Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. 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:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

023039,000002:                                                                                                  ## Copyright:   Public domain.
023040,000003:                                                                                                  ## Filename:    P11.agc
023041,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
023042,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
023043,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
023044,000007:                                                                                                  ## Assembler:   yaYUL
023045,000008:                                                                                                  ## Reference:   pp. 524-540.
023046,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
023047,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
023048,000011:                                                                                                  ## Mod history: 08/13/04   RSB  Began transcribing.
023049,000012:                                                                                                  ##              2011-05-07 JL   Flag SBANK= workarounds for future removal.
023050,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
023051,000014:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
023052,000015:                                                                                                  ##                              numbers in 1701.pdf.
023053,000016:                                                                                                  ##              2017-01-15 RSB  Cross-diff'd comment text (not whitespace)
023054,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
023055,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
023056,000019:                                                                                                  ##                              and corrected errors found.  Matches Colossus 237
023057,000020:                                                                                                  ##                              comment-text after corrections, but not Comanche 55.
023058,000021:                                                                                                  ##
023059,000022:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
023060,000023:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
023061,000024:                                                                                                  ## document read, in part:
023062,000025:                                                                                                  ##
023063,000026:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
023064,000027:                                                                                                  ##      2021111-041.  October 28, 1968.  
023065,000028:                                                                                                  ##
023066,000029:                                                                                                  ##      This AGC program shall also be referred to as
023067,000030:                                                                                                  ##                              Colossus 1A
023068,000031:                                                                                                  ##
023069,000032:                                                                                                  ##      Prepared by
023070,000033:                                                                                                  ##                      Massachusetts Institute of Technology
023071,000034:                                                                                                  ##                      75 Cambridge Parkway
023072,000035:                                                                                                  ##                      Cambridge, Massachusetts
023073,000036:                                                                                                  ##      under NASA contract NAS 9-4065.
023074,000037:                                                                                                  ##
023075,000038:                                                                                                  ## Refer directly to the online document mentioned above for further information.
023076,000039:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
023077,000040:                                                                                                  ##
023078,000041:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
023079,000042:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
023080,000043:                                                                                                  ## source file, and then is proofed to incorporate any changes.
023081,000044: 

Page 524

023083,000046:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023084,000047:                                                                                                  #  *************************************
023085,000048: 
023086,000049:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023087,000050: 
023088,000051:                                                                                                  #        MOD NO. 1
023089,000052:                                                                                                  #        MOD BY ELIASSEN
023090,000053: 
023091,000054:                                                                                                  #  FUNCTIONAL DESCRIPTION
023092,000055: 
023093,000056:                                                                                                  #        P11 IS INITIATED BY
023094,000057: 
023095,000058:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023096,000059:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023097,000060: 
023098,000061:                                                                                                  #        PROGRAM WILL
023099,000062: 
023100,000063:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023101,000064:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023102,000065:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023103,000066:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023104,000067:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023105,000068:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023106,000069:                                                                                                  #                7. TERMINATE GYROCOMPASSING     -   -
023107,000070:                                                                                                  #                8. COMPUTE INITIAL VECTORS      RN, VN            -  -  -
023108,000071:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023109,000072:                                                                                                  #                        -        -                                 X  Y  Z
023110,000073:                                                                                                  #                        U =UNIT(-R)     LOCAL VERTICAL AT TIME OF LIFTOFF
023111,000074:                                                                                                  #                         Z
023112,000075:                                                                                                  #                        -       -       -
023113,000076:                                                                                                  #                        U =UNIT(A),     A=HOR VECTOR AT LAUNCH AZIMUTH
023114,000077:                                                                                                  #                         X
023115,000078:                                                                                                  #                        -  -   -
023116,000079:                                                                                                  #                        U =U * U
023117,000080:                                                                                                  #                         U  Z   X
023118,000081:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023119,000082:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023120,000083:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023121,000084: 
023122,000085:                                                                                                  #                        R1      V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023123,000086:                                                                                                  #                        R2      HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023124,000087:                                                                                                  #                        R3      H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023125,000088:                                                                                                  #                
023126,000089:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023127,000090: 
023128,000091:                                                                                                  #                        A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023129,000092:                                                                                                  #                           DESIRED ATTITUDE IS AS STORED AT L.O.
023130,000093:                                                                                                  #                        B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023131,000094:                                                                                                  #                           DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023132,000095:                                                                                                  #                           POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 525

023134,000097:                                                                                                  #                           THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023135,000098:                                                                                                  #                           EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023136,000099: 
023137,000100:                                                                                                  #  SUBROUTINES CALLED
023138,000101: 
023139,000102:                                                                                                  #        2PHSCHNG        BANKCALL        CALCGRA         CDUTRIG         CLEANDSP        DANZIG
023140,000103:                                                                                                  #        DELAYJOB        EARTHR          ENDOFJOB        FINDVAC         IBNKCALL
023141,000104:                                                                                                  #        INTPRET         LALOTORV        NEEDLER         NEWMODEX        PHASCHNG
023142,000105:                                                                                                  #        POSTJUMP        POWRSERS        PREREAD1        REGODSPR        S11.1
023143,000106:                                                                                                  #        SERVEXIT        TASKOVER        TCDANZIG        V1ST02S         WAITLIST
023144,000107: 
023145,000108:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023146,000109: 
023147,000110:                                                                                                  #        DSKY -
023148,000111:                                                                                                  #                MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023149,000112:                                                                                                  #                                                   R2 MINUTES
023150,000113: 
023151,000114:                                                                                                  #        DSKY -
023152,000115:                                                                                                  #                MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023153,000116:                                                                                                  #                                   R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023154,000117:                                                                                                  #                                   R3 TFF IN MINUTES/SECS
023155,000118: 
023156,000119:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023157,000120:                                                                                                  #        HIT KEY RELEASE BUTTON TO RETURN TO NORMAL NOUN 62 DISPLAY
023158,000121: 
023159,000122:                                                                                                  #  NORMAL EXIT MODE
023160,000123: 
023161,000124:                                                                                                  #        ASTRONAUT       VERB 37 ENTER 00 ENTER
023162,000125: 
023163,000126:                                                                                                  #  ALARM MODES - NONE
023164,000127: 
023165,000128:                                                                                                  #  ABORT EXIT MODES -
023166,000129: 
023167,000130:                                                                                                  #        EARLY BOOST ABORT FOLLOWED BY REENTRY   V 37 E 62 E
023168,000131:                                                                                                  #        LATE  BOOST ABORT FOLLOWED BY REENTRY   V 37 E 61 E
023169,000132: 
023170,000133:                                                                                                  #  OUTPUT
023171,000134: 
023172,000135:                                                                                                  #        TLIFTOFF (DP)   TEPHEM (TP)
023173,000136:                                                                                                  #        REFSMMAT
023174,000137:                                                                                                  #        DSKY DISPLAY
023175,000138:                                                                                                  #        FDAI DISPLAY
023176,000139: 
023177,000140:                                                                                                  #  ERASABLE INITIALIZATION
023178,000141: 
023179,000142:                                                                                                  #        AZO, AXO, -AYO
023180,000143:                                                                                                  #        LATITUDE
023181,000144:                                                                                                  #        PADLONG
023182,000145:                                                                                                  #        TEPHEM
023183,000146:                                                                                                  #        PGNCSALT

Page 526

023185,000148:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023186,000149:                                                                                                  #        RPSTART
023187,000150:                                                                                                  #        POLYSTOP
023188,000151: 
023189,000152:                                                                                                  #  FLAGS SET OR RESET
023190,000153: 
023191,000154:                                                                                                  #        SET REFSMFLG
023192,000155:                                                                                                  #        SET DVMON IDLE FLAG
023193,000156:                                                                                                  #        CLEAR ERADFLAG
023194,000157: 
023195,000158:                                                                                                  #  DEBRIS
023196,000159: 
023197,000160:                                                                                                  #        LIFTTEMP
023198,000161:                                                                                                  #        POLYNUM THRU POLYNUM +7
023199,000162:                                                                                                  #        SPOLYARG
023200,000163:                                                                                                  #        BODY1, BODY2, BODY3
023201,000164:                                                                                                  #        VMAG2, ALTI, HDOT
023202,000165:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023203,000166: 
023204,000167: 04,3447                                           COUNT    34/P11                                
023205,000168: 
023206,000169: 04,3447     4730               BITS5-6            =        SUPER011                              
023207,000170: 42,3521                                           BANK     42                                    
023208,000171: 34,2000                                           SETLOC   P11ONE                                
023209,000172: 34,2000                                           BANK                                           
023210,000173: 
023211,000174: 34,2002  E3,1706                                  EBANK=   TEPHEM                                
023212,000175: 34,2002           34744        P11                CA       EBANK3                                
023213,000176: 34,2003           54003                           TS       EBANK                                 
023214,000177: 
023215,000178: 34,2004           00006                           EXTEND                                         
023216,000179: 34,2005           32273                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023217,000180: 34,2006           52757                           DXCH     -PHASE3                               
023218,000181: 34,2007           44714                           CS       ZERO                                  
023219,000182: 34,2010           22007                           ZL                                             
023220,000183: 34,2011           55265                           TS       LIFTTEMP                              
023221,000184: 34,2012           52763                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023222,000185: 34,2013           00006        P11+7              EXTEND                                         
023223,000186: 34,2014           32275                           DCA      REP11SA                               
023224,000187: 34,2015           53337                           DXCH     TLIFTOFF                              
023225,000188: 
023226,000189: 34,2016           00006                           EXTEND                                         
023227,000190: 34,2017           30025                           DCA      TIME2                                 
023228,000191: 34,2020           53266                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023229,000192: 
023230,000193: 34,2021           34714                           CA       ZERO                                  
023231,000194: 34,2022           22007                           ZL                                             
023232,000195: 34,2023           52025                           DXCH     TIME2                                 
023233,000196: 34,2024           53337        REP11A-2           DXCH     TLIFTOFF                              
023234,000197: 34,2025           52757        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE

Page 527

023236,000199: 34,2026           00004        REP11A             INHINT                                         
023237,000200: 34,2027           00006                           EXTEND                                         
023238,000201: 34,2030           31710                           DCA      TEPHEM     +1                         
023239,000202: 34,2031           53271                           DXCH     TEPHEM1    +1                         
023240,000203: 34,2032           31706                           CA       TEPHEM                                
023241,000204: 34,2033           57267                           XCH      TEPHEM1                               
023242,000205: 
023243,000206: 34,2034           00006                           EXTEND                                         
023244,000207: 34,2035           31337                           DCA      TLIFTOFF                              
023245,000208: 34,2036           21271                           DAS      TEPHEM1    +1                         
023246,000209: 34,2037           27267                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023247,000210: 
023248,000211: 34,2040           05301                           TC       PHASCHNG                              
023249,000212: 34,2041           05023                           OCT      05023                                 
023250,000213: 34,2042           22000                           OCT      22000                                 
023251,000214: 
023252,000215: 34,2043           00004                           INHINT                                         
023253,000216: 34,2044           00006                           EXTEND                                         
023254,000217: 34,2045           31270                           DCA      TEPHEM1                               
023255,000218: 34,2046           53707                           DXCH     TEPHEM                                
023256,000219: 34,2047           31271                           CA       TEPHEM1    +2                         
023257,000220: 34,2050           57710                           XCH      TEPHEM     +2                         
023258,000221: 
023259,000222: 34,2051           32000                           CAF      EBDVCNT                               
023260,000223: 34,2052           54003                           TS       EBANK                                 
023261,000224: 34,2053  E7,1431                                  EBANK=   DVCNTR                                
023262,000225: 34,2053           04633                           TC       IBNKCALL                              
023263,000226: 34,2054           76625                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023264,000227: 
023265,000228: 34,2055           05301                           TC       PHASCHNG                              
023266,000229: 34,2056           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023267,000230: 34,2057           22000                           OCT      22000                                 
023268,000231: 
023269,000232: 34,2060           34731                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023270,000233: 34,2061           05140                           TC       WAITLIST                              #  IN .5 SEC
023271,000234: 34,2062  E6,1704                                  EBANK=   BODY3                                 
023272,000235: 34,2062           02314 70066                     2CADR    ATERTASK                              
023273,000236: 
023274,000237: 34,2064           05243                           TC       NEWMODEX                              #  DISPLAY MM 11
023275,000238: 34,2065           00013                           MM       11         B-14                       
023276,000239: 
023277,000240: 34,2066           04555                           TC       BANKCALL                              
023278,000241: 34,2067           20607                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023279,000242: 
023280,000243: 34,2070           05261                           TC       2PHSCHNG                              
023281,000244: 34,2071           40514                           OCT      40514                                 #  PROTECT ATERTASK
023282,000245: 34,2072           00073                           OCT      00073                                 
023283,000246: 34,2073           32001                           CAF      EBQPLACE                              
023284,000247: 34,2074           54003                           TS       EBANK                                 

Page 528

023286,000249: 34,2075  E5,1426                                  EBANK=   QPLACES                               
023287,000250: 34,2075           32276                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023288,000251: 34,2076           55426                           TS       QPLACES                               
023289,000252: 34,2077           22007                           ZL                                             #  STORE DP GIMBAL
023290,000253: 34,2100           30032                           CA       CDUX                                  #  ANGLES FOR ATTITUDE
023291,000254: 34,2101           53760                           DXCH     OGC                                   #  ERROR DISPLAY
023292,000255: 34,2102           22007                           ZL                                             #  AFTER L.O.
023293,000256: 34,2103           30033                           CA       CDUY                                  
023294,000257: 34,2104           53762                           DXCH     IGC                                   
023295,000258: 34,2105           22007                           ZL                                             
023296,000259: 34,2106           30034                           CA       CDUZ                                  
023297,000260: 34,2107           53764                           DXCH     MGC                                   
023298,000261: 34,2110           06006                           TC       INTPRET                               #        -
023299,000262: 34,2111           74575                           VLOAD    VSR1                                  #  SCALE OGC B-1
023300,000263: 34,2112           02760                                    OGC                                   
023301,000264: 34,2113           02760                           STORE    OGC                                   
023302,000265: 34,2114           64375                           VLOAD    MXV                                   
023303,000266: 34,2115           02467                                    THETAN                                
023304,000267: 34,2116           02672                                    XSM                                   
023305,000268: 34,2117           53372                           VSL1     VAD                                   
023306,000269: 34,2120           02650                                    ERCOMP                                
023307,000270: 34,2121           16650                           STODL    ERCOMP                                
023308,000271: 34,2122           01337                                    TLIFTOFF                              
023309,000272: 34,2123           52131                           SSP      GOTO                                  
023310,000273: 34,2124           00052                                    S2                                    
023311,000274: 34,2125           66424                           CADR     PROUT                                 #  RETURN FROM EARTHR
023312,000275: 34,2126           66373                                    EARTHR     +3                         
023313,000276: 34,2127           06006        MATRXJOB           TC       INTPRET                               
023314,000277: 34,2130           77731                           SSP                                            #  ZERO RTX2
023315,000278: 34,2131           03747                                    RTX2                                  #  FOR
023316,000279: 34,2132           00000                                    0                                     #  EARTH
023317,000280: 34,2133           65345                           DLOAD    PDDL                                  
023318,000281: 34,2134           01273                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023319,000282: 34,2135           01264                                    PADLONG                               #  LONGITUDE
023320,000283: 34,2136           55525                           PDDL     VDEF                                  
023321,000284: 34,2137           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023322,000285: 34,2140           15104                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023323,000286: 34,2141           15332                                    HI6ZEROS                              #  TIME = 0
023324,000287: 34,2142           45014                           CLEAR    CALL                                  
023325,000288: 34,2143           00662                                    ERADFLAG                              
023326,000289: 34,2144           26373                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF. COORDS
023327,000290: 
023328,000291: 34,2145           35232                           STCALL   RN1                                   #               -
023329,000292: 34,2146           77256                                    CALCGRAV                              #  RETURN WITH GRAVITY
023330,000293: 34,2147           77656                           UNIT                                           #  IN MPAC
023331,000294: 34,2150           25752                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)
023332,000295: 34,2151           01232                                    RN1                                   
023333,000296: 34,2152           74235                           VXV      VXSC                                  
023334,000297: 34,2153           01714                                    UNITW                                 #  SCALED AT 1
023335,000298: 34,2154           30300                                    -ERTHRAT                              #  V = EARTHRATE X R

Page 529

023337,000300: 34,2155           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023338,000301: 34,2156           25240                           STOVL    VN1                                   
023339,000302: 34,2157           01752                                    REFSMMAT   +12D                       
023340,000303: 34,2160           53435                           VXV      UNIT                                  
023341,000304: 34,2161           01714                                    UNITW                                 #  (REF3 X UNITW) = EAST
023342,000305: 34,2162           47206                           PUSH     VXV                                   
023343,000306: 34,2163           01752                                    REFSMMAT   +12D                       #  (EAST X REF3) = -SOUTH
023344,000307: 34,2164           65256                           UNIT     PDDL                                  
023345,000308: 34,2165           02634                                    LAUNCHAZ                              #  COS(AZ)*SOUTH
023346,000309: 34,2166           74346                           COS      VXSC                                  
023347,000310: 34,2167           77626                           STADR                                          
023348,000311: 34,2170           62041                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023349,000312: 34,2171           02634                                    LAUNCHAZ                              
023350,000313: 34,2172           74356                           SIN      VXSC                                  #  SIN(AZ)*EAST
023351,000314: 34,2173           53455                           VAD      UNIT                                  #  SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023352,000315: 34,2174           01736                                    REFSMMAT                              
023353,000316: 34,2175           01736                           STORE    REFSMMAT                              
023354,000317: 
023355,000318: 34,2176           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023356,000319: 34,2177           01752                                    REFSMMAT   +12D                       
023357,000320: 34,2200           77676                           VCOMP                                          
023358,000321: 34,2201           01744                           STORE    REFSMMAT   +6                         
023359,000322: 34,2202           45345                           DLOAD    DSU                                   
023360,000323: 34,2203           15330                                    DPHALF                                #  1/2 REV
023361,000324: 34,2204           02634                                    LAUNCHAZ                              
023362,000325: 34,2205           65215                           DAD      PDDL                                  
023363,000326: 34,2206           02401                                    AZIMUTH                               
023364,000327: 34,2207           03301                                    SATRLRT                               #  SET SATRLRT = -SATRLRT IF
023365,000328: 34,2210           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023366,000329: 34,2211           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023367,000330: 34,2212           77414                           SET      EXIT                                  
023368,000331: 34,2213           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023369,000332: 
023370,000333: 34,2214           05301                           TC       PHASCHNG                              
023371,000334: 34,2215           04023                           OCT      04023                                 
023372,000335: 
023373,000336: 34,2216           00006                           EXTEND                                         
023374,000337: 34,2217           32302                           DCA      P11SCADR                              
023375,000338: 34,2220           53223                           DXCH     AVGEXIT                               #  SET AVGEXIT
023376,000339: 
023377,000340: 34,2221           37665                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023378,000341: 34,2222           55074                           TS       1/PIPADT                              
023379,000342: 
023380,000343: 34,2223  E6,1501                                  EBANK=   RCSFLAGS                              
023381,000344: 34,2223           34752                           CA       EBANK6                                
023382,000345: 34,2224           54003                           TS       EBANK                                 
023383,000346: 
023384,000347: 34,2225           00004                           INHINT                                         
023385,000348: 34,2226           44714                           CS       ZERO                                  
023386,000349: 34,2227           55063                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF

Page 530

023388,000351: 34,2230           40025                           CS       TIME1                                 
023389,000352: 34,2231           64735                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023390,000353: 
023391,000354: 34,2232           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023392,000355: 34,2233           12236                           TCF      +3                                    #  TIME POSITIVE
023393,000356: 34,2234           12236                           TCF      +2                                    #  CANNOT GET HERE
023394,000357: 34,2235           34714                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023395,000358: 34,2236           64712                           AD       ONE                                   #  RESTORE TIME - OR MAKE POSITIVE
023396,000359: 
023397,000360: 34,2237           05140                           TC       WAITLIST                              
023398,000361: 34,2240  E6,1661                                  EBANK=   AOG                                   
023399,000362: 34,2240           02647 76066                     2CADR    READACCS                              
023400,000363: 
023401,000364: 34,2242           05261                           TC       2PHSCHNG                              
023402,000365: 34,2243           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023403,000366: 34,2244           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023404,000367: 
023405,000368: 34,2245           04574                           TC       POSTJUMP                              
023406,000369: 34,2246           77141                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023407,000370: 34,2247  E3,1706                                  EBANK=   TEPHEM                                
023408,000371: 34,2247           00004        REP11              INHINT                                         
023409,000372: 34,2250           10763                           CCS      PHASE5                                
023410,000373: 34,2251           05112                           TC       ENDOFJOB                              
023411,000374: 
023412,000375: 34,2252           11265                           CCS      LIFTTEMP                              
023413,000376: 34,2253           12257                           TCF      +4                                    
023414,000377: 34,2254           12257                           TCF      +3                                    
023415,000378: 34,2255           12257                           TCF      +2                                    
023416,000379: 34,2256           12013                           TCF      P11+7                                 
023417,000380: 
023418,000381: 34,2257           41336                           CS       TLIFTOFF                              
023419,000382: 34,2260           00006                           EXTEND                                         
023420,000383: 34,2261           62267                           BZMF     ENDREP11                              
023421,000384: 
023422,000385: 34,2262           10024                           CCS      TIME2                                 #  ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023423,000386: 34,2263           12021                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023424,000387: 
023425,000388: 34,2264           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023426,000389: 34,2265           31266                           DCA      LIFTTEMP                              
023427,000390: 34,2266           12024                           TCF      REP11A-2                              
023428,000391: 
023429,000392: 34,2267           00006        ENDREP11           EXTEND                                         
023430,000393: 34,2270           32275                           DCA      REP11SA                               
023431,000394: 34,2271           12025                           TCF      REP11A-1                              
023432,000395: 34,2272           77766 00011  REP11S             2OCT     7776600011                            

Page 531

023434,000397: 34,2274           77764 00013  REP11SA            2OCT     7776400013                            
023435,000398: 
023436,000399: 34,2276           02451        P11XIT             GENADR   P11OUT                                
023437,000400: 34,2277           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023438,000401: 
023439,000402: 34,2301  E6,1704                                  EBANK=   BODY3                                 
023440,000403: 34,2301           02303 70066  P11SCADR           2CADR    VHHDOT                                
023441,000404: 
023442,000405: 34,2303  E6,1704                                  EBANK=   BODY3                                 
023443,000406:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023444,000407:                                                                                                  #        VI      INERTIAL VELOCITY MAGNITUDE
023445,000408:                                                                                                  #        HDOT    RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023446,000409:                                                                                                  #        H       ALTITUDE ABOVE L PAD RADIUS
023447,000410: 
023448,000411: 34,2303           06006        VHHDOT             TC       INTPRET                               
023449,000412: 34,2304           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023450,000413: 34,2305           70436                                    S11.1                                 #  HDOT FOR DISPLAY
023451,000414: 34,2306           77776                           EXIT                                           
023452,000415: 34,2307           32511                           CAF      V06N62                                #  DISPLAY IN R1   R2   R3
023453,000416: 34,2310           04555                           TC       BANKCALL                              #             VI   HDOT H
023454,000417: 34,2311           20621                           CADR     REGODSPR                              #  DISPLAY INTERFACE - IMMEDIATE RETURN
023455,000418: 34,2312           04555                           TC       BANKCALL                              
023456,000419: 34,2313           77132                           CADR     SERVEXIT                              #  END OF P11SERVE CYCLE
023457,000420: 34,2314           34701        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023458,000421: 34,2315           05042                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023459,000422: 34,2316  E6,1704                                  EBANK=   BODY3                                 
023460,000423: 34,2316           02326 70066                     2CADR    ATERJOB                               
023461,000424: 
023462,000425: 34,2320           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023463,000426: 34,2321           74710                           MASK     BIT3                                  #  NEEDLER
023464,000427: 34,2322           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023465,000428: 34,2323           04633                           TC       IBNKCALL                              #  AND GO
023466,000429: 34,2324           42404                           CADR     NEEDLER                               #  DO IT
023467,000430: 34,2325           05213                           TC       TASKOVER                              
023468,000431: 
023469,000432:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023470,000433: 
023471,000434:                                                                                                  #        COMPUTE DESIRED PITCH W.R.T. LAUNCH SITE LOCAL VERTICAL.
023472,000435:                                                                                                  #        PITCH = -.0000469184028+.00137571556*T+.0231502280*T*T-.0205929365*T*T*T
023473,000436:                                                                                                  #                SCALED TO 32 REVOLUTIONS
023474,000437:                                                                                                  #        IF TL = TIME FROM LAUNCH IN SECONDS, THEN       T = 100(TL-10SEC)/(2**14)
023475,000438:                                                                                                  #        WHERE   TL GE  10 SEC
023476,000439:                                                                                                  #                TL LE 133 SEC  .
023477,000440: 
023478,000441:                                                                                                  #        COMPUTE DESIRED ROLL WHERE ROLL EQUALS COUNTER-CLOCKWISE ANGLE FROM
023479,000442:                                                                                                  #        LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023480,000443:                                                                                                  #        ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T    IN REV
023481,000444:                                                                                                  #        SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023482,000445:                                                                                                  #        T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS

Page 532

023484,000447: 
023485,000448:                                                                                                  #        FOR SIMPLICITY, LET     P = 2*PI*PITCH
023486,000449:                                                                                                  #                                R = 2*PI*ROLL
023487,000450: 
023488,000451:                                                                                                  #        CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023489,000452:                                                                                                  #        TERMS OF SM COORDINATES.  LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023490,000453:                                                                                                  #        YDC, AND ZDC.
023491,000454: 
023492,000455:                                                                                                  #         *     (    SIN(P)                 0               -COS(P)    )   (XDC)
023493,000456:                                                                                                  #        TSMV = (-SIN(R)*COS(P)          -COS(R)         -SIN(R)*SIN(P)) = (YDC)
023494,000457:                                                                                                  #               (-COS(R)*COS(P)           SIN(R)         -COS(R)*SIN(P))   (ZDC)
023495,000458: 
023496,000459:                                                                                                  #        XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023497,000460:                                                                                                  #        EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023498,000461:                                                                                                  #        ORIENTATION.  THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023499,000462:                                                                                                  #        AS THE DESIRED CDU ANGLES.
023500,000463: 
023501,000464:                                                                                                  #        (XDC)                   (OGC)
023502,000465:                                                                                                  #        (YDC) ---) CALCGTA ---) (IGC)
023503,000466:                                                                                                  #        (ZDC)                   (MGC)
023504,000467:                                                                                                  #                           -
023505,000468:                                                                                                  #        DEFINE THE VECTOR DELTACDU.
023506,000469: 
023507,000470:                                                                                                  #         -         (OGC)   (CDUX)
023508,000471:                                                                                                  #        DELTACDU = (IGC) - (CDUY)
023509,000472:                                                                                                  #                   (MGC)   (CDUZ)
023510,000473:                                                                                                  #                                 -              -    *    -
023511,000474:                                                                                                  #        COMPUTE ATTITUDE ERRORS, A, WHERE       A = TGSC*DELTACDU
023512,000475: 
023513,000476:                                                                                                  #         *     (1             SIN(CDUZ)             0    )   THE GIMBAL ANGLES
023514,000477:                                                                                                  #        TGSC = (0       COS(CDUX)*COS(CDUZ)     SIN(CDUX)) = TO SPACECRAFT AXES
023515,000478:                                                                                                  #               (0      -SIN(CDUX)*COS(CDUZ)     COS(CDUX))   CONVERSION MATRIX
023516,000479:                                                                                                  #                             -
023517,000480:                                                                                                  #        THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023518,000481:                                                                                                  #        THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023519,000482:                                                                                                  #        ERROR DISPLAY ROUTINE.
023520,000483: 
023521,000484: 34,2326           30024        ATERJOB            CAE      TIME2                                 #  CHECK IF MORE THAN
023522,000485: 34,2327           00006                           EXTEND                                         #  164 SECONDS FROM L.O.
023523,000486: 34,2330           62332                           BZMF     +2                                    
023524,000487: 34,2331           12424                           TCF      SATCLEAR                              #  YES - CLEAR ERROR COUNTER + EXIT
023525,000488: 34,2332           30102                           CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023526,000489: 34,2333           74105                           MASK     OCT60000                              #  BITS 14 + 15
023527,000490: 34,2334           00006                           EXTEND                                         
023528,000491: 34,2335           12337                           BZF      ATTDISP                               #  NO SATURN STICK ON
023529,000492: 34,2336           02420                           TC       ATERSET                               #  EXIT - SATURN STICK IN USE
023530,000493: 34,2337           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023531,000494: 34,2340           60025                           AD       TIME1                                 

Page 533

023533,000496: 34,2341           00006                           EXTEND                                         
023534,000497: 34,2342           62504                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023535,000498: 34,2343           54154                           TS       MPAC                                  #  MPAC = TIME1 - RPSTART
023536,000499: 34,2344           55707                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALCULATION
023537,000500: 34,2345           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023538,000501: 34,2346           00006                           EXTEND                                         
023539,000502: 34,2347           62351                           BZMF     +2                                    
023540,000503: 34,2350           12416                           TCF      SATOUT                                #  EXIT IF TIME1 GR THAN (RPSTART-POLYSTOP)
023541,000504: 34,2351           31661                           CAE      POLYNUM                               
023542,000505: 34,2352           54001                           TS       L                                     
023543,000506: 34,2353           32510                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023544,000507: 34,2354           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023545,000508: 
023546,000509:                                                                                                  #        THE FOLLOWING PAD LOADED COEFFICIENTS ARE
023547,000510:                                                                                                  #        USED TO COMPUTE THE PITCH POLYNOMIAL
023548,000511: 
023549,000512:                                                                                                  #        ----- SUNDISK SI COEFS -----
023550,000513:                                                                                                  #        POLYNUM         FIVE                            POLYNOMIAL DEGREE -1
023551,000514:                                                                                                  #                +1      2DEC    -.469184028     E-4     A0
023552,000515:                                                                                                  #                +3      2DEC    .137571556      E-2     A1
023553,000516:                                                                                                  #                +5      2DEC    .231502280      E-1     A2
023554,000517:                                                                                                  #                +7      2DEC    -.205929365     E-1     A3
023555,000518:                                                                                                  #                +9D     2DEC    0                       A4
023556,000519:                                                                                                  #                +11D    2DEC    0                       A5
023557,000520:                                                                                                  #                +13D    2DEC    0                       A6
023558,000521:                                                                                                  #        POLYLOC         =       POLYNUM +10D
023559,000522: 
023560,000523: 34,2355           34714                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023561,000524: 34,2356           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023562,000525: 34,2357           06006                           TC       INTPRET                               
023563,000526: 34,2360           54201                           SETPD    SL                                    #  32(PITCH(32REV)) = PITCH(REV)
023564,000527: 34,2361           00001                                    0                                     
023565,000528: 34,2362           20206                                    5                                     
023566,000529: 34,2363           77606                           PUSH                                           #  LET P(RAD) = 2*PI*PITCH(REV)
023567,000530: 
023568,000531: 34,2364           77650                           GOTO                                           
023569,000532: 34,2365           76103                                    ATTDISP1                              #  AROUND SETLOC
023570,000533: 
023571,000534:                                                                                                  #                                     *
023572,000535:                                                                                                  #        CONSTRUCT SM TO S/C MATRIX, TSMV
023573,000536: 
023574,000537: 37,2000                                           SETLOC   P11TWO                                
023575,000538: 37,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
023576,000539: 
023577,000540: 37,2103                                           COUNT    36/P11                                
023578,000541: 
023579,000542: 37,2103           57546        ATTDISP1           COS      DCOMP                                 
023580,000543: 37,2104           14017                           STODL    14D                                   #  -.5*COS(P)
023581,000544: 37,2105           77756                           SIN                                            
023582,000545: 37,2106           14013                           STODL    10D                                   #  .5*SIN(P)
023583,000546: 37,2107           15332                                    ZEROVECS                              

Page 534

023585,000548: 37,2110           00015                           STORE    12D                                   #  0
023586,000549: 
023587,000550:                                                                                                  #        EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023588,000551: 
023589,000552: 37,2111           41335                           SLOAD    DMP                                   
023590,000553: 37,2112           03310                                    SPOLYARG                              #  TIME1 - RPSTART, CSECS B-14.
023591,000554: 37,2113           03301                                    SATRLRT                               
023592,000555: 37,2114           45261                           SL       DSU                                   
023593,000556: 37,2115           20217                                    14D                                   
023594,000557: 37,2116           15330                                    DPHALF                                
023595,000558: 37,2117           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023596,000559: 37,2120           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023597,000560: 37,2121           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023598,000561: 37,2122           77634                           RTB                                            #  DETERMINE IF ROLLOUT
023599,000562: 37,2123           70473                                    RLTST                                 #  IS COMPLETED
023600,000563: 37,2124           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
023601,000564: 37,2125           77606                           PUSH                                           #  LET R(RAD) = 2*PI*ROLL(REV)
023602,000565: 37,2126           72405                           DMP      SL1                                   
023603,000566: 37,2127           00017                                    14D                                   
023604,000567: 37,2130           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
023605,000568: 37,2131           77676                           DCOMP                                          
023606,000569: 37,2132           00023                           STORE    18D                                   #  -.5*COS(R)
023607,000570: 37,2133           72405                           DMP      SL1                                   
023608,000571: 37,2134           00013                                    10D                                   
023609,000572: 37,2135           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
023610,000573: 37,2136           41556                           SIN      PUSH                                  
023611,000574: 37,2137           00031                           STORE    24D                                   #  .5*SIN(R)
023612,000575: 37,2140           72405                           DMP      SL1                                   
023613,000576: 37,2141           00017                                    14D                                   
023614,000577: 37,2142           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
023615,000578: 37,2143           77676                           DCOMP                                          
023616,000579: 37,2144           72405                           DMP      SL1                                   
023617,000580: 37,2145           00013                                    10D                                   
023618,000581: 37,2146           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)
023619,000582: 37,2147           00013                                    10D                                   
023620,000583: 
023621,000584:                                                                                                  #        FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023622,000585: 
023623,000586: 37,2150           77656                           UNIT                                           
023624,000587: 37,2151           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
023625,000588: 37,2152           00021                                    16D                                   
023626,000589: 37,2153           77656                           UNIT                                           
023627,000590: 37,2154           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023628,000591: 37,2155           00027                                    22D                                   #                        -SIN(R)*SIN(P))
023629,000592: 37,2156           77656                           UNIT                                           
023630,000593: 37,2157           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023631,000594: 37,2160           47140                                    CALCGTA                               #                        -COS(R)*SIN(P))
023632,000595: 
023633,000596:                                                                                                  #        CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC, AND MGC
023634,000597:                                                                                                  #                                 -          -   -
023635,000598:                                                                                                  #        FIND DIFFERENCE VECTOR  DELTACDU = OGC-CDUX

Page 535

023637,000600:                                                                                                  #        ENTER HERE IF ATTITUDE HOLD
023638,000601: 
023639,000602: 37,2161           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
023640,000603: 37,2162           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
023641,000604: 37,2163           45006                           PUSH     CALL                                  #         MGC      OGC
023642,000605: 37,2164           47432                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
023643,000606: 37,2165           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX , PD4
023644,000607: 37,2166           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY , 0
023645,000608: 37,2167           45547                                    V1STO2S                               #             DPSI     MGC-CDUZ , 2
023646,000609: 37,2170           27317                           STOVL    BOOSTEMP                              
023647,000610: 37,2171           15332                                    ZEROVECS                              
023648,000611: 37,2172           24001                           STOVL    0                                     
023649,000612: 37,2173           00767                                    CDUSPOT                               
023650,000613: 37,2174           47034                           RTB      RTB                                   
023651,000614: 37,2175           45547                                    V1STO2S                               
023652,000615: 37,2176           70453                                    DELSTOR                               
023653,000616: 37,2177           14013                           STODL    10D                                   
023654,000617: 37,2200           00741                                    SINCDUZ                               
023655,000618: 37,2201           72405                           DMP      SL1                                   
023656,000619: 37,2202           00001                                    0                                     
023657,000620: 37,2203           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
023658,000621: 37,2204           00005                                    4                                     
023659,000622: 37,2205           77650                           GOTO                                           
023660,000623: 37,2206           70366                                    ATTDISP2                              
023661,000624: 
023662,000625: 34,2000                                           SETLOC   P11ONE                                
023663,000626: 34,2000                                           BANK                                           
023664,000627: 34,2366                                           COUNT    34/P11                                
023665,000628: 
023666,000629: 34,2366           14021        ATTDISP2           STODL    16D                                   #  16D, .5(DPHI + DTHETA*SIN(CDUZ))
023667,000630: 34,2367           00747                                    COSCDUZ                               
023668,000631: 34,2370           41405                           DMP      PUSH                                  
023669,000632: 34,2371           00001                                    0                                     
023670,000633: 34,2372           72405                           DMP      SL1                                   
023671,000634: 34,2373           00751                                    COSCDUX                               
023672,000635: 34,2374           41325                           PDDL     DMP                                   
023673,000636: 34,2375           00743                                    SINCDUX                               
023674,000637: 34,2376           00003                                    2                                     
023675,000638: 34,2377           72415                           DAD      SL1                                   
023676,000639: 34,2400           77626                           STADR                                          
023677,000640: 34,2401           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
023678,000641: 34,2402           72405                           DMP      SL1                                   #                        +DPSI*SIN(CDUX))
023679,000642: 34,2403           00743                                    SINCDUX                               
023680,000643: 34,2404           41325                           PDDL     DMP                                   
023681,000644: 34,2405           00751                                    COSCDUX                               
023682,000645: 34,2406           00003                                    2                                     
023683,000646: 34,2407           72425                           DSU      SL1                                   
023684,000647: 34,2410           77626                           STADR                                          
023685,000648: 34,2411           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023686,000649: 34,2412           77751                           TLOAD                                          #                        +DPSI*COS(CDUX))

Page 536

023688,000651: 34,2413           00021                                    16D                                   
023689,000652: 34,2414           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
023690,000653: 34,2415           77776                           EXIT                                           
023691,000654: 
023692,000655:                                                                                                  #        DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023693,000656: 
023694,000657: 34,2416           04555        SATOUT             TC       BANKCALL                              
023695,000658: 34,2417           42404                           CADR     NEEDLER                               
023696,000659: 34,2420           34113        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
023697,000660: 34,2421           04555                           TC       BANKCALL                              #  EXECUTION + DELAY = .56SEC APPROX
023698,000661: 34,2422           01732                           CADR     DELAYJOB                              
023699,000662: 34,2423           02326                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
023700,000663: 
023701,000664: 34,2424           44705        SATCLEAR           CS       BIT6                                  
023702,000665: 34,2425           00006                           EXTEND                                         
023703,000666: 34,2426           03012                           WAND     CHAN12                                #  CLEAR IMU ERROR COUNTER
023704,000667: 34,2427           05301                           TC       PHASCHNG                              #  TURN OFF PROTECTION
023705,000668: 34,2430           00004                           OCT      00004                                 #  FOR ATTITUDE ERROR DISPLAY
023706,000669: 34,2431           34714                           CAF      ZERO                                  
023707,000670: 34,2432           55476                           TS       AK                                    #  ZERO OUT
023708,000671: 34,2433           55477                           TS       AK1                                   #  AKS FOR
023709,000672: 34,2434           55500                           TS       AK2                                   #  DOWNLINK
023710,000673: 34,2435           05112                           TC       ENDOFJOB                              
023711,000674: 
023712,000675: 34,2436           51575        S11.1              VLOAD    ABVAL                                 
023713,000676: 34,2437           01177                                    VN                                    
023714,000677: 34,2440           27723                           STOVL    VMAGI                                 #  VI    SCALED 2(7) IN METERS/CSEC
023715,000678: 34,2441           01171                                    RN                                    
023716,000679: 34,2442           45246                           ABVAL    DSU                                   
023717,000680: 34,2443           05311                                    RPAD                                  
023718,000681: 34,2444           27735                           STOVL    ALTI                                  #  H     SCALED 2(29) IN METERS
023719,000682: 34,2445           01171                                    RN                                    
023720,000683: 34,2446           50256                           UNIT     DOT                                   
023721,000684: 34,2447           01177                                    VN                                    
023722,000685: 34,2450           77752                           SL1                                            
023723,000686: 34,2451           03737                           STORE    HDOT                                  #  HDOT  SCALED 2(7) IN METERS/CSEC
023724,000687: 34,2452           77616                           RVQ                                            
023725,000688: 34,2453           31716        DELSTOR            CA       BOOSTEMP                              
023726,000689: 34,2454           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
023727,000690: 34,2455           20154                           MSU      MPAC                                  
023728,000691: 34,2456           50120                           INDEX    FIXLOC                                
023729,000692: 34,2457           54000                           TS       0                                     
023730,000693: 34,2460           31717                           CA       BOOSTEMP   +1                         
023731,000694: 34,2461           00006                           EXTEND                                         
023732,000695: 34,2462           20155                           MSU      MPAC       +1                         
023733,000696: 34,2463           50120                           INDEX    FIXLOC                                
023734,000697: 34,2464           54002                           TS       2                                     
023735,000698: 34,2465           31720                           CA       BOOSTEMP   +2                         
023736,000699: 34,2466           00006                           EXTEND                                         
023737,000700: 34,2467           20156                           MSU      MPAC       +2                         

Page 537

023739,000702: 34,2470           50120                           INDEX    FIXLOC                                
023740,000703: 34,2471           54004                           TS       4                                     
023741,000704: 34,2472           16030                           TCF      DANZIG                                
023742,000705: 34,2473           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
023743,000706: 34,2474           00006                           EXTEND                                         #  IS COMPLETED
023744,000707: 34,2475           71701                           MP       SATRLRT    +1                         
023745,000708: 34,2476           00006                           EXTEND                                         
023746,000709: 34,2477           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS STILL ROLLING
023747,000710: 34,2500           00006                           EXTEND                                         #  ROLLOUT COMPLETED
023748,000711: 34,2501           33561                           DCA      MBDYTCTL   +2                         #  ZERO OUT ROLL CONTRIBUTION
023749,000712: 34,2502           52155                           DXCH     MPAC                                  
023750,000713: 34,2503           06030                           TC       DANZIG                                
023751,000714: 34,2504           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
023752,000715: 34,2505           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
023753,000716: 34,2506           00001                                    0                                     
023754,000717: 34,2507           76161                                    NOPOLYM                               
023755,000718: 34,2510           01673        COEFPOLY           ADRES    POLYLOC                               
023756,000719: 34,2511           01476        V06N62             VN       0662                                  
023757,000720: 
023758,000721:                                                                                                  #  SATURN TAKEOVER FUNCTION
023759,000722:                                                                                                  #  ************************
023760,000723:                                                                                                  #  
023761,000724:                                                                                                  #  PROGRAM DESCRIPTION
023762,000725: 
023763,000726:                                                                                                  #        MOD NUMBER 1
023764,000727:                                                                                                  #        MOD BY ELIASSEN
023765,000728: 
023766,000729:                                                                                                  #  FUNCTIONAL DESCRIPTION
023767,000730: 
023768,000731:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023769,000732:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023770,000733:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET).
023771,000734:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023772,000735:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023773,000736:                                                                                                  #        VOLTAGES.  THE VALUE OF THE CONSTANT RATE COMMAND
023774,000737:                                                                                                  #        IS 0.5 DEG/SEC.  AN ABSENCE OF RHC ACTIVITY RE-
023775,000738:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
023776,000739: 
023777,000740:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023778,000741:                                                                                                  #        OF THE RATE COMMAND.
023779,000742: 
023780,000743:                                                                                                  #  CALLING SEQUENCE
023781,000744: 
023782,000745:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
023783,000746:                                                                                                  #                        CADR    SATSTKON
023784,000747: 
023785,000748:                                                                                                  #  SUBROUTINES CALLED
023786,000749: 
023787,000750:                                                                                                  #        ENDEXT
023788,000751:                                                                                                  #        IBNKCALL
023789,000752:                                                                                                  #        STICKCHK

Page 538

023791,000754:                                                                                                  #        NEEDLER
023792,000755:                                                                                                  #        T5RUPT
023793,000756:                                                                                                  #        RESUME
023794,000757: 
023795,000758:                                                                                                  #  ASTRONAUT REQUESTS
023796,000759: 
023797,000760:                                                                                                  #        ENTRY -  VERB 46 ENTER
023798,000761:                                                                                                  #                  (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023799,000762: 
023800,000763:                                                                                                  #        EXIT -   VERB 48 ENTER  (FLASH V06N46)
023801,000764:                                                                                                  #                  VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023802,000765:                                                                                                  #                  VERB 34 ENTER
023803,000766:                                                                                                  #                  VERB 46 ENTER
023804,000767: 
023805,000768:                                                                                                  #  NORMAL EXIT MODE
023806,000769: 
023807,000770:                                                                                                  #        VERB 46 ENTER   (SEE ASTRONAUT ABOVE)
023808,000771: 
023809,000772:                                                                                                  #  ALARM OR ABORT EXIT MODES
023810,000773: 
023811,000774:                                                                                                  #        NONE
023812,000775: 
023813,000776:                                                                                                  #  OUTPUT
023814,000777: 
023815,000778:                                                                                                  #        SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023816,000779: 
023817,000780:                                                                                                  #  ERASABLE INITIALIZATION
023818,000781: 
023819,000782:                                                                                                  #        DAPDATR1        (BITS 13, 14 MUST BE SET)
023820,000783: 
023821,000784:                                                                                                  #  DEBRIS
023822,000785: 
023823,000786:                                                                                                  #        CENTRALS
023824,000787:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
023825,000788: 
023826,000789: 43,3211                                           BANK     43                                    
023827,000790: 43,2000                                           SETLOC   EXTVERBS                              
023828,000791: 43,2000                                           BANK                                           
023829,000792: 
023830,000793: 43,3211                                           COUNT    23/STTKE                              
023831,000794: 43,3211           00006        SATSTKON           EXTEND                                         
023832,000795: 43,3212           33227                           DCA      2REDOSAT                              
023833,000796: 43,3213           00004                           INHINT                                         
023834,000797: 43,3214           53313                           DXCH     T5LOC                                 
023835,000798: 43,3215           34672                           CAF      POSMAX                                
023836,000799: 43,3216           54030                           TS       TIME5                                 
023837,000800: 43,3217           40102                           CS       FLAGWRD6                              #  TURN ON BITS 15,14 OF
023838,000801: 43,3220           74105                           MASK     RELTAB11                              #  FLAGWRD6
023839,000802: 43,3221           26102                           ADS      FLAGWRD6                              #        SATSTICK CONTROL OF T5
023840,000803: 43,3222           04633                           TC       IBNKCALL                              #  ZERO JET CHANNELS IN 14 MS AND THEN

Page 539

023842,000805: 43,3223           42616                           CADR     ZEROJET                               #  LEAVE THE T6 CLOCK DISABLED
023843,000806: 43,3224           00003                           RELINT                                         
023844,000807: 43,3225           02121                           TC       GOPIN                                 #  EXIT THUS BECAUSE WE CAME VIA V46
023845,000808: 

[WORKAROUND] RSB 2004

023847,000810: 43,3226  40,2000                                  SBANK=   PINSUPER                              
023848,000811: 43,3226  E6,1704                                  EBANK=   BODY3                                 
023849,000812: 43,3226           02765 46106  2REDOSAT           2CADR    REDOSAT                               
023850,000813: 
023851,000814: 32,2017                                           BANK     32                                    
023852,000815: 23,2000                                           SETLOC   P11FOUR                               
023853,000816: 23,2000                                           BANK                                           
023854,000817: 
023855,000818: 23,2765           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
023856,000819: 23,2766           00006                           EXTEND                                         
023857,000820: 23,2767           22012                           QXCH     QRUPT                                 
023858,000821: 23,2770           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
023859,000822: 23,2771           74710                           MASK     BIT3                                  #  FOR
023860,000823: 23,2772           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
023861,000824: 23,2773           04633                           TC       IBNKCALL                              
023862,000825: 23,2774           42404                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
023863,000826: 23,2775           34702                           CAF      BIT9                                  #  SIVB
023864,000827: 23,2776           00006                           EXTEND                                         #  TAKEOVER
023865,000828: 23,2777           05012                           WOR      CHAN12                                #  ENABLE
023866,000829: 23,3000           00006                           EXTEND                                         #  SET UP T5 CYCLE
023867,000830: 23,3001           33046                           DCA      2SATSTCK                              
023868,000831: 23,3002           53313                           DXCH     T5LOC                                 
023869,000832: 23,3003           33044                           CAF      100MST5                               #  IN 100 MSECS
023870,000833: 23,3004           54030                           TS       TIME5                                 
023871,000834: 23,3005           15222                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
023872,000835: 
023873,000836:                                                                                                  #        THIS SECTION IS EXECUTED EVERY 100 MSECS
023874,000837: 
023875,000838: 23,3006           22016        SATSTICK           LXCH     BANKRUPT                              
023876,000839: 23,3007           00006                           EXTEND                                         
023877,000840: 23,3010           22012                           QXCH     QRUPT                                 
023878,000841: 
023879,000842: 23,3011           33045                           CAF      2SATSTCK                              #  SET UP RUPT
023880,000843: 23,3012           55312                           TS       T5LOC                                 #  LO ORDER LOC SET
023881,000844: 23,3013           33044                           CAF      100MST5                               #  100 MSECS
023882,000845: 23,3014           54030                           TS       TIME5                                 
023883,000846: 23,3015           33043                           CAF      STIKBITS                              
023884,000847: 23,3016           00006                           EXTEND                                         
023885,000848: 23,3017           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
023886,000849: 23,3020           73043                           MASK     STIKBITS                              
023887,000850: 23,3021           04633                           TC       IBNKCALL                              #  SET RATE INDICES
023888,000851: 23,3022           43114                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
023889,000852: 
023890,000853: 23,3023           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
023891,000854: 23,3024           33037                           CA       SATRATE                               
023892,000855: 23,3025           55476                           TS       AK                                    #        ROLL

Page 540

023894,000857: 23,3026           51657                           INDEX    PMANNDX                               
023895,000858: 23,3027           33037                           CA       SATRATE                               
023896,000859: 23,3030           55477                           TS       AK1                                   #        PITCH
023897,000860: 23,3031           51660                           INDEX    YMANNDX                               
023898,000861: 23,3032           33037                           CA       SATRATE                               
023899,000862: 23,3033           55500                           TS       AK2                                   #        YAW
023900,000863: 
023901,000864: 23,3034           04633                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
023902,000865: 23,3035           42404                           CADR     NEEDLER                               
023903,000866: 23,3036           15222                           TCF      RESUME                                #  END OF SATURN STICK CONTROL
023904,000867: 23,3037           00000        SATRATE            DEC      0          B-14                       #  IN DETENT - ZERO RATE
023905,000868: 23,3040           00476                           DEC      +318       B-14                       #  POS RATE .5D/S R, .3D/S P AND Y
023906,000869: 23,3041           77301                           DEC      -318       B-14                       #  NEG RATE       DITTO
023907,000870: 23,3042           00000                           DEC      0          B-14                       #  POS NEG BITS ON       ASSUME IN DETENT
023908,000871: 
023909,000872: 23,3043           00077        STIKBITS           OCT      00077                                 
023910,000873: 23,3044           37766        100MST5            DEC      16374      B-14                       

[WORKAROUND] RSB 2004

023912,000875: 23,3045  40,2000                                  SBANK=   PINSUPER                              
023913,000876: 23,3045  E6,1704                                  EBANK=   BODY3                                 
023914,000877: 23,3045           03006 46106  2SATSTCK           2CADR    SATSTICK                              
023915,000878: 

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