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:
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[WORKAROUND] RSB 2004 |
023527,000800: 43,3226 40,2000 SBANK= PINSUPER
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[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
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[WORKAROUND] RSB 2004 |
023593,000866: 23,3045 40,2000 SBANK= PINSUPER
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[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