SIN(CDUX)) 023359,000632: 34,2403 00743 SINCDUX 023360,000633: 34,2404 41325 PDDL DMP 023361,000634: 34,2405 00751 COSCDUX 023362,000635: 34,2406 00003 2 023363,000636: 34,2407 72425 DSU SL1 023364,000637: 34,2410 77626 STADR 023365,000638: 34,2411 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ) 023366,000639: 34,2412 77751 TLOAD # +DPSI*COS(CDUX)) 023367,000640: # Page 540 023368,000641: 34,2413 00021 16D 023369,000642: 34,2414 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2 023370,000643: 34,2415 77776 EXIT 023371,000644: 023372,000645: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER 023373,000646: 023374,000647: 34,2416 04555 SATOUT TC BANKCALL 023375,000648: 34,2417 42404 CADR NEEDLER 023376,000649: 34,2420 34113 ATERSET CAF OCT31 # DELAY .5 SEC 023377,000650: 34,2421 04555 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX 023378,000651: 34,2422 01732 CADR DELAYJOB 023379,000652: 34,2423 02326 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE 023380,000653: 023381,000654: 34,2424 44705 SATCLEAR CS BIT6 023382,000655: 34,2425 00006 EXTEND 023383,000656: 34,2426 03012 WAND CHAN12 # CLEAR IMU ERROR COUNTER 023384,000657: 34,2427 05301 TC PHASCHNG # TURN OFF PROTECTION 023385,000658: 34,2430 00004 OCT 00004 # FOR ATTITUDE ERROR DISPLAY 023386,000659: 34,2431 34714 CAF ZERO 023387,000660: 34,2432 55476 TS AK # ZERO OUT 023388,000661: 34,2433 55477 TS AK1 # AKS FOR 023389,000662: 34,2434 55500 TS AK2 # DOWNLINK 023390,000663: 34,2435 05112 TC ENDOFJOB 023391,000664: 023392,000665: 34,2436 51575 S11.1 VLOAD ABVAL 023393,000666: 34,2437 01177 VN 023394,000667: 34,2440 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC 023395,000668: 34,2441 01171 RN 023396,000669: 34,2442 45246 ABVAL DSU 023397,000670: 34,2443 05311 RPAD 023398,000671: 34,2444 27735 STOVL ALTI # H SCALED S(29) IN METERS 023399,000672: 34,2445 01171 RN 023400,000673: 34,2446 50256 UNIT DOT 023401,000674: 34,2447 01177 VN 023402,000675: 34,2450 77752 SL1 023403,000676: 34,2451 03737 STORE HDOT # HDOT SCALED 2(7) IN METERS/CSEC 023404,000677: 34,2452 77616 RVQ 023405,000678: 34,2453 31716 DELSTOR CA BOOSTEMP 023406,000679: 34,2454 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4 023407,000680: 34,2455 20154 MSU MPAC 023408,000681: 34,2456 50120 INDEX FIXLOC 023409,000682: 34,2457 54000 TS 0 023410,000683: 34,2460 31717 CA BOOSTEMP +1 023411,000684: 34,2461 00006 EXTEND 023412,000685: 34,2462 20155 MSU MPAC +1 023413,000686: 34,2463 50120 INDEX FIXLOC 023414,000687: 34,2464 54002 TS 2 023415,000688: 34,2465 31720 CA BOOSTEMP +2 023416,000689: 34,2466 00006 EXTEND 023417,000690: 34,2467 20156 MSU MPAC +2 023418,000691: # Page 541 023419,000692: 34,2470 50120 INDEX FIXLOC 023420,000693: 34,2471 54004 TS 4 023421,000694: 34,2472 16030 TCF DANZIG 023422,000695: 34,2473 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT 023423,000696: 34,2474 00006 EXTEND # IS COMPLETED 023424,000697: 34,2475 71701 MP SATRLRT +1 023425,000698: 34,2476 00006 EXTEND 023426,000699: 34,2477 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING 023427,000700: 34,2500 00006 EXTEND # ROLLOUT COMPLETED 023428,000701: 34,2501 33561 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION 023429,000702: 34,2502 52155 DXCH MPAC 023430,000703: 34,2503 06030 TC DANZIG 023431,000704: 34,2504 06006 NOPOLY TC INTPRET # COMES HERE IF 023432,000705: 34,2505 52001 SETPD GOTO # ATTITUDE HOLD 023433,000706: 34,2506 00001 0 023434,000707: 34,2507 76161 NOPOLYM 023435,000708: 34,2510 01673 COEFPOLY ADRES POLYLOC 023436,000709: 34,2511 01476 V06N62 VN 0662 023437,000710: 023438,000711: # SATURN TAKEOVER FUNCTION 023439,000712: # ************************ 023440,000713: # 023441,000714: # PROGRAM DESCRIPTION 023442,000715: 023443,000716: # MOD NUMBER 1 023444,000717: # MOD BY ELIASSEN 023445,000718: 023446,000719: # FUNCTIONAL DESCRIPTION 023447,000720: 023448,000721: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE 023449,000722: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH 023450,000723: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET). 023451,000724: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE 023452,000725: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC 023453,000726: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND 023454,000727: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE- 023455,000728: # SULTS IN A ZERO RATE COMMAND. 023456,000729: 023457,000730: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE 023458,000731: # OF THE RATE COMMAND. 023459,000732: 023460,000733: # CALLING SEQUENCE 023461,000734: 023462,000735: # DAPFIG +9D TC POSTJUMP 023463,000736: # CADR SATSTKON 023464,000737: 023465,000738: # SUBROUTINES CALLED 023466,000739: 023467,000740: # ENDEXT 023468,000741: # IBNKCALL 023469,000742: # STICKCHK 023470,000743: # Page 542 023471,000744: # NEEDLER 023472,000745: # T5RUPT 023473,000746: # RESUME 023474,000747: 023475,000748: # ASTRONAUT REQUESTS 023476,000749: 023477,000750: # ENTRY -- VERB 46 ENTER 023478,000751: # (CONDITION -- BITS 13, 14 OF DAPDATR1 SET) 023479,000752: 023480,000753: # EXIT -- VERB 46 ENTER (FLASH V06N46) 023481,000754: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1 023482,000755: # VERB 34 ENTER 023483,000756: # VERB 46 ENTER 023484,000757: 023485,000758: # NORMAL EXIT MODE 023486,000759: 023487,000760: # VERB 46 ENTER (SEE ASTRONAUT ABOVE) 023488,000761: 023489,000762: # ALARM OR ABORT EXIT MODES 023490,000763: 023491,000764: # NONE 023492,000765: 023493,000766: # OUTPUT 023494,000767: 023495,000768: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD 023496,000769: 023497,000770: # ERASABLE INITIALIZATION 023498,000771: 023499,000772: # DAPDATR1 (BITS 13, 14 MUST BE SET) 023500,000773: 023501,000774: # DEBRIS 023502,000775: 023503,000776: # CENTRALS 023504,000777: # CDUXCMD, CDUYCMD, CDUZCMD 023505,000778: 023506,000779: 43,3211 BANK 43 023507,000780: 43,2000 SETLOC EXTVERBS 023508,000781: 43,2000 BANK 023509,000782: 023510,000783: 43,3211 COUNT 23/STTKE 023511,000784: 43,3211 00006 SATSTKON EXTEND 023512,000785: 43,3212 33227 DCA 2REDOSAT 023513,000786: 43,3213 00004 INHINT 023514,000787: 43,3214 53313 DXCH T5LOC 023515,000788: 43,3215 34672 CAF POSMAX 023516,000789: 43,3216 54030 TS TIME5 023517,000790: 43,3217 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF 023518,000791: 43,3220 74105 MASK RELTAB11 # FLAGWRD6 023519,000792: 43,3221 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5 023520,000793: 43,3222 04633 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN 023521,000794: # Page 543 023522,000795: 43,3223 42616 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED 023523,000796: 43,3224 00003 RELINT 023524,000797: 43,3225 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46 023525,000798:

[WORKAROUND] RSB 2004

023527,000800: 43,3226  40,2000                                 SBANK=   PINSUPER                              

[WORKAROUND]

023529,000802: 43,3226  E6,1704                                 EBANK=   BODY3                                 
023530,000803: 43,3226           02765 46106  2REDOSAT          2CADR    REDOSAT                               
023531,000804: 
023532,000805: 32,2017                                          BANK     32                                    
023533,000806: 23,2000                                          SETLOC   P11FOUR                               
023534,000807: 23,2000                                          BANK                                           
023535,000808: 
023536,000809: 23,2765           22016        REDOSAT           LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
023537,000810: 23,2766           00006                          EXTEND                                         
023538,000811: 23,2767           22012                          QXCH     QRUPT                                 
023539,000812: 23,2770           41501                          CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
023540,000813: 23,2771           74710                          MASK     BIT3                                  #  FOR
023541,000814: 23,2772           27501                          ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
023542,000815: 23,2773           04633                          TC       IBNKCALL                              
023543,000816: 23,2774           42404                          CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
023544,000817: 23,2775           34702                          CAF      BIT9                                  #  SIVB
023545,000818: 23,2776           00006                          EXTEND                                         #  TAKEOVER
023546,000819: 23,2777           05012                          WOR      CHAN12                                #  ENABLE
023547,000820: 23,3000           00006                          EXTEND                                         #  SET UP T5 CYCLE
023548,000821: 23,3001           33046                          DCA      2SATSTCK                              
023549,000822: 23,3002           53313                          DXCH     T5LOC                                 
023550,000823: 23,3003           33044                          CAF      100MST5                               #  IN 100 MSECS
023551,000824: 23,3004           54030                          TS       TIME5                                 
023552,000825: 23,3005           15222                          TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
023553,000826: 
023554,000827:                                                                                                 #         THIS SECTION IS EXECUTED EVERY 100 MSECS.
023555,000828: 
023556,000829: 23,3006           22016        SATSTICK          LXCH     BANKRUPT                              
023557,000830: 23,3007           00006                          EXTEND                                         
023558,000831: 23,3010           22012                          QXCH     QRUPT                                 
023559,000832: 
023560,000833: 23,3011           33045                          CAF      2SATSTCK                              #  SET UP RUPT
023561,000834: 23,3012           55312                          TS       T5LOC                                 #  LO ORDER LOC SET
023562,000835: 23,3013           33044                          CAF      100MST5                               #  100 MSECS
023563,000836: 23,3014           54030                          TS       TIME5                                 
023564,000837: 23,3015           33043                          CAF      STIKBITS                              
023565,000838: 23,3016           00006                          EXTEND                                         
023566,000839: 23,3017           06031                          RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
023567,000840: 23,3020           73043                          MASK     STIKBITS                              
023568,000841: 23,3021           04633                          TC       IBNKCALL                              #  SET RATE INDICES
023569,000842: 23,3022           43114                          CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
023570,000843: 
023571,000844: 23,3023           51656                          INDEX    RMANNDX                               #  SET SATURN RATES
023572,000845: 23,3024           33037                          CA       SATRATE                               
023573,000846: 23,3025           55476                          TS       AK                                    #         ROLL
023574,000847:                                                                                                 #  Page 544
023575,000848: 23,3026           51657                          INDEX    PMANNDX                               
023576,000849: 23,3027           33037                          CA       SATRATE                               
023577,000850: 23,3030           55477                          TS       AK1                                   #         PITCH
023578,000851: 23,3031           51660                          INDEX    YMANNDX                               
023579,000852: 23,3032           33037                          CA       SATRATE                               
023580,000853: 23,3033           55500                          TS       AK2                                   #         YAW
023581,000854: 
023582,000855: 23,3034           04633                          TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
023583,000856: 23,3035           42404                          CADR     NEEDLER                               
023584,000857: 23,3036           15222                          TCF      RESUME                                #  END OF SATURN STICK CONTROL
023585,000858: 23,3037           00000        SATRATE           DEC      0          B-14                       #  IN DETENT -- ZERO RATE
023586,000859: 23,3040           00476                          DEC      +318       B-14                       #  POS RATE .5D/S R, .3D/S P AND Y
023587,000860: 23,3041           77301                          DEC      -318       B-14                       #  NEG RATE       DITTO
023588,000861: 23,3042           00000                          DEC      0          B-14                       #  POS NEG BITS ON        ASSUME IN DETENT
023589,000862: 
023590,000863: 23,3043           00077        STIKBITS          OCT      00077                                 
023591,000864: 23,3044           37766        100MST5           DEC      16374      B-14                       

[WORKAROUND] RSB 2004

023593,000866: 23,3045  40,2000                                 SBANK=   PINSUPER                              

[WORKAROUND]

023595,000868: 23,3045  E6,1704                                 EBANK=   BODY3                                 
023596,000869: 23,3045           03006 46106  2SATSTCK          2CADR    SATSTICK                              
023597,000870: 

End of include-file P11.agc.  Parent file is MAIN.agc