Source Code
![]() |
These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
022599,000002: # Copyright: Public domain.
022600,000003: # Filename: P11.agc
022601,000004: # Purpose: Part of the source code for Colossus build 237.
022602,000005: # This is for the Command Module's (CM) Apollo Guidance
022603,000006: # Computer (AGC), we believe for Apollo 8.
022604,000007: # Assembler: yaYUL
022605,000008: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
022606,000009: # Website: www.ibiblio.org/apollo/index.html
022607,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
022608,000011: # Mod history: 2011-02-06 JL Adapted from corresponding Colossus 249 file.
022609,000012:
022610,000013: # # Page 522
022611,000014: # EARTH ORBIT INSERTION MONITOR PROGRAM
022612,000015: # *************************************
022613,000016:
022614,000017: # PROGRAM DESCRIPTION -P11-
022615,000018:
022616,000019: # MOD NO. 1
022617,000020: # MOD BY ELIASSEN
022618,000021:
022619,000022: # FUNCTIONAL DESCRIPTION
022620,000023:
022621,000024: # P11 IS INITIATED BY
022622,000025:
022623,000026: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
022624,000027: # B) BACKUP THRU VERB 75 ENTER
022625,000028:
022626,000029: # PROGRAM WILL
022627,000030: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
022628,000031: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
022629,000032: # 3. INITIATE SERVICER AT PREREAD1
022630,000033: # 4. CHANGE MAJOR MODE TO 11
022631,000034: # 5. CLEAR DSKY IN CASE OF V 75
022632,000035: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
022633,000036: # 7. TERMINATE GYROCOMPASSING - -
022634,000037: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
022635,000038: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
022636,000039: # - - X Y Z
022637,000040: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
022638,000041: # Z
022639,000042: # - - -
022640,000043: # U =UNIT (A), A=HOR VECTOR AT LAUNCH AZIMUTH
022641,000044: # X
022642,000045: # - - -
022643,000046: # U =U * U
022644,000047: # U Z X
022645,000048:
022646,000049: # 10. SET REFSMMAT KNOWN FLAG
022647,000050: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
022648,000051: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
022649,000052:
022650,000053: # R1 V1 - INERTIAL VELOCITY MAGNITUDE IN FPS
022651,000054: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
022652,000055: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
022653,000056:
022654,000057: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
022655,000058:
022656,000059: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
022657,000060: # DESIRED ATTITUDE IS AS STORED AT L.O.
022658,000061: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
022659,000062: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
022660,000063: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
022661,000064:
022662,000065: # # Page 523
022663,000066: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
022664,000067: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
022665,000068:
022666,000069: # SUBROUTINES CALLED
022667,000070:
022668,000071: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
022669,000072: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
022670,000073: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
022671,000074: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
022672,000075: # SERVEXIT TASKOVER TCDANZIG V1STO25 WAITLIST
022673,000076:
022674,000077: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
022675,000078:
022676,000079: # DSKY -
022677,000080: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
022678,000081: # R2 MINUTES
022679,000082:
022680,000083: # DSKY -
022681,000084: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
022682,000085: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
022683,000086: # R3 TFF IN MINUTES/SECS
022684,000087:
022685,000088: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
022686,000089: # HIT KEY RELEASE BUTTON TO RETURN TO NORMAL NOUN 62 DISPLAY.
022687,000090:
022688,000091: # NORMAL EXIT MODE
022689,000092:
022690,000093: # ASTRONAUT VERB 37 ENTER 00 ENTER
022691,000094:
022692,000095: # ALARM MODES - NONE
022693,000096:
022694,000097: # ABORT EXIT MODES -
022695,000098:
022696,000099: # EARLY BOOST ABORT FOLLOWED BY REENTRY V 37 E 62 E
022697,000100: # LATE BOOST ABORT FOLLOWED BY REENTRY V 37 E 61 E
022698,000101:
022699,000102: # OUTPUT
022700,000103:
022701,000104: # TLIFTOFF (DP) TEPHEM (TP)
022702,000105: # REFSMMAT
022703,000106: # DSKY DISPLAY
022704,000107: # FDAI DISPLAY
022705,000108:
022706,000109: # ERASABLE INITIALIZATION
022707,000110:
022708,000111: # AZO, AXO, -AYO
022709,000112: # LATITUDE
022710,000113: # PADLONG
022711,000114: # TEPHEM
022712,000115: # PGNCSALT
022713,000116: # # Page 524
022714,000117: # POLYNUM THRU POLYNUM +14D)
022715,000118: # RPSTART
022716,000119: # POLYSTOP
022717,000120: # FLAGS SET OR RESET
022718,000121:
022719,000122: # SET REFSMFLG
022720,000123: # SET DVMON IDLE FLAG
022721,000124: # CLEAR ERADFLAG
022722,000125:
022723,000126: # DEBRIS
022724,000127:
022725,000128: # LIFTTEMP
022726,000129: # POLYNUM THRU POLYNUM +7
022727,000130: # SPOLYARG
022728,000131: # BODY1, BODY2, BODY3
022729,000132: # VMAG2, ALTI, HDOT
022730,000133: # CENTRALS, CORE SET, AND VAC AREAS
022731,000134:
022732,000135: ??????? COUNT 34/P11
022733,000136:
022734,000137: ??????? 4730 BITS5-6 = SUPER011
022735,000138: 42,3521 BANK 42
022736,000139: 34,2000 SETLOC P11ONE
022737,000140: 34,2000 BANK
022738,000141:
022739,000142: 34,2002 E3,1706 EBANK= TEPHEM
022740,000143: 34,2002 34744 P11 CA EBANK3
022741,000144: 34,2003 54003 TS EBANK
022742,000145:
022743,000146: 34,2004 00006 EXTEND
022744,000147: 34,2005 32273 DCA REP11S # DIRECT RESTARTS TO REP11
022745,000148: 34,2006 52757 DXCH -PHASE3
022746,000149: 34,2007 44714 CS ZERO
022747,000150: 34,2010 22007 ZL
022748,000151: 34,2011 55265 TS LIFTTEMP
022749,000152: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
022750,000153: 34,2013 00006 P11+7 EXTEND
022751,000154: 34,2014 32275 DCA REP11SA
022752,000155: 34,2015 53337 DXCH TLIFTOFF
022753,000156:
022754,000157: 34,2016 00006 EXTEND
022755,000158: 34,2017 30025 DCA TIME2
022756,000159: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
022757,000160:
022758,000161: 34,2021 34714 CA ZERO
022759,000162: 34,2022 22007 ZL
022760,000163: 34,2023 52025 DXCH TIME2
022761,000164: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
022762,000165: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
022763,000166:
022764,000167: # # Page 525
022765,000168: 34,2026 00004 REP11A INHINT
022766,000169: 34,2027 00006 EXTEND
022767,000170: 34,2030 31710 DCA TEPHEM +1
022768,000171: 34,2031 53271 DXCH TEPHEM1 +1
022769,000172: 34,2032 31706 CA TEPHEM
022770,000173: 34,2033 57267 XCH TEPHEM1
022771,000174:
022772,000175: 34,2034 00006 EXTEND
022773,000176: 34,2035 31337 DCA TLIFTOFF
022774,000177: 34,2036 21271 DAS TEPHEM1 +1
022775,000178: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
022776,000179:
022777,000180: 34,2040 05301 TC PHASCHNG
022778,000181: 34,2041 05023 OCT 05023
022779,000182: 34,2042 22000 OCT 22000
022780,000183:
022781,000184: 34,2043 00004 INHINT
022782,000185: 34,2044 00006 EXTEND
022783,000186: 34,2045 31270 DCA TEPHEM1
022784,000187: 34,2046 53707 DXCH TEPHEM
022785,000188: 34,2047 31271 CA TEPHEM1 +2
022786,000189: 34,2050 57710 XCH TEPHEM +2
022787,000190:
022788,000191: 34,2051 32000 CAF EBDVCNT
022789,000192: 34,2052 54003 TS EBANK
022790,000193: 34,2053 E7,1431 EBANK= DVCNTR
022791,000194: 34,2053 04633 TC IBNKCALL
022792,000195: 34,2054 76631 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
022793,000196:
022794,000197: 34,2055 05301 TC PHASCHNG
022795,000198: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
022796,000199: 34,2057 22000 OCT 22000
022797,000200:
022798,000201: 34,2060 34731 CAF .5SEC # START ATT ERROR DISPLAY
022799,000202: 34,2061 05140 TC WAITLIST # IN .5 SEC
022800,000203: 34,2062 E6,1704 EBANK= BODY3
022801,000204: 34,2062 02314 70066 2CADR ATERTASK
022802,000205:
022803,000206: 34,2064 05243 TC NEWMODEX # DISPLAY MM 11
022804,000207: 34,2065 00013 MM 11 B-14
022805,000208:
022806,000209: 34,2066 04555 TC BANKCALL
022807,000210: 34,2067 20607 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
022808,000211:
022809,000212: 34,2070 05261 TC 2PHSCHNG
022810,000213: 34,2071 40514 OCT 40514 # PROTECT ATERTASK
022811,000214: 34,2072 00073 OCT 00073
022812,000215: 34,2073 32001 CAF EBQPLACE
022813,000216: 34,2074 54003 TS EBANK
022814,000217: # # Page 526
022815,000218: 34,2075 E5,1426 EBANK= QPLACES
022816,000219: 34,2075 32276 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
022817,000220: 34,2076 55426 TS QPLACES
022818,000221: 34,2077 22007 ZL # STORE DP GIMBAL
022819,000222: 34,2100 30032 CA CDUX # ANGLES FOR ATTITUDE
022820,000223: 34,2101 53760 DXCH OGC # ERROR DISPLAY
022821,000224: 34,2102 22007 ZL # AFTER L.O.
022822,000225: 34,2103 30033 CA CDUY
022823,000226: 34,2104 53762 DXCH IGC
022824,000227: 34,2105 22007 ZL
022825,000228: 34,2106 30034 CA CDUZ
022826,000229: 34,2107 53764 DXCH MGC
022827,000230: 34,2110 06006 TC INTPRET # -
022828,000231: 34,2111 74575 VLOAD VSR1 # SCALE OGC B-1
022829,000232: 34,2112 02760 OGC
022830,000233: 34,2113 02760 STORE OGC
022831,000234: 34,2114 64375 VLOAD MXV
022832,000235: 34,2115 02467 THETAN
022833,000236: 34,2116 02672 XSM
022834,000237: 34,2117 53372 VSL1 VAD
022835,000238: 34,2120 02650 ERCOMP
022836,000239: 34,2121 16650 STODL ERCOMP
022837,000240: 34,2122 01337 TLIFTOFF
022838,000241: 34,2123 52131 SSP GOTO
022839,000242: 34,2124 00052 S2
022840,000243: 34,2125 66424 CADR PROUT # RETURN FROM EARTHR
022841,000244: 34,2126 66373 EARTHR +3
022842,000245: 34,2127 06006 MATRXJOB TC INTPRET
022843,000246: 34,2130 77731 SSP # ZERO RTX2
022844,000247: 34,2131 03747 RTX2 # FOR
022845,000248: 34,2132 00000 0 # EARTH
022846,000249: 34,2133 65345 DLOAD PDDL
022847,000250: 34,2134 01273 PGNCSALT # ALTITUDE OF PGNCS
022848,000251: 34,2135 01264 PADLONG # LONGITUDE
022849,000252: 34,2136 55525 PDDL VDEF
022850,000253: 34,2137 02403 LATITUDE # GEODETIC LATITUDE
022851,000254: 34,2140 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
022852,000255: 34,2141 15332 HI6ZEROS # TIME = 0
022853,000256: 34,2142 45014 CLEAR CALL
022854,000257: 34,2143 00662 ERADFLAG
022855,000258: 34,2144 26373 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
022856,000259:
022857,000260: 34,2145 35232 STCALL RN1 # -
022858,000261: 34,2146 77260 CALCGRAV # RETURN WITH GRAVITY
022859,000262: 34,2147 77656 UNIT # IN MPAC
022860,000263: 34,2150 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
022861,000264: 34,2151 01232 RN1
022862,000265: 34,2152 74235 VXV VXSC
022863,000266: 34,2153 01714 UNITW # SCALED AT 1
022864,000267: 34,2154 30300 -ERTHRAT # V = EARTHRATE X R
022865,000268: # # Page 527
022866,000269: 34,2155 77712 VSL4 # SCALE TO 2(7) M/CS
022867,000270: 34,2156 25240 STOVL VN1
022868,000271: 34,2157 01752 REFSMMAT +12D
022869,000272: 34,2160 53435 VXV UNIT
022870,000273: 34,2161 01714 UNITW # (REF3 X UNITW) = EAST
022871,000274: 34,2162 47206 PUSH VXV
022872,000275: 34,2163 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
022873,000276: 34,2164 65256 UNIT PDDL
022874,000277: 34,2165 02634 LAUNCHAZ # COS(AZ)*SOUTH
022875,000278: 34,2166 74346 COS VXSC
022876,000279: 34,2167 77626 STADR
022877,000280: 34,2170 62041 STODL REFSMMAT # TEMPORARY STORAGE
022878,000281: 34,2171 02634 LAUNCHAZ
022879,000282: 34,2172 74356 SIN VXSC # SIN(AZ)*EAST
022880,000283: 34,2173 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
022881,000284: 34,2174 01736 REFSMMAT
022882,000285: 34,2175 01736 STORE REFSMMAT
022883,000286:
022884,000287: 34,2176 53435 VXV UNIT # (REF1 X REF3) = -REF3
022885,000288: 34,2177 01752 REFSMMAT +12D
022886,000289: 34,2200 77676 VCOMP
022887,000290: 34,2201 01744 STORE REFSMMAT +6
022888,000291: 34,2202 45345 DLOAD DSU
022889,000292: 34,2203 15330 DPHALF # 1/2 REV
022890,000293: 34,2204 02634 LAUNCHAZ
022891,000294: 34,2205 65215 DAD PDDL
022892,000295: 34,2206 02401 AZIMUTH
022893,000296: 34,2207 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
022894,000297: 34,2210 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
022895,000298: 34,2211 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
022896,000299: 34,2212 77414 SET EXIT
022897,000300: 34,2213 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
022898,000301:
022899,000302: 34,2214 05301 TC PHASCHNG
022900,000303: 34,2215 04023 OCT 04023
022901,000304:
022902,000305: 34,2216 00006 EXTEND
022903,000306: 34,2217 32302 DCA P11SCADR
022904,000307: 34,2220 53223 DXCH AVGEXIT # SET AVGEXIT
022905,000308:
022906,000309: 34,2221 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
022907,000310: 34,2222 55074 TS 1/PIPADT
022908,000311:
022909,000312: 34,2223 E6,1501 EBANK= RCSFLAGS
022910,000313: 34,2223 34752 CA EBANK6
022911,000314: 34,2224 54003 TS EBANK
022912,000315:
022913,000316: 34,2225 00004 INHINT
022914,000317: 34,2226 44714 CS ZERO
022915,000318: 34,2227 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
022916,000319: # # Page 528
022917,000320: 34,2230 40025 CS TIME1
022918,000321: 34,2231 64735 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
022919,000322:
022920,000323: 34,2232 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
022921,000324: 34,2233 12236 TCF +3 # TIME POSITIVE
022922,000325: 34,2234 12236 TCF +2 # CANNOT GET HERE
022923,000326: 34,2235 34714 CA ZERO # TIME NEGATIVE - SET TO 1
022924,000327: 34,2236 64712 AD ONE # RESTORE TIME - OR MAKE POSITIVE
022925,000328:
022926,000329: 34,2237 05140 TC WAITLIST
022927,000330: 34,2240 E6,1661 EBANK= AOG
022928,000331: 34,2240 02653 76066 2CADR READACCS
022929,000332: 34,2242 05261 TC 2PHSCHNG
022930,000333: 34,2243 00003 OCT 00003 # TURN OFF GROUP 3
022931,000334: 34,2244 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
022932,000335:
022933,000336: 34,2245 04574 TC POSTJUMP
022934,000337: 34,2246 77145 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
022935,000338:
022936,000339:
022937,000340: 34,2247 E3,1706 EBANK= TEPHEM
022938,000341: 34,2247 00004 REP11 INHINT
022939,000342: 34,2250 10763 CCS PHASE5
022940,000343: 34,2251 05112 TC ENDOFJOB
022941,000344:
022942,000345: 34,2252 11265 CCS LIFTTEMP
022943,000346: 34,2253 12257 TCF +4
022944,000347: 34,2254 12257 TCF +3
022945,000348: 34,2255 12257 TCF +2
022946,000349: 34,2256 12013 TCF P11+7
022947,000350:
022948,000351: 34,2257 41336 CS TLIFTOFF
022949,000352: 34,2260 00006 EXTEND
022950,000353: 34,2261 62267 BZMF ENDREP11
022951,000354:
022952,000355: 34,2262 10024 CCS TIME2 # **TIME2 MUST BE NON-ZERO AT LIFTOFF**
022953,000356: 34,2263 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
022954,000357:
022955,000358: 34,2264 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
022956,000359: 34,2265 31266 DCA LIFTTEMP
022957,000360: 34,2266 12024 TCF REP11A-2
022958,000361:
022959,000362: 34,2267 00006 ENDREP11 EXTEND
022960,000363: 34,2270 32275 DCA REP11SA
022961,000364: 34,2271 12025 TCF REP11A-1
022962,000365:
022963,000366:
022964,000367: 34,2272 77766 00011 REP11S 2OCT 77766 00011
022965,000368: # # Page 529
022966,000369: 34,2274 77764 00013 REP11SA 2OCT 77764 00013
022967,000370:
022968,000371:
022969,000372: 34,2276 02451 P11XIT GENADR P11OUT
022970,000373: 34,2277 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
022971,000374: 34,2301 E6,1704 EBANK= BODY3
022972,000375: 34,2301 02303 70066 P11SCADR 2CADR VHHDOT
022973,000376: 34,2303 E6,1704 EBANK= BODY3
022974,000377: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
022975,000378: # VI INERTIAL VELOCITY MAGNITUDE
022976,000379: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
022977,000380: # H ALTITUDE ABOVE L PAD RADIUS
022978,000381:
022979,000382: 34,2303 06006 VHHDOT TC INTPRET
022980,000383: 34,2304 77624 CALL # LOAD VMAGI, ALTI,
022981,000384: 34,2305 70436 S11.1 # HDOT FOR DISPLAY
022982,000385: 34,2306 77776 EXIT
022983,000386: 34,2307 32511 CAF V06N62 # DISPLAY IN R1 R2 R3
022984,000387: 34,2310 04555 TC BANKCALL # VI HDOT H
022985,000388: 34,2311 20621 CADR REGODSPR # DISPLAY INTERFACE - IMMEDIATE RETURN
022986,000389: 34,2312 04555 TC BANKCALL
022987,000390: 34,2313 77136 CADR SERVEXIT # END OF P11SERVE CYCLE
022988,000391: 34,2314 34701 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
022989,000392: 34,2315 05042 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
022990,000393: 34,2316 E6,1704 EBANK= BODY3
022991,000394: 34,2316 02326 70066 2CADR ATERJOB
022992,000395: 34,2320 41501 CS RCSFLAGS # SET BIT3 FOR
022993,000396: 34,2321 74710 MASK BIT3 # NEEDLER
022994,000397: 34,2322 27501 ADS RCSFLAGS # INITIALIZATION PASS
022995,000398: 34,2323 04633 TC IBNKCALL # AND GO
022996,000399: 34,2324 42404 CADR NEEDLER # DO IT
022997,000400: 34,2325 05213 TC TASKOVER
022998,000401: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
022999,000402:
023000,000403: # COMPUTE DESIRED PITCH W.R.T. LAUNCH SITE LOCAL VERTICAL.
023001,000404: # PITCH = -.0000469184028+.00137571556*T+.0231502280*T*T-.0205929365*T*T*T
023002,000405: # SCALED TO 32 REVOLUTIONS
023003,000406: # IF TL = TIME FROM LAUNCH IN SECONDS, THEN T = 100(TL-10SEC)/(2**14)
023004,000407: # WHERE TL GE 10 SEC
023005,000408: # TL LE 133 SEC .
023006,000409:
023007,000410: # COMPUTE DESIRED ROLL WEHRE ROLL EQUALS COUNTER-CLOCKWISE ANGLE FROM
023008,000411: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023009,000412: # ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV
023010,000413: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023011,000414: # T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
023012,000415: # # Page 530
023013,000416: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023014,000417: # R = 2*PI*ROLL
023015,000418:
023016,000419: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023017,000420: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023018,000421: # YDC,AND ZDC.
023019,000422:
023020,000423: # * ( SIN(P) 0 -COS(P) ) (XDC)
023021,000424: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023022,000425: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023023,000426:
023024,000427: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023025,000428: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023026,000429: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023027,000430: # AS THE DESIRED CDU ANGLES.
023028,000431:
023029,000432: # (XDC) (OGC)
023030,000433: # (YDC) ---) CALCGTA ---) (IGC)
023031,000434: # (ZDC) (MGC)
023032,000435:
023033,000436: # -
023034,000437: # DEFINE THE VECTOR DELTACDU.
023035,000438:
023036,000439: # - (OGC) (CDUX)
023037,000440: # DELTACDU = (IGC) - (CDUY)
023038,000441: # (MGC) (CDUZ)
023039,000442:
023040,000443: # - - * -
023041,000444: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023042,000445:
023043,000446: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
023044,000447: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023045,000448: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023046,000449:
023047,000450: # -
023048,000451: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023049,000452: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDA1 ATTITUDE
023050,000453: # ERROR DISPLAY ROUTINE.
023051,000454:
023052,000455: 34,2326 30024 ATERJOB CAE TIME2 # CHECK IF MORE THAN
023053,000456: 34,2327 00006 EXTEND # 164 SECONDS FROM L.O.
023054,000457: 34,2330 62332 BZMF +2
023055,000458: 34,2331 12424 TCF SATCLEAR # YES - CLEAR ERROR COUNTER + EXIT
023056,000459: 34,2332 30102 CAE FLAGWRD6 # CHECK FLAGWRD6
023057,000460: 34,2333 74105 MASK OCT60000 # BITS 14 + 15
023058,000461: 34,2334 00006 EXTEND
023059,000462: 34,2335 12337 BZF ATTDISP # NO SATURN STICK ON
023060,000463: 34,2336 02420 TC ATERSET # EXIT - SATURN STICK IN USE
023061,000464: 34,2337 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023062,000465: 34,2340 60025 AD TIME1
023063,000466: # # Page 531
023064,000467: 34,2341 00006 EXTEND
023065,000468: 34,2342 62504 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023066,000469: 34,2343 54154 TS MPAC # MPAC = TIME1 - RPSTART
023067,000470: 34,2344 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
023068,000471: 34,2345 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023069,000472: 34,2346 00006 EXTEND
023070,000473: 34,2347 62351 BZMF +2
023071,000474: 34,2350 12416 TCF SATOUT # EXIT IF TIME1 GR THAN (RPSTART-POLYSTOP)
023072,000475: 34,2351 31661 CAE POLYNUM
023073,000476: 34,2352 54001 TS L
023074,000477: 34,2353 32510 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023075,000478: 34,2354 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023076,000479:
023077,000480: # THE FOLLOWING PAD LOADED COEFFICIENTS ARE
023078,000481: # USED TO COMPUTE THE PITCH POLYNOMIAL
023079,000482:
023080,000483: # ----- SUNDISK SI COEFS -----
023081,000484: # POLYNUM FIVE POLYNOMIAL DEGREE -1
023082,000485: # +1 2DEC -.469184028 E-4 A0
023083,000486: # +3 2DEC .137571556 E-2 A1
023084,000487: # +5 2DEC .231502280 E-1 A2
023085,000488: # +7 2DEC -.205929365 E-1 A3
023086,000489: # +9D 2DEC 0 A4
023087,000490: # +11D 2DEC 0 A5
023088,000491: # +13D 2DEC 0 A6
023089,000492: # POLYLOC = POLYNUM +10D
023090,000493:
023091,000494: 34,2355 34714 CA ZERO # RETURN WITH PITCH(32REV)
023092,000495: 34,2356 54163 TS MODE # STORED MPAC, MPAC +1
023093,000496: 34,2357 06006 TC INTPRET
023094,000497: 34,2360 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023095,000498: 34,2361 00001 0
023096,000499: 34,2362 20206 5
023097,000500: 34,2363 77606 PUSH # LET P(RAD) = 2*PI*PITCH(REV)
023098,000501:
023099,000502: 34,2364 77650 GOTO
023100,000503: 34,2365 76103 ATTDISP1 # AROUND SETLOC
023101,000504: # *
023102,000505: # CONSTRUCT SM TO S/C MATRIX, TSMV
023103,000506:
023104,000507: 37,2000 SETLOC P11TWO
023105,000508: 37,2000 BANK # 36 IN COL., 34 IN DISK
023106,000509:
023107,000510: 37,2103 COUNT 36/P11
023108,000511:
023109,000512: 37,2103 57546 ATTDISP1 COS DCOMP
023110,000513: 37,2104 14017 STODL 14D # -.5*COS(P)
023111,000514: 37,2105 77756 SIN
023112,000515: 37,2106 14013 STODL 10D # .5*SIN(P)
023113,000516: 37,2107 15332 ZEROVECS
023114,000517: # # Page 532
023115,000518: 37,2110 00015 STORE 12D # 0
023116,000519:
023117,000520: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023118,000521: 37,2111 41335 SLOAD DMP
023119,000522: 37,2112 03310 SPOLYARG # TIME1 - RSPSTART ,CSECS B-14.
023120,000523: 37,2113 03301 SATRLRT
023121,000524: 37,2114 45261 SL DSU
023122,000525: 37,2115 20217 14D
023123,000526: 37,2116 15330 DPHALF
023124,000527: 37,2117 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023125,000528: 37,2120 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023126,000529: 37,2121 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023127,000530: 37,2122 77634 RTB # DETERMINE IF ROLLOUT
023128,000531: 37,2123 70473 RLTST # IS COMPLETED
023129,000532: 37,2124 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023130,000533: 37,2125 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023131,000534: 37,2126 72405 DMP SL1
023132,000535: 37,2127 00017 14D
023133,000536: 37,2130 14027 STODL 22D # -.5*COS(R)*COS(P)
023134,000537: 37,2131 77676 DCOMP
023135,000538: 37,2132 00023 STORE 18D # -.5*COS(R)
023136,000539: 37,2133 72405 DMP SL1
023137,000540: 37,2134 00013 10D
023138,000541: 37,2135 14033 STODL 26D # -.5*COS(R)*SIN(P)
023139,000542: 37,2136 41556 SIN PUSH
023140,000543: 37,2137 00031 STORE 24D # .5*SIN(R)
023141,000544: 37,2140 72405 DMP SL1
023142,000545: 37,2141 00017 14D
023143,000546: 37,2142 14021 STODL 16D # -.5*SIN(R)*COS(P)
023144,000547: 37,2143 77676 DCOMP
023145,000548: 37,2144 72405 DMP SL1
023146,000549: 37,2145 00013 10D
023147,000550: 37,2146 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023148,000551: 37,2147 00013 10D
023149,000552:
023150,000553: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023151,000554:
023152,000555: 37,2150 77656 UNIT
023153,000556: 37,2151 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023154,000557: 37,2152 00021 16D
023155,000558: 37,2153 77656 UNIT
023156,000559: 37,2154 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023157,000560: 37,2155 00027 22D # -SIN(R)*SIN(P))
023158,000561: 37,2156 77656 UNIT
023159,000562: 37,2157 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023160,000563: 37,2160 47140 CALCGTA # -COS(R)*SIN(P))
023161,000564:
023162,000565: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC
023163,000566: # - - -
023164,000567: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023165,000568: # # Page 533
023166,000569: # ENTER HERE IF ATTITUDE HOLD
023167,000570:
023168,000571: 37,2161 41575 NOPOLYM VLOAD PUSH # OGC IGC
023169,000572: 37,2162 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023170,000573: 37,2163 45006 PUSH CALL # MGC OGC
023171,000574: 37,2164 47432 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023172,000575: 37,2165 47175 VLOAD RTB # - DPHI OGC-CDUX ,PD4
023173,000576: 37,2166 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023174,000577: 37,2167 45547 V1STO2S # DPSI MGC-CDUZ , 2
023175,000578: 37,2170 27317 STOVL BOOSTEMP
023176,000579: 37,2171 15332 ZEROVECS
023177,000580: 37,2172 24001 STOVL 0
023178,000581: 37,2173 00767 CDUSPOT
023179,000582: 37,2174 47034 RTB RTB
023180,000583: 37,2175 45547 V1STO2S
023181,000584: 37,2176 70453 DELSTOR
023182,000585: 37,2177 14013 STODL 10D
023183,000586: 37,2200 00741 SINCDUZ
023184,000587: 37,2201 72405 DMP SL1
023185,000588: 37,2202 00001 0
023186,000589: 37,2203 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023187,000590: 37,2204 00005 4
023188,000591: 37,2205 77650 GOTO
023189,000592: 37,2206 70366 ATTDISP2
023190,000593:
023191,000594: 34,2000 SETLOC P11ONE
023192,000595: 34,2000 BANK
023193,000596: 34,2366 COUNT 34/P11
023194,000597:
023195,000598: 34,2366 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023196,000599: 34,2367 00747 COSCDUZ
023197,000600: 34,2370 41405 DMP PUSH
023198,000601: 34,2371 00001 0
023199,000602: 34,2372 72405 DMP SL1
023200,000603: 34,2373 00751 COSCDUX
023201,000604: 34,2374 41325 PDDL DMP
023202,000605: 34,2375 00743 SINCDUX
023203,000606: 34,2376 00003 2
023204,000607: 34,2377 72415 DAD SL1
023205,000608: 34,2400 77626 STADR
023206,000609: 34,2401 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023207,000610: 34,2402 72405 DMP SL1 # +DPSI*SIN(CDUX))
023208,000611: 34,2403 00743 SINCDUX
023209,000612: 34,2404 41325 PDDL DMP
023210,000613: 34,2405 00751 COSCDUX
023211,000614: 34,2406 00003 2
023212,000615: 34,2407 72425 DSU SL1
023213,000616: 34,2410 77626 STADR
023214,000617: 34,2411 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023215,000618: 34,2412 77751 TLOAD # +DPSI*COS(CDUX))
023216,000619: # # Page 534
023217,000620: 34,2413 00021 16D
023218,000621: 34,2414 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023219,000622: 34,2415 77776 EXIT
023220,000623:
023221,000624: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023222,000625:
023223,000626: 34,2416 04555 SATOUT TC BANKCALL
023224,000627: 34,2417 42404 CADR NEEDLER
023225,000628: 34,2420 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023226,000629: 34,2421 04555 TC BANKCALL # EXECUTION + DELAY =.56SEC APPROX
023227,000630: 34,2422 01730 CADR DELAYJOB
023228,000631: 34,2423 02326 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023229,000632:
023230,000633: 34,2424 44705 SATCLEAR CS BIT6
023231,000634: 34,2425 00006 EXTEND
023232,000635: 34,2426 03012 WAND CHAN12 # CLEAR IMU ERROR COUNTER
023233,000636: 34,2427 05301 TC PHASCHNG # TURN OFF PROTECTION
023234,000637: 34,2430 00004 OCT 00004 # FOR ATTITUDE ERROR DISPLAY
023235,000638: 34,2431 34714 CAF ZERO
023236,000639: 34,2432 55476 TS AK # ZERO OUT
023237,000640: 34,2433 55477 TS AK1 # AKS FOR
023238,000641: 34,2434 55500 TS AK2 # DOWNLINK
023239,000642: 34,2435 05112 TC ENDOFJOB
023240,000643:
023241,000644: 34,2436 51575 S11.1 VLOAD ABVAL
023242,000645: 34,2437 01177 VN
023243,000646: 34,2440 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023244,000647: 34,2441 01171 RN
023245,000648: 34,2442 45246 ABVAL DSU
023246,000649: 34,2443 05311 RPAD
023247,000650: 34,2444 27735 STOVL ALTI # H SCALED 2(29) IN METERS
023248,000651: 34,2445 01171 RN
023249,000652: 34,2446 50256 UNIT DOT
023250,000653: 34,2447 01177 VN
023251,000654: 34,2450 77752 SL1
023252,000655: 34,2451 03737 STORE HDOT # HDOT SCALED 2(7) IN METERS/CSEC
023253,000656: 34,2452 77616 RVQ
023254,000657: 34,2453 31716 DELSTOR CA BOOSTEMP
023255,000658: 34,2454 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023256,000659: 34,2455 20154 MSU MPAC
023257,000660: 34,2456 50120 INDEX FIXLOC
023258,000661: 34,2457 54000 TS 0
023259,000662: 34,2460 31717 CA BOOSTEMP +1
023260,000663: 34,2461 00006 EXTEND
023261,000664: 34,2462 20155 MSU MPAC +1
023262,000665: 34,2463 50120 INDEX FIXLOC
023263,000666: 34,2464 54002 TS 2
023264,000667: 34,2465 31720 CA BOOSTEMP +2
023265,000668: 34,2466 00006 EXTEND
023266,000669: 34,2467 20156 MSU MPAC +2
023267,000670: # # Page 535
023268,000671: 34,2470 50120 INDEX FIXLOC
023269,000672: 34,2471 54004 TS 4
023270,000673: 34,2472 16030 TCF DANZIG
023271,000674: 34,2473 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023272,000675: 34,2474 00006 EXTEND # IS COMPLETED
023273,000676: 34,2475 71701 MP SATRLRT +1
023274,000677: 34,2476 00006 EXTEND
023275,000678: 34,2477 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023276,000679: 34,2500 00006 EXTEND # ROLLOUT COMPLETED
023277,000680: 34,2501 33563 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023278,000681: 34,2502 52155 DXCH MPAC
023279,000682: 34,2503 06030 TC DANZIG
023280,000683: 34,2504 06006 NOPOLY TC INTPRET # COMES HERE IF
023281,000684: 34,2505 52001 SETPD GOTO # ATTITUDE HOLD
023282,000685: 34,2506 00001 0
023283,000686: 34,2507 76161 NOPOLYM
023284,000687: 34,2510 01673 COEFPOLY ADRES POLYLOC
023285,000688: 34,2511 01476 V06N62 VN 0662
023286,000689: # SATURN TAKEOVER FUNCTION
023287,000690: # ************************
023288,000691:
023289,000692: # PROGRAM DESCRIPTION
023290,000693:
023291,000694: # MOD NUMBER 1
023292,000695: # MOD BY ELIASSEN
023293,000696:
023294,000697: # FUNCTIONAL DESCRIPTION
023295,000698:
023296,000699: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023297,000700: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023298,000701: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023299,000702: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023300,000703: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023301,000704: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023302,000705: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023303,000706: # SULTS IN A ZERO RATE COMMAND.
023304,000707:
023305,000708: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023306,000709: # OF THE RATE COMMAND.
023307,000710:
023308,000711: # CALLING SEQUENCE
023309,000712:
023310,000713: # DAPFIG +9D TC POSTJUMP
023311,000714: # CADR SATSTKON
023312,000715:
023313,000716: # SUBROUTINES CALLED
023314,000717:
023315,000718: # ENDEXT
023316,000719: # IBNKCALL
023317,000720: # STICKCHK
023318,000721: # # Page 536
023319,000722: # NEEDLER
023320,000723: # T5RUPT
023321,000724: # RESUME
023322,000725:
023323,000726: # ASTRONAUT REQUESTS
023324,000727:
023325,000728: # ENTRY - VERB 46 ENTER
023326,000729: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023327,000730:
023328,000731: # EXIT - VERB 48 ENTER (FLASH V06N46)
023329,000732: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023330,000733: # VERB 34 ENTER
023331,000734: # VERB 46 ENTER
023332,000735:
023333,000736: # NORMAL EXIT MODE
023334,000737:
023335,000738: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
023336,000739:
023337,000740: # ALARM OR ABORT EXIT MODES
023338,000741:
023339,000742: # NONE
023340,000743:
023341,000744: # OUTPUT
023342,000745:
023343,000746: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023344,000747:
023345,000748: # ERASABLE INITIALIZATION
023346,000749:
023347,000750: # DAPDATR1 (BITS 13, 14 MUST BE SET)
023348,000751:
023349,000752: # DEBRIS
023350,000753:
023351,000754: # CENTRALS
023352,000755: # CDUXCMD, CDUYCMD, CDUZCMD
023353,000756:
023354,000757: 43,3210 BANK 43
023355,000758: 43,2000 SETLOC EXTVERBS
023356,000759: 43,2000 BANK
023357,000760:
023358,000761: 43,3210 COUNT 23/STTKE
023359,000762: 43,3210 00006 SATSTKON EXTEND
023360,000763: 43,3211 33226 DCA 2REDOSAT
023361,000764: 43,3212 00004 INHINT
023362,000765: 43,3213 53313 DXCH T5LOC
023363,000766: 43,3214 34672 CAF POSMAX
023364,000767: 43,3215 54030 TS TIME5
023365,000768: 43,3216 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
023366,000769: 43,3217 74105 MASK RELTAB11 # FLAGWRD6
023367,000770: 43,3220 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
023368,000771: 43,3221 04633 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
023369,000772: # # Page 537
023370,000773: 43,3222 42616 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
023371,000774: 43,3223 00003 RELINT
023372,000775: 43,3224 02125 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
023373,000776:
023374,000777: 43,3225 E6,1704 EBANK= BODY3
023375,000778: 43,3225 02765 46106 2REDOSAT 2CADR REDOSAT
023376,000779:
023377,000780: 32,2017 BANK 32
023378,000781: 23,2000 SETLOC P11FOUR
023379,000782: 23,2000 BANK
023380,000783:
023381,000784: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
023382,000785: 23,2766 00006 EXTEND
023383,000786: 23,2767 22012 QXCH QRUPT
023384,000787: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
023385,000788: 23,2771 74710 MASK BIT3 # FOR
023386,000789: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
023387,000790: 23,2773 04633 TC IBNKCALL
023388,000791: 23,2774 42404 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
023389,000792: 23,2775 34702 CAF BIT9 # SIVB
023390,000793: 23,2776 00006 EXTEND # TAKEOVER
023391,000794: 23,2777 05012 WOR CHAN12 # ENABLE
023392,000795: 23,3000 00006 EXTEND # SET UP T5 CYCLE
023393,000796: 23,3001 33046 DCA 2SATSTCK
023394,000797: 23,3002 53313 DXCH T5LOC
023395,000798: 23,3003 33044 CAF 100MST5 # IN 100 MSECS
023396,000799: 23,3004 54030 TS TIME5
023397,000800: 23,3005 15222 TCF RESUME # END OF SATURN STICK INITIALIZATION
023398,000801:
023399,000802: # THIS SECTION IS EXECUTED EVERY 100 MSECS
023400,000803:
023401,000804: 23,3006 22016 SATSTICK LXCH BANKRUPT
023402,000805: 23,3007 00006 EXTEND
023403,000806: 23,3010 22012 QXCH QRUPT
023404,000807:
023405,000808: 23,3011 33045 CAF 2SATSTCK # SET UP RUPT
023406,000809: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
023407,000810: 23,3013 33044 CAF 100MST5 # 100 MSECS
023408,000811: 23,3014 54030 TS TIME5
023409,000812: 23,3015 33043 CAF STIKBITS
023410,000813: 23,3016 00006 EXTEND
023411,000814: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
023412,000815: 23,3020 73043 MASK STIKBITS
023413,000816: 23,3021 04633 TC IBNKCALL # SET RATE INDICES
023414,000817: 23,3022 43114 CADR STICKCHK # FOR PITCH YAW AND ROLL
023415,000818:
023416,000819: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
023417,000820: 23,3024 33037 CA SATRATE
023418,000821: 23,3025 55476 TS AK # ROLL
023419,000822: # # Page 538
023420,000823: 23,3026 51657 INDEX PMANNDX
023421,000824: 23,3027 33037 CA SATRATE
023422,000825: 23,3030 55477 TS AK1 # PITCH
023423,000826: 23,3031 51660 INDEX YMANNDX
023424,000827: 23,3032 33037 CA SATRATE
023425,000828: 23,3033 55500 TS AK2 # YAW
023426,000829:
023427,000830: 23,3034 04633 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
023428,000831: 23,3035 42404 CADR NEEDLER
023429,000832: 23,3036 15222 TCF RESUME # END OF SATURN STICK CONTROL
023430,000833:
023431,000834:
023432,000835: 23,3037 00000 SATRATE DEC 0 B-14 # IN DETENT - ZERO RATE
023433,000836: 23,3040 00476 DEC +318 B-14 # POS RATE .5D/S R, .3D/S P AND Y
023434,000837: 23,3041 77301 DEC -318 B-14 # NEG RATE DITTO
023435,000838: 23,3042 00000 DEC 0 B-14 # POS NEG BITS ON ASSUME IN DETENT
023436,000839:
023437,000840: 23,3043 00077 STIKBITS OCT 00077
023438,000841: 23,3044 37766 100MST5 DEC 16374 B-14
023439,000842: 23,3045 E6,1704 EBANK= BODY3
023440,000843: 23,3045 03006 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc