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