Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality 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 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
023370,000002: ## Copyright: Public domain.
023371,000003: ## Filename: P11.agc
023372,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
023373,000005: ## It is part of the source code for the Command Module's (CM)
023374,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
023375,000007: ## Assembler: yaYUL
023376,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
023377,000009: ## Website: www.ibiblio.org/apollo.
023378,000010: ## Pages: 533-550
023379,000011: ## Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
023380,000012: ## of the same name, using Comanche055 page
023381,000013: ## images 0533.jpg - 0550.jpg.
023382,000014: ## 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
023383,000015: ## STATSW -> SATSW.
023384,000016: ## 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
023385,000017: ## Added an SBANK= prior to a 2CADR.
023386,000018: ## 2010-08-24 JL Fixed page numbers. Added missing comment character on p537.
023387,000019: ## 2011-05-08 JL Flagged SBANK= workaround for future removal.
023388,000020: ## 2011-05-17 JL Removed all SBANK= workarounds.
023389,000021: ## 2016-12-10 RSB Proofed comments with octopus/ProoferComments
023390,000022: ## and fixed the errors found.
023391,000023: ## 2017-01-15 RSB Corrected comment-text errors observed while
023392,000024: ## diff'ing vs Colossus 249.
023393,000025:
023394,000026: ## This source code has been transcribed or otherwise adapted from digitized
023395,000027: ## images of a hardcopy from the MIT Museum. The digitization was performed
023396,000028: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
023397,000029: ## thanks to both. The images (with suitable reduction in storage size and
023398,000030: ## consequent reduction in image quality as well) are available online at
023399,000031: ## www.ibiblio.org/apollo. If for some reason you find that the images are
023400,000032: ## illegible, contact me at info@sandroid.org about getting access to the
023401,000033: ## (much) higher-quality images which Paul actually created.
023402,000034: ##
023403,000035: ## Notations on the hardcopy document read, in part:
023404,000036: ##
023405,000037: ## Assemble revision 055 of AGC program Comanche by NASA
023406,000038: ## 2021113-051. 10:28 APR. 1, 1969
023407,000039: ##
023408,000040: ## This AGC program shall also be referred to as
023409,000041: ## Colossus 2A
023410,000042:
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Page 533 |
023412,000044:
023413,000045: # EARTH ORBIT INSERTION MONITOR PROGRAM
023414,000046: # *************************************
023415,000047:
023416,000048: # PROGRAM DESCRIPTION -P11-
023417,000049:
023418,000050: # MOD NO. 1
023419,000051: # MOD BY ELIASSEN
023420,000052:
023421,000053: # FUNCTIONAL DESCRIPTION
023422,000054:
023423,000055: # P11 IS INITIATED BY
023424,000056:
023425,000057: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023426,000058: # B) BACKUP THRU VERB 75 ENTER
023427,000059:
023428,000060: # PROGRAM WILL
023429,000061: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023430,000062: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023431,000063: # 3. INITIATE SERVICER AT PREREAD1
023432,000064: # 4. CHANGE MAJOR MODE TO 11
023433,000065: # 5. CLEAR DSKY IN CASE OF V 75
023434,000066: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023435,000067: # 7. TERMINATE GYROCOMPASSING - -
023436,000068: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
023437,000069: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
023438,000070: # - - X Y Z
023439,000071: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023440,000072: # Z
023441,000073: # - - -
023442,000074: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
023443,000075: # X
023444,000076: # - - -
023445,000077: # U =U * U
023446,000078: # U Z X
023447,000079: # 10. SET REFSMMAT KNOWN FLAG
023448,000080: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023449,000081: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023450,000082:
023451,000083: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
023452,000084: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023453,000085: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
023454,000086: #
023455,000087: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023456,000088:
023457,000089: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023458,000090: # DESIRED ATTITUDE IS AS STORED AT L.O.
023459,000091: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023460,000092: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023461,000093: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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Page 534 |
023463,000095: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023464,000096: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023465,000097:
023466,000098: # SUBROUTINES CALLED
023467,000099:
023468,000100: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
023469,000101: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
023470,000102: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
023471,000103: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
023472,000104: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
023473,000105:
023474,000106: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023475,000107:
023476,000108: # DSKY -
023477,000109: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023478,000110: # R2 MINUTES
023479,000111:
023480,000112: # DSKY -
023481,000113: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023482,000114: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023483,000115: # R3 TFF IN MINUTES/SECS
023484,000116:
023485,000117: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023486,000118: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023487,000119: # NORMAL EXIT MODE
023488,000120:
023489,000121: # ASTRONAUT VERB 37 ENTER 00 ENTER
023490,000122:
023491,000123: # ALARM MODES - NONE
023492,000124:
023493,000125: # ABORT EXIT MODES -
023494,000126:
023495,000127: # OUTPUT
023496,000128:
023497,000129: # TLIFTOFF (DP) TEPHEM (TP)
023498,000130: # REFSMMAT
023499,000131: # DSKY DISPLAY
023500,000132: # FDAI DISPLAY
023501,000133:
023502,000134: # ERASABLE INITIALIZATION
023503,000135:
023504,000136: # AZO, AXO, -AYO
023505,000137: # LATITUDE
023506,000138: # PADLONG
023507,000139: # TEPHEM
023508,000140: # PGNCSALT
023509,000141: # POLYNUM THRU POLYNUM +14D)
023510,000142: # RPSTART
023511,000143: # POLYSTOP
023512,000144: # FLAGS SET OR RESET
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Page 535 |
023514,000146: # SET REFSMFLG
023515,000147: # SET DVMON IDLE FLAG
023516,000148: # CLEAR ERADFLAG
023517,000149:
023518,000150: # DEBRIS
023519,000151:
023520,000152: # LIFTTEMP
023521,000153: # POLYNUM THRU POLYNUM +7
023522,000154: # SPOLYARG
023523,000155: # BODY1, BODY2, BODY3
023524,000156: # VMAG2, ALTI, HDOT
023525,000157: # CENTRALS, CORE SET AND VAC AREAS
023526,000158:
023527,000159: 04,3303 COUNT 34/P11
023528,000160:
023529,000161: 04,3303 5035 BITS5-6 = SUPER011
023530,000162: 42,3606 BANK 42
023531,000163: 34,2000 SETLOC P11ONE
023532,000164: 34,2000 BANK
023533,000165:
023534,000166: 34,2002 E3,1706 EBANK= TEPHEM
023535,000167: 34,2002 35051 P11 CA EBANK3
023536,000168: 34,2003 54003 TS EBANK
023537,000169:
023538,000170: 34,2004 00006 EXTEND
023539,000171: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
023540,000172: 34,2006 52757 DXCH -PHASE3
023541,000173: 34,2007 45021 CS ZERO
023542,000174: 34,2010 22007 ZL
023543,000175: 34,2011 55265 TS LIFTTEMP
023544,000176: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
023545,000177: 34,2013 00006 P11+7 EXTEND
023546,000178: 34,2014 32301 DCA REP11SA
023547,000179: 34,2015 53337 DXCH TLIFTOFF
023548,000180:
023549,000181: 34,2016 00006 EXTEND
023550,000182: 34,2017 30025 DCA TIME2
023551,000183: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
023552,000184:
023553,000185: 34,2021 35021 CA ZERO
023554,000186: 34,2022 22007 ZL
023555,000187: 34,2023 52025 DXCH TIME2
023556,000188: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
023557,000189: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
023558,000190:
023559,000191: 34,2026 00004 REP11A INHINT
023560,000192: 34,2027 00006 EXTEND
023561,000193: 34,2030 31710 DCA TEPHEM +1
023562,000194: 34,2031 53271 DXCH TEPHEM1 +1
023563,000195: 34,2032 31706 CA TEPHEM
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Page 536 |
023565,000197: 34,2033 57267 XCH TEPHEM1
023566,000198:
023567,000199: 34,2034 00006 EXTEND
023568,000200: 34,2035 31337 DCA TLIFTOFF
023569,000201: 34,2036 21271 DAS TEPHEM1 +1
023570,000202: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
023571,000203:
023572,000204: 34,2040 05412 TC PHASCHNG
023573,000205: 34,2041 05023 OCT 05023
023574,000206: 34,2042 22000 OCT 22000
023575,000207:
023576,000208: 34,2043 00004 INHINT
023577,000209: 34,2044 00006 EXTEND
023578,000210: 34,2045 31270 DCA TEPHEM1
023579,000211: 34,2046 53707 DXCH TEPHEM
023580,000212: 34,2047 31271 CA TEPHEM1 +2
023581,000213: 34,2050 57710 XCH TEPHEM +2
023582,000214:
023583,000215: 34,2051 32000 CAF EBDVCNT
023584,000216: 34,2052 54003 TS EBANK
023585,000217: 34,2053 E7,1431 EBANK= DVCNTR
023586,000218: 34,2053 04740 TC IBNKCALL
023587,000219: 34,2054 76722 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
023588,000220:
023589,000221: 34,2055 05412 TC PHASCHNG
023590,000222: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
023591,000223: 34,2057 22000 OCT 22000
023592,000224:
023593,000225: 34,2060 35036 CAF .5SEC # START ATT ERROR DISPLAY
023594,000226: 34,2061 05245 TC WAITLIST # IN .5 SEC
023595,000227: 34,2062 E6,1704 EBANK= BODY3
023596,000228: 34,2062 02320 70066 2CADR ATERTASK
023597,000229:
023598,000230: 34,2064 05354 TC NEWMODEX # DISPLAY MM 11
023599,000231: 34,2065 00013 MM 11 B-14
023600,000232:
023601,000233: 34,2066 05546 TC UPFLAG
023602,000234: 34,2067 00022 ADRES NODOP01
023603,000235:
023604,000236: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
023605,000237: 34,2071 54332 TS DNLSTCOD
023606,000238:
023607,000239: 34,2072 04662 TC BANKCALL
023608,000240: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
023609,000241:
023610,000242: 34,2074 05372 TC 2PHSCHNG
023611,000243: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
023612,000244: 34,2076 00073 OCT 00073
023613,000245: 34,2077 32001 CAF EBQPLACE
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Page 537 |
023615,000247: 34,2100 54003 TS EBANK
023616,000248:
023617,000249: 34,2101 E5,1426 EBANK= QPLACES
023618,000250: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023619,000251: 34,2102 55426 TS QPLACES
023620,000252: 34,2103 06006 TC INTPRET
023621,000253: 34,2104 64375 VLOAD MXV
023622,000254: 34,2105 02467 THETAN
023623,000255: 34,2106 02672 XSM
023624,000256: 34,2107 53372 VSL1 VAD
023625,000257: 34,2110 02650 ERCOMP
023626,000258: 34,2111 16650 STODL ERCOMP
023627,000259: 34,2112 01337 TLIFTOFF
023628,000260: 34,2113 52131 SSP GOTO
023629,000261: 34,2114 00052 S2
023630,000262: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
023631,000263: 34,2116 66373 EARTHR +3
023632,000264: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
023633,000265: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
023634,000266: 34,2121 53760 DXCH OGC
023635,000267: 34,2122 22007 ZL
023636,000268: 34,2123 30033 CA CDUY
023637,000269: 34,2124 53762 DXCH IGC
023638,000270: 34,2125 22007 ZL
023639,000271: 34,2126 30034 CA CDUZ
023640,000272: 34,2127 53764 DXCH MGC
023641,000273: 34,2130 06006 TC INTPRET # -
023642,000274: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
023643,000275: 34,2132 02760 OGC
023644,000276: 34,2133 02760 STORE OGC
023645,000277: 34,2134 77731 SSP # ZERO RTX2
023646,000278: 34,2135 03747 RTX2 # FOR
023647,000279: 34,2136 00000 0 # EARTH
023648,000280: 34,2137 65345 DLOAD PDDL
023649,000281: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
023650,000282: 34,2141 01264 PADLONG # LONGITUDE
023651,000283: 34,2142 55525 PDDL VDEF
023652,000284: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
023653,000285: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023654,000286: 34,2145 15335 HI6ZEROS # TIME = 0
023655,000287: 34,2146 45014 CLEAR CALL
023656,000288: 34,2147 00662 ERADFLAG
023657,000289: 34,2150 26441 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
023658,000290:
023659,000291: 34,2151 35232 STCALL RN1 # -
023660,000292: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
023661,000293: 34,2153 53476 VCOMP UNIT
023662,000294: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
023663,000295: 34,2155 01232 RN1
023664,000296: 34,2156 74235 VXV VXSC
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Page 538 |
023666,000298: 34,2157 01714 UNITW # SCALED AT 1
023667,000299: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
023668,000300: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
023669,000301: 34,2162 25240 STOVL VN1
023670,000302: 34,2163 01752 REFSMMAT +12D
023671,000303: 34,2164 53435 VXV UNIT
023672,000304: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
023673,000305: 34,2166 47206 PUSH VXV
023674,000306: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023675,000307: 34,2170 65256 UNIT PDDL
023676,000308: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
023677,000309: 34,2172 74346 COS VXSC
023678,000310: 34,2173 77626 STADR
023679,000311: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
023680,000312: 34,2175 02634 LAUNCHAZ
023681,000313: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
023682,000314: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023683,000315: 34,2200 01736 REFSMMAT
023684,000316: 34,2201 01736 STORE REFSMMAT
023685,000317:
023686,000318: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
023687,000319: 34,2203 01752 REFSMMAT +12D
023688,000320: 34,2204 77676 VCOMP
023689,000321: 34,2205 01744 STORE REFSMMAT +6
023690,000322: 34,2206 45345 DLOAD DSU
023691,000323: 34,2207 15333 DPHALF # 1/2 REV
023692,000324: 34,2210 02634 LAUNCHAZ
023693,000325: 34,2211 65215 DAD PDDL
023694,000326:
023695,000327: 34,2212 02401 AZIMUTH
023696,000328: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023697,000329: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023698,000330: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023699,000331: 34,2216 77414 SET EXIT
023700,000332: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023701,000333:
023702,000334: 34,2220 05412 TC PHASCHNG
023703,000335: 34,2221 04023 OCT 04023
023704,000336:
023705,000337: 34,2222 00006 EXTEND
023706,000338: 34,2223 32306 DCA P11SCADR
023707,000339: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
023708,000340:
023709,000341: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
023710,000342: 34,2226 55074 TS 1/PIPADT
023711,000343:
023712,000344: 34,2227 E6,1501 EBANK= RCSFLAGS
023713,000345: 34,2227 35057 CA EBANK6
023714,000346: 34,2230 54003 TS EBANK
023715,000347:
023716,000348: 34,2231 00004 INHINT
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Page 539 |
023718,000350: 34,2232 45021 CS ZERO
023719,000351: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
023720,000352:
023721,000353: 34,2234 40025 CS TIME1
023722,000354: 34,2235 65042 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023723,000355:
023724,000356: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023725,000357: 34,2237 12242 TCF +3 # TIME POSITIVE
023726,000358: 34,2240 12242 TCF +2 # CANNOT GET HERE
023727,000359: 34,2241 35021 CA ZERO # TIME NEGATIVE - SET TO 1
023728,000360: 34,2242 65017 AD ONE # RESTORE TIME - OR MAKE POSITIVE
023729,000361:
023730,000362: 34,2243 05245 TC WAITLIST
023731,000363: 34,2244 E6,1661 EBANK= AOG
023732,000364: 34,2244 02744 76066 2CADR READACCS
023733,000365:
023734,000366: 34,2246 05372 TC 2PHSCHNG
023735,000367: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
023736,000368: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023737,000369:
023738,000370: 34,2251 04701 TC POSTJUMP
023739,000371: 34,2252 77236 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023740,000372:
023741,000373:
023742,000374: 34,2253 E3,1706 EBANK= TEPHEM
023743,000375: 34,2253 00004 REP11 INHINT
023744,000376: 34,2254 10763 CCS PHASE5
023745,000377: 34,2255 05217 TC ENDOFJOB
023746,000378:
023747,000379: 34,2256 11265 CCS LIFTTEMP
023748,000380: 34,2257 12263 TCF +4
023749,000381: 34,2260 12263 TCF +3
023750,000382: 34,2261 12263 TCF +2
023751,000383: 34,2262 12013 TCF P11+7
023752,000384:
023753,000385: 34,2263 41336 CS TLIFTOFF
023754,000386: 34,2264 00006 EXTEND
023755,000387: 34,2265 62273 BZMF ENDREP11
023756,000388:
023757,000389: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023758,000390: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023759,000391:
023760,000392: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023761,000393: 34,2271 31266 DCA LIFTTEMP
023762,000394: 34,2272 12024 TCF REP11A-2
023763,000395:
023764,000396: 34,2273 00006 ENDREP11 EXTEND
023765,000397: 34,2274 32301 DCA REP11SA
023766,000398: 34,2275 12025 TCF REP11A-1
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Page 540 |
023768,000400: 34,2276 77766 00011 REP11S 2OCT 7776600011
023769,000401:
023770,000402: 34,2300 77764 00013 REP11SA 2OCT 7776400013
023771,000403:
023772,000404: 34,2302 02451 P11XIT GENADR P11OUT
023773,000405: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023774,000406:
023775,000407: 34,2305 E6,1704 EBANK= BODY3
023776,000408: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
023777,000409:
023778,000410: 34,2307 6214 POWDNCOD EQUALS THREE
023779,000411:
023780,000412: 34,2307 E6,1704 EBANK= BODY3
023781,000413: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023782,000414: # VI INERTIAL VELOCITY MAGNITUDE
023783,000415: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023784,000416: # H ALTITUDE ABOVE L PAD RADIUS
023785,000417:
023786,000418: 34,2307 06006 VHHDOT TC INTPRET
023787,000419: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
023788,000420: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
023789,000421: 34,2312 77776 EXIT
023790,000422: 34,2313 05412 TC PHASCHNG
023791,000423: 34,2314 00035 OCT 00035
023792,000424:
023793,000425: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
023794,000426: 34,2316 04662 TC BANKCALL # VI HDOT H
023795,000427: 34,2317 20707 CADR REGODSP
023796,000428:
023797,000429: 34,2320 35006 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023798,000430: 34,2321 05147 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023799,000431: 34,2322 E6,1704 EBANK= BODY3
023800,000432: 34,2322 02345 70066 2CADR ATERJOB
023801,000433:
023802,000434: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
023803,000435: 34,2325 75015 MASK BIT3 # NEEDLER
023804,000436: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
023805,000437: 34,2327 04740 TC IBNKCALL # AND GO
023806,000438: 34,2330 42420 CADR NEEDLER # DO IT
023807,000439: 34,2331 35017 CA BIT1 # SET SW
023808,000440: 34,2332 55725 TS SATSW # FOR DISPLAY
023809,000441: 34,2333 05324 TC TASKOVER
023810,000442: 34,2334 40220 GETDOWN STQ SETPD
023811,000443: 34,2335 02242 INCORPEX
023812,000444: 34,2336 00001 0D
023813,000445: 34,2337 77745 DLOAD
023814,000446: 34,2340 15335 HI6ZEROS
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023816,000448: 34,2341 14007 STODL 6D
023817,000449: 34,2342 15333 DPHALF
023818,000450: 34,2343 34011 STCALL 8D
023819,000451: 34,2344 26446 LALOTORV +5
023820,000452: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023821,000453:
023822,000454: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023823,000455: # 2 3 4 5 6
023824,000456: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023825,000457: # SCALED TO 32 REVS. -14
023826,000458: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
023827,000459: # WHERE TL GE RPSTART
023828,000460: # TL LE (-POLYSTOP + RPSTART)
023829,000461: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023830,000462: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023831,000463: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
023832,000464: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023833,000465: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023834,000466:
023835,000467: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023836,000468: # R = 2*PI*ROLL
023837,000469:
023838,000470: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023839,000471: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023840,000472: # YDC, AND ZDC.
023841,000473:
023842,000474: # * ( SIN(P) 0 -COS(P) ) (XDC)
023843,000475: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023844,000476: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023845,000477:
023846,000478: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023847,000479: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023848,000480: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023849,000481: # AS THE DESIRED CDU ANGLES.
023850,000482:
023851,000483: # (XDC) (OGC)
023852,000484: # (YDC) ---) CALCGTA ---) (IGC)
023853,000485: # (ZDC) (MGC)
023854,000486: # -
023855,000487: # DEFINE THE VECTOR DELTACDU.
023856,000488:
023857,000489: # - (OGC) (CDUX)
023858,000490: # DELTACDU = (IGC) - (CDUY)
023859,000491: # (MGC) (CDUZ)
023860,000492: # - - * -
023861,000493: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023862,000494:
023863,000495: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
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023865,000497: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023866,000498: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023867,000499: # -
023868,000500: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023869,000501: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023870,000502: # ERROR DISPLAY ROUTINE.
023871,000503:
023872,000504: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
023873,000505: 34,2346 74105 MASK OCT60000 # BITS 14, 15
023874,000506: 34,2347 00006 EXTEND
023875,000507: 34,2350 12352 BZF +2 # OK - CONTINUE
023876,000508: 34,2351 05217 TC ENDOFJOB # SATURN STICK ON - KILL JOB
023877,000509: 34,2352 35006 CAF BIT10 # CHECK IF S/C CONTROL
023878,000510: 34,2353 00006 EXTEND # OF SATURN PANEL
023879,000511: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
023880,000512: 34,2355 00006 EXTEND
023881,000513: 34,2356 12510 BZF STRSAT # IT IS - GO STEER
023882,000514: 34,2357 11725 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
023883,000515: 34,2360 02363 TC ATTDISP # NO - CONTINUE
023884,000516: 34,2361 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023885,000517: 34,2362 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023886,000518: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023887,000519: 34,2364 60025 AD TIME1
023888,000520: 34,2365 00006 EXTEND
023889,000521: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023890,000522: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
023891,000523: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
023892,000524: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023893,000525: 34,2372 00006 EXTEND
023894,000526: 34,2373 62375 BZMF +2
023895,000527: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023896,000528: 34,2375 30024 CA TIME2
023897,000529: 34,2376 00006 EXTEND
023898,000530: 34,2377 62401 BZMF +2
023899,000531: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023900,000532: 34,2401 31661 CAE POLYNUM
023901,000533: 34,2402 54001 TS L
023902,000534: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023903,000535: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023904,000536: 34,2405 35021 CA ZERO # RETURN WITH PITCH(32REV)
023905,000537: 34,2406 54163 TS MODE # STORED IN MPAC, MPAC +1
023906,000538: 34,2407 06006 TC INTPRET
023907,000539: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023908,000540: 34,2411 00001 0
023909,000541: 34,2412 20206 5
023910,000542: 34,2413 77606 PUSH # LET P(RAD) = 2.PI.PITCH(REV)
023911,000543: 34,2414 77650 GOTO
023912,000544: 34,2415 76155 ATTDISP1 # AROUND SETLOC
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023914,000546: # *
023915,000547: # CONSTRUCT SM TO S/C MATRIX, TSMV
023916,000548:
023917,000549: 37,2000 SETLOC P11TWO
023918,000550: 37,2000 BANK # 36 IN COL., 34 IN DISK
023919,000551:
023920,000552: 37,2155 COUNT 36/P11
023921,000553:
023922,000554: 37,2155 57546 ATTDISP1 COS DCOMP
023923,000555: 37,2156 14017 STODL 14D # -.5*COS(P)
023924,000556: 37,2157 77756 SIN
023925,000557: 37,2160 14013 STODL 10D # .5*SIN(P)
023926,000558: 37,2161 15335 ZEROVECS
023927,000559: 37,2162 00015 STORE 12D # 0
023928,000560:
023929,000561: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023930,000562: 37,2163 41335 SLOAD DMP
023931,000563: 37,2164 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
023932,000564: 37,2165 03301 SATRLRT
023933,000565: 37,2166 45261 SL DSU
023934,000566: 37,2167 20217 14D
023935,000567: 37,2170 15333 DPHALF
023936,000568: 37,2171 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023937,000569: 37,2172 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023938,000570: 37,2173 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023939,000571: 37,2174 77634 RTB # DETERMINE IF ROLLOUT
023940,000572: 37,2175 70604 RLTST # IS COMPLETED
023941,000573: 37,2176 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023942,000574: 37,2177 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023943,000575: 37,2200 72405 DMP SL1
023944,000576: 37,2201 00017 14D
023945,000577: 37,2202 14027 STODL 22D # -.5*COS(R)*COS(P)
023946,000578: 37,2203 77676 DCOMP
023947,000579: 37,2204 00023 STORE 18D # -.5*COS(R)
023948,000580: 37,2205 72405 DMP SL1
023949,000581: 37,2206 00013 10D
023950,000582: 37,2207 14033 STODL 26D # -.5*COS(R)*SIN(P)
023951,000583: 37,2210 41556 SIN PUSH
023952,000584: 37,2211 00031 STORE 24D # .5*SIN(R)
023953,000585: 37,2212 72405 DMP SL1
023954,000586: 37,2213 00017 14D
023955,000587: 37,2214 14021 STODL 16D # -.5*SIN(R)*COS(P)
023956,000588: 37,2215 77676 DCOMP
023957,000589: 37,2216 72405 DMP SL1
023958,000590: 37,2217 00013 10D
023959,000591: 37,2220 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023960,000592: 37,2221 00013 10D
023961,000593:
023962,000594: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
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023964,000596: 37,2222 77656 UNIT
023965,000597: 37,2223 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023966,000598: 37,2224 00021 16D
023967,000599: 37,2225 77656 UNIT
023968,000600: 37,2226 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023969,000601: 37,2227 00027 22D # -SIN(R)*SIN(P))
023970,000602: 37,2230 77656 UNIT
023971,000603: 37,2231 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023972,000604: 37,2232 47205 CALCGTA # -COS(R)*SIN(P))
023973,000605:
023974,000606: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023975,000607: # - - -
023976,000608: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023977,000609: #
023978,000610: # ENTER HERE IF ATTITUDE HOLD
023979,000611:
023980,000612: 37,2233 41575 NOPOLYM VLOAD PUSH # OGC IGC
023981,000613: 37,2234 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023982,000614: 37,2235 45006 PUSH CALL # MGC OGC
023983,000615: 37,2236 47477 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023984,000616: 37,2237 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023985,000617: 37,2240 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023986,000618: 37,2241 45552 V1STO2S # DPSI MGC-CDUZ , 2
023987,000619: 37,2242 27317 STOVL BOOSTEMP
023988,000620: 37,2243 15335 ZEROVECS
023989,000621: 37,2244 24001 STOVL 0
023990,000622: 37,2245 00767 CDUSPOT
023991,000623: 37,2246 47034 RTB RTB
023992,000624: 37,2247 45552 V1STO2S
023993,000625: 37,2250 70564 DELSTOR
023994,000626: 37,2251 14013 STODL 10D
023995,000627: 37,2252 00741 SINCDUZ
023996,000628: 37,2253 72405 DMP SL1
023997,000629: 37,2254 00001 0
023998,000630: 37,2255 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023999,000631: 37,2256 00005 4
024000,000632: 37,2257 77650 GOTO
024001,000633: 37,2260 70416 ATTDISP2
024002,000634:
024003,000635: 34,2000 SETLOC P11ONE
024004,000636: 34,2000 BANK
024005,000637: 34,2416 COUNT 34/P11
024006,000638:
024007,000639: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
024008,000640: 34,2417 00747 COSCDUZ
024009,000641: 34,2420 41405 DMP PUSH
024010,000642: 34,2421 00001 0
024011,000643: 34,2422 72405 DMP SL1
024012,000644: 34,2423 00751 COSCDUX
024013,000645: 34,2424 41325 PDDL DMP
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024015,000647: 34,2425 00743 SINCDUX
024016,000648: 34,2426 00003 2
024017,000649: 34,2427 72415 DAD SL1
024018,000650: 34,2430 77626 STADR
024019,000651: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
024020,000652: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
024021,000653: 34,2433 00743 SINCDUX
024022,000654: 34,2434 41325 PDDL DMP
024023,000655: 34,2435 00751 COSCDUX
024024,000656: 34,2436 00003 2
024025,000657: 34,2437 72425 DSU SL1
024026,000658: 34,2440 77626 STADR
024027,000659: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024028,000660: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
024029,000661: 34,2443 00021 16D
024030,000662: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
024031,000663: 34,2445 77776 EXIT
024032,000664:
024033,000665: 34,2446 31725 CA SATSW
024034,000666: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
024035,000667: 34,2450 02471 TC SATOUT # POS - DISPLAY ONLY
024036,000668: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
024037,000669: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
024038,000670: 34,2453 76351 TLOAD TAD
024039,000671: 34,2454 03327 BIASAK
024040,000672: 34,2455 03077 AK
024041,000673: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
024042,000674: 34,2457 77776 EXIT
024043,000675: 34,2460 31476 CA AK
024044,000676: 34,2461 02623 TC RESCALES
024045,000677: 34,2462 55476 TS AK
024046,000678: 34,2463 31477 CA AK1
024047,000679: 34,2464 02623 TC RESCALES
024048,000680: 34,2465 55477 TS AK1
024049,000681: 34,2466 31500 CA AK2
024050,000682: 34,2467 02623 TC RESCALES
024051,000683: 34,2470 55500 TS AK2
024052,000684: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024053,000685:
024054,000686: 34,2471 04662 SATOUT TC BANKCALL
024055,000687: 34,2472 42420 CADR NEEDLER
024056,000688: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
024057,000689: 34,2474 04662 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
024058,000690: 34,2475 01732 CADR DELAYJOB
024059,000691: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
024060,000692:
024061,000693: 34,2477 41476 AKLOAD CS AK # STORE AKS
024062,000694: 34,2500 55726 TS BIASAK # INTO BIAS
024063,000695: 34,2501 41477 CS AK1 # COMPLEMENTED
024064,000696: 34,2502 55727 TS BIASAK +1
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024066,000698: 34,2503 41500 CS AK2
024067,000699: 34,2504 55730 TS BIASAK +2
024068,000700: 34,2505 45017 CS BIT1 # SET SW
024069,000701: 34,2506 55725 TS SATSW # TO STEER
024070,000702: 34,2507 02452 TC STEERSAT # GO STEER
024071,000703: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEEDLER
024072,000704: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
024073,000705: 34,2512 62363 BZMF ATTDISP # YES - CONTINUE
024074,000706: 34,2513 41501 ATRESET CS RCSFLAGS # NO - SET
024075,000707: 34,2514 75015 MASK BIT3 # INITIALIZATION SW
024076,000708: 34,2515 27501 ADS RCSFLAGS # FOR NEEDLER
024077,000709: 34,2516 04662 TC BANKCALL # AND GO
024078,000710: 34,2517 42420 CADR NEEDLER # DO IT
024079,000711: 34,2520 36211 CAF REVCNT # OCT 6
024080,000712: 34,2521 04662 TC BANKCALL # DELAY JOB
024081,000713: 34,2522 01732 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
024082,000714: 34,2523 11725 CCS SATSW # CHECK SW STATUS
024083,000715: 34,2524 02534 TC TAKEON # POS STEER INIT.
024084,000716: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
024085,000717: 34,2526 35017 CA BIT1 # NEG RETURN TO DISPLAY
024086,000718: 34,2527 55725 TS SATSW # SW = DISPLAY ONLY
024087,000719: 34,2530 45007 CS BIT9 # DISABLE
024088,000720: 34,2531 00006 EXTEND # SIVB
024089,000721: 34,2532 03012 WAND CHAN12 # TAKEOVER
024090,000722: 34,2533 02471 TC SATOUT # DISPLAY
024091,000723: 34,2534 35007 TAKEON CAF BIT9 # ENABLE
024092,000724: 34,2535 00006 EXTEND # SIVB
024093,000725: 34,2536 05012 WOR CHAN12 # TAKEOVER
024094,000726: 34,2537 35021 CA ZERO # INDICATE NEEDLER
024095,000727: 34,2540 55725 TS SATSW # WAS INITIALIZED
024096,000728: 34,2541 02471 TC SATOUT
024097,000729: 34,2542 51575 S11.1 VLOAD ABVAL
024098,000730: 34,2543 01177 VN
024099,000731: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
024100,000732: 34,2545 01171 RN
024101,000733: 34,2546 50256 UNIT DOT
024102,000734: 34,2547 01177 VN
024103,000735: 34,2550 77752 SL1
024104,000736: 34,2551 17737 STODL HDOT
024105,000737: 34,2552 05152 RPAD
024106,000738: 34,2553 77214 BOF VLOAD
024107,000739: 34,2554 00355 AMOONFLG
024108,000740: 34,2555 70560 EARTHALT
024109,000741: 34,2556 02026 RLS
024110,000742: 34,2557 60446 ABVAL SR2
024111,000743: 34,2560 77621 EARTHALT BDSU
024112,000744: 34,2561 00045 36D
024113,000745: 34,2562 03735 STORE ALTI
024114,000746: 34,2563 77616 RVQ
024115,000747: 34,2564 31716 DELSTOR CA BOOSTEMP
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024117,000749: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
024118,000750: 34,2566 20154 MSU MPAC
024119,000751: 34,2567 50120 INDEX FIXLOC
024120,000752: 34,2570 54000 TS 0
024121,000753: 34,2571 31717 CA BOOSTEMP +1
024122,000754: 34,2572 00006 EXTEND
024123,000755: 34,2573 20155 MSU MPAC +1
024124,000756: 34,2574 50120 INDEX FIXLOC
024125,000757: 34,2575 54002 TS 2
024126,000758: 34,2576 31720 CA BOOSTEMP +2
024127,000759: 34,2577 00006 EXTEND
024128,000760: 34,2600 20156 MSU MPAC +2
024129,000761: 34,2601 50120 INDEX FIXLOC
024130,000762: 34,2602 54004 TS 4
024131,000763: 34,2603 16030 TCF DANZIG
024132,000764: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
024133,000765: 34,2605 00006 EXTEND # IS COMPLETED
024134,000766: 34,2606 71701 MP SATRLRT +1
024135,000767: 34,2607 00006 EXTEND
024136,000768: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
024137,000769: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
024138,000770: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
024139,000771: 34,2613 52155 DXCH MPAC
024140,000772: 34,2614 06030 TC DANZIG
024141,000773: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
024142,000774: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
024143,000775: 34,2617 00001 0
024144,000776: 34,2620 76233 NOPOLYM
024145,000777: 34,2621 01673 COEFPOLY ADRES POLYLOC
024146,000778: 34,2622 01476 V06N62 VN 0662
024147,000779: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
024148,000780: 34,2624 71731 MP SATSCALE # NEW HARDWARE
024149,000781: 34,2625 20001 DDOUBL # SCALING FOR
024150,000782: 34,2626 20001 DDOUBL # STEERING
024151,000783: 34,2627 00002 TC Q # SATURN
024152,000784:
024153,000785: # SATURN TAKEOVER FUNCTION
024154,000786: # ************************
024155,000787: #
024156,000788: # PROGRAM DESCRIPTION
024157,000789:
024158,000790: # MOD NUMBER 1
024159,000791: # MOD BY ELIASSEN
024160,000792:
024161,000793: # FUNCTIONAL DESCRIPTION
024162,000794:
024163,000795: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024164,000796: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
024165,000797: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024166,000798: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024167,000799: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
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024169,000801: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
024170,000802: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
024171,000803: # SULTS IN A ZERO RATE COMMAND.
024172,000804:
024173,000805: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024174,000806: # OF THE RATE COMMAND.
024175,000807:
024176,000808: # CALLING SEQUENCE
024177,000809:
024178,000810: # DAPFIG +9D TC POSTJUMP
024179,000811: # CADR SATSTKON
024180,000812:
024181,000813: # SUBROUTINES CALLED
024182,000814:
024183,000815: # ENDEXT
024184,000816: # IBNKCALL
024185,000817: # STICKCHK
024186,000818: # NEEDLER
024187,000819: # T5RUPT
024188,000820: # RESUME
024189,000821:
024190,000822: # ASTRONAUT REQUESTS
024191,000823:
024192,000824: # ENTRY - VERB 46 ENTER
024193,000825: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024194,000826:
024195,000827: # EXIT - VERB 48 ENTER (FLASH V06N46)
024196,000828: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
024197,000829: # VERB 34 ENTER
024198,000830: # VERB 46 ENTER
024199,000831:
024200,000832: # NORMAL EXIT MODE
024201,000833:
024202,000834: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
024203,000835:
024204,000836: # ALARM OR ABORT EXIT MODES
024205,000837:
024206,000838: # NONE
024207,000839:
024208,000840: # OUTPUT
024209,000841:
024210,000842: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
024211,000843:
024212,000844: # ERASABLE INITIALIZATION
024213,000845:
024214,000846: # DAPDATR1 (BITS 13, 14 MUST BE SET)
024215,000847:
024216,000848: # DEBRIS
024217,000849:
024218,000850: # CENTRALS
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024220,000852: # CDUXCMD, CDUYCMD, CDUZCMD
024221,000853:
024222,000854: 43,3215 BANK 43
024223,000855: 43,2000 SETLOC EXTVERBS
024224,000856: 43,2000 BANK
024225,000857:
024226,000858: 43,3215 COUNT 23/STTKE
024227,000859: 43,3215 00006 SATSTKON EXTEND
024228,000860: 43,3216 33233 DCA 2REDOSAT
024229,000861: 43,3217 00004 INHINT
024230,000862: 43,3220 53313 DXCH T5LOC
024231,000863: 43,3221 34777 CAF POSMAX
024232,000864: 43,3222 54030 TS TIME5
024233,000865: 43,3223 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
024234,000866: 43,3224 74105 MASK RELTAB11 # FLAGWRD6
024235,000867: 43,3225 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
024236,000868: 43,3226 04740 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
024237,000869: 43,3227 42632 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
024238,000870: 43,3230 00003 RELINT
024239,000871: 43,3231 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
024240,000872:
024241,000873: 43,3232 E6,1704 EBANK= BODY3
024242,000874: 43,3232 02765 46106 2REDOSAT 2CADR REDOSAT
024243,000875:
024244,000876:
024245,000877: 43,3234 30,2000 SBANK= LOWSUPER
024246,000878: 32,2017 BANK 32
024247,000879: 23,2000 SETLOC P11FOUR
024248,000880: 23,2000 BANK
024249,000881:
024250,000882: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
024251,000883: 23,2766 00006 EXTEND
024252,000884: 23,2767 22012 QXCH QRUPT
024253,000885: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
024254,000886: 23,2771 75015 MASK BIT3 # FOR
024255,000887: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
024256,000888: 23,2773 04740 TC IBNKCALL
024257,000889: 23,2774 42420 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
024258,000890: 23,2775 35007 CAF BIT9 # SIVB
024259,000891: 23,2776 00006 EXTEND # TAKEOVER
024260,000892: 23,2777 05012 WOR CHAN12 # ENABLE
024261,000893: 23,3000 00006 EXTEND # SET UP T5 CYCLE
024262,000894: 23,3001 33042 DCA 2SATSTCK
024263,000895: 23,3002 53313 DXCH T5LOC
024264,000896: 23,3003 33040 CAF 100MST5 # IN 100 MSECS
024265,000897: 23,3004 54030 TS TIME5
024266,000898: 23,3005 15333 TCF RESUME # END OF SATURN STICK INITIALIZATION
024267,000899:
024268,000900: # THIS SECTION IS EXECUTED EVERY 100 MSECS
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024270,000902: 23,3006 22016 SATSTICK LXCH BANKRUPT
024271,000903: 23,3007 00006 EXTEND
024272,000904: 23,3010 22012 QXCH QRUPT
024273,000905:
024274,000906: 23,3011 33041 CAF 2SATSTCK # SET UP RUPT
024275,000907: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
024276,000908: 23,3013 33040 CAF 100MST5 # 100 MSECS
024277,000909: 23,3014 54030 TS TIME5
024278,000910: 23,3015 33037 CAF STIKBITS
024279,000911: 23,3016 00006 EXTEND
024280,000912: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
024281,000913: 23,3020 73037 MASK STIKBITS
024282,000914: 23,3021 04740 TC IBNKCALL # SET RATE INDICES
024283,000915: 23,3022 43130 CADR STICKCHK # FOR PITCH YAW AND ROLL
024284,000916:
024285,000917: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
024286,000918: 23,3024 31721 CA SATRATE
024287,000919: 23,3025 55476 TS AK # ROLL
024288,000920: 23,3026 51657 INDEX PMANNDX
024289,000921: 23,3027 31721 CA SATRATE
024290,000922: 23,3030 55477 TS AK1 # PITCH
024291,000923: 23,3031 51660 INDEX YMANNDX
024292,000924: 23,3032 31721 CA SATRATE
024293,000925: 23,3033 55500 TS AK2 # YAW
024294,000926:
024295,000927: 23,3034 04740 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
024296,000928: 23,3035 42420 CADR NEEDLER
024297,000929: 23,3036 15333 TCF RESUME # END OF SATURN STICK CONTROL
024298,000930:
024299,000931: 23,3037 00077 STIKBITS OCT 00077
024300,000932: 23,3040 37766 100MST5 DEC 16374 B-14
024301,000933: 23,3041 E6,1704 EBANK= BODY3
024302,000934: 23,3041 03006 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc