Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
023371,000002: ## Copyright: Public domain.
023372,000003: ## Filename: P11.agc
023373,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
023374,000005: ## It is part of the source code for the Command Module's (CM)
023375,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
023376,000007: ## Assembler: yaYUL
023377,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
023378,000009: ## Website: www.ibiblio.org/apollo.
023379,000010: ## Pages: 533-550
023380,000011: ## Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
023381,000012: ## of the same name, using Comanche055 page
023382,000013: ## images 0533.jpg - 0550.jpg.
023383,000014: ## 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
023384,000015: ## STATSW -> SATSW.
023385,000016: ## 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
023386,000017: ## Added an SBANK= prior to a 2CADR.
023387,000018: ## 2010-08-24 JL Fixed page numbers. Added missing comment character on p537.
023388,000019: ## 2011-05-08 JL Flagged SBANK= workaround for future removal.
023389,000020: ## 2011-05-17 JL Removed all SBANK= workarounds.
023390,000021: ## 2016-12-10 RSB Proofed comments with octopus/ProoferComments
023391,000022: ## and fixed the errors found.
023392,000023: ## 2017-01-15 RSB Corrected comment-text errors observed while
023393,000024: ## diff'ing vs Colossus 249.
023394,000025:
023395,000026: ## This source code has been transcribed or otherwise adapted from digitized
023396,000027: ## images of a hardcopy from the MIT Museum. The digitization was performed
023397,000028: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
023398,000029: ## thanks to both. The images (with suitable reduction in storage size and
023399,000030: ## consequent reduction in image quality as well) are available online at
023400,000031: ## www.ibiblio.org/apollo. If for some reason you find that the images are
023401,000032: ## illegible, contact me at info@sandroid.org about getting access to the
023402,000033: ## (much) higher-quality images which Paul actually created.
023403,000034: ##
023404,000035: ## Notations on the hardcopy document read, in part:
023405,000036: ##
023406,000037: ## Assemble revision 055 of AGC program Comanche by NASA
023407,000038: ## 2021113-051. 10:28 APR. 1, 1969
023408,000039: ##
023409,000040: ## This AGC program shall also be referred to as
023410,000041: ## Colossus 2A
023411,000042:
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Page 533 |
023413,000044:
023414,000045: # EARTH ORBIT INSERTION MONITOR PROGRAM
023415,000046: # *************************************
023416,000047:
023417,000048: # PROGRAM DESCRIPTION -P11-
023418,000049:
023419,000050: # MOD NO. 1
023420,000051: # MOD BY ELIASSEN
023421,000052:
023422,000053: # FUNCTIONAL DESCRIPTION
023423,000054:
023424,000055: # P11 IS INITIATED BY
023425,000056:
023426,000057: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023427,000058: # B) BACKUP THRU VERB 75 ENTER
023428,000059:
023429,000060: # PROGRAM WILL
023430,000061: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023431,000062: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023432,000063: # 3. INITIATE SERVICER AT PREREAD1
023433,000064: # 4. CHANGE MAJOR MODE TO 11
023434,000065: # 5. CLEAR DSKY IN CASE OF V 75
023435,000066: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023436,000067: # 7. TERMINATE GYROCOMPASSING - -
023437,000068: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
023438,000069: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
023439,000070: # - - X Y Z
023440,000071: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023441,000072: # Z
023442,000073: # - - -
023443,000074: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
023444,000075: # X
023445,000076: # - - -
023446,000077: # U =U * U
023447,000078: # U Z X
023448,000079: # 10. SET REFSMMAT KNOWN FLAG
023449,000080: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023450,000081: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023451,000082:
023452,000083: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
023453,000084: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023454,000085: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
023455,000086: #
023456,000087: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023457,000088:
023458,000089: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023459,000090: # DESIRED ATTITUDE IS AS STORED AT L.O.
023460,000091: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023461,000092: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023462,000093: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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Page 534 |
023464,000095: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023465,000096: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023466,000097:
023467,000098: # SUBROUTINES CALLED
023468,000099:
023469,000100: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
023470,000101: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
023471,000102: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
023472,000103: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
023473,000104: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
023474,000105:
023475,000106: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023476,000107:
023477,000108: # DSKY -
023478,000109: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023479,000110: # R2 MINUTES
023480,000111:
023481,000112: # DSKY -
023482,000113: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023483,000114: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023484,000115: # R3 TFF IN MINUTES/SECS
023485,000116:
023486,000117: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023487,000118: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023488,000119: # NORMAL EXIT MODE
023489,000120:
023490,000121: # ASTRONAUT VERB 37 ENTER 00 ENTER
023491,000122:
023492,000123: # ALARM MODES - NONE
023493,000124:
023494,000125: # ABORT EXIT MODES -
023495,000126:
023496,000127: # OUTPUT
023497,000128:
023498,000129: # TLIFTOFF (DP) TEPHEM (TP)
023499,000130: # REFSMMAT
023500,000131: # DSKY DISPLAY
023501,000132: # FDAI DISPLAY
023502,000133:
023503,000134: # ERASABLE INITIALIZATION
023504,000135:
023505,000136: # AZO, AXO, -AYO
023506,000137: # LATITUDE
023507,000138: # PADLONG
023508,000139: # TEPHEM
023509,000140: # PGNCSALT
023510,000141: # POLYNUM THRU POLYNUM +14D)
023511,000142: # RPSTART
023512,000143: # POLYSTOP
023513,000144: # FLAGS SET OR RESET
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Page 535 |
023515,000146: # SET REFSMFLG
023516,000147: # SET DVMON IDLE FLAG
023517,000148: # CLEAR ERADFLAG
023518,000149:
023519,000150: # DEBRIS
023520,000151:
023521,000152: # LIFTTEMP
023522,000153: # POLYNUM THRU POLYNUM +7
023523,000154: # SPOLYARG
023524,000155: # BODY1, BODY2, BODY3
023525,000156: # VMAG2, ALTI, HDOT
023526,000157: # CENTRALS, CORE SET AND VAC AREAS
023527,000158:
023528,000159: 04,3303 COUNT 34/P11
023529,000160:
023530,000161: 04,3303 5035 BITS5-6 = SUPER011
023531,000162: 42,3606 BANK 42
023532,000163: 34,2000 SETLOC P11ONE
023533,000164: 34,2000 BANK
023534,000165:
023535,000166: 34,2002 E3,1706 EBANK= TEPHEM
023536,000167: 34,2002 35051 P11 CA EBANK3
023537,000168: 34,2003 54003 TS EBANK
023538,000169:
023539,000170: 34,2004 00006 EXTEND
023540,000171: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
023541,000172: 34,2006 52757 DXCH -PHASE3
023542,000173: 34,2007 45021 CS ZERO
023543,000174: 34,2010 22007 ZL
023544,000175: 34,2011 55265 TS LIFTTEMP
023545,000176: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
023546,000177: 34,2013 00006 P11+7 EXTEND
023547,000178: 34,2014 32301 DCA REP11SA
023548,000179: 34,2015 53337 DXCH TLIFTOFF
023549,000180:
023550,000181: 34,2016 00006 EXTEND
023551,000182: 34,2017 30025 DCA TIME2
023552,000183: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
023553,000184:
023554,000185: 34,2021 35021 CA ZERO
023555,000186: 34,2022 22007 ZL
023556,000187: 34,2023 52025 DXCH TIME2
023557,000188: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
023558,000189: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
023559,000190:
023560,000191: 34,2026 00004 REP11A INHINT
023561,000192: 34,2027 00006 EXTEND
023562,000193: 34,2030 31710 DCA TEPHEM +1
023563,000194: 34,2031 53271 DXCH TEPHEM1 +1
023564,000195: 34,2032 31706 CA TEPHEM
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Page 536 |
023566,000197: 34,2033 57267 XCH TEPHEM1
023567,000198:
023568,000199: 34,2034 00006 EXTEND
023569,000200: 34,2035 31337 DCA TLIFTOFF
023570,000201: 34,2036 21271 DAS TEPHEM1 +1
023571,000202: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
023572,000203:
023573,000204: 34,2040 05412 TC PHASCHNG
023574,000205: 34,2041 05023 OCT 05023
023575,000206: 34,2042 22000 OCT 22000
023576,000207:
023577,000208: 34,2043 00004 INHINT
023578,000209: 34,2044 00006 EXTEND
023579,000210: 34,2045 31270 DCA TEPHEM1
023580,000211: 34,2046 53707 DXCH TEPHEM
023581,000212: 34,2047 31271 CA TEPHEM1 +2
023582,000213: 34,2050 57710 XCH TEPHEM +2
023583,000214:
023584,000215: 34,2051 32000 CAF EBDVCNT
023585,000216: 34,2052 54003 TS EBANK
023586,000217: 34,2053 E7,1431 EBANK= DVCNTR
023587,000218: 34,2053 04740 TC IBNKCALL
023588,000219: 34,2054 76722 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
023589,000220:
023590,000221: 34,2055 05412 TC PHASCHNG
023591,000222: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
023592,000223: 34,2057 22000 OCT 22000
023593,000224:
023594,000225: 34,2060 35036 CAF .5SEC # START ATT ERROR DISPLAY
023595,000226: 34,2061 05245 TC WAITLIST # IN .5 SEC
023596,000227: 34,2062 E6,1704 EBANK= BODY3
023597,000228: 34,2062 02320 70066 2CADR ATERTASK
023598,000229:
023599,000230: 34,2064 05354 TC NEWMODEX # DISPLAY MM 11
023600,000231: 34,2065 00013 MM 11 B-14
023601,000232:
023602,000233: 34,2066 05546 TC UPFLAG
023603,000234: 34,2067 00022 ADRES NODOP01
023604,000235:
023605,000236: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
023606,000237: 34,2071 54332 TS DNLSTCOD
023607,000238:
023608,000239: 34,2072 04662 TC BANKCALL
023609,000240: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
023610,000241:
023611,000242: 34,2074 05372 TC 2PHSCHNG
023612,000243: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
023613,000244: 34,2076 00073 OCT 00073
023614,000245: 34,2077 32001 CAF EBQPLACE
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Page 537 |
023616,000247: 34,2100 54003 TS EBANK
023617,000248:
023618,000249: 34,2101 E5,1426 EBANK= QPLACES
023619,000250: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023620,000251: 34,2102 55426 TS QPLACES
023621,000252: 34,2103 06006 TC INTPRET
023622,000253: 34,2104 64375 VLOAD MXV
023623,000254: 34,2105 02467 THETAN
023624,000255: 34,2106 02672 XSM
023625,000256: 34,2107 53372 VSL1 VAD
023626,000257: 34,2110 02650 ERCOMP
023627,000258: 34,2111 16650 STODL ERCOMP
023628,000259: 34,2112 01337 TLIFTOFF
023629,000260: 34,2113 52131 SSP GOTO
023630,000261: 34,2114 00052 S2
023631,000262: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
023632,000263: 34,2116 66373 EARTHR +3
023633,000264: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
023634,000265: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
023635,000266: 34,2121 53760 DXCH OGC
023636,000267: 34,2122 22007 ZL
023637,000268: 34,2123 30033 CA CDUY
023638,000269: 34,2124 53762 DXCH IGC
023639,000270: 34,2125 22007 ZL
023640,000271: 34,2126 30034 CA CDUZ
023641,000272: 34,2127 53764 DXCH MGC
023642,000273: 34,2130 06006 TC INTPRET # -
023643,000274: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
023644,000275: 34,2132 02760 OGC
023645,000276: 34,2133 02760 STORE OGC
023646,000277: 34,2134 77731 SSP # ZERO RTX2
023647,000278: 34,2135 03747 RTX2 # FOR
023648,000279: 34,2136 00000 0 # EARTH
023649,000280: 34,2137 65345 DLOAD PDDL
023650,000281: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
023651,000282: 34,2141 01264 PADLONG # LONGITUDE
023652,000283: 34,2142 55525 PDDL VDEF
023653,000284: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
023654,000285: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023655,000286: 34,2145 15335 HI6ZEROS # TIME = 0
023656,000287: 34,2146 45014 CLEAR CALL
023657,000288: 34,2147 00662 ERADFLAG
023658,000289: 34,2150 26441 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
023659,000290:
023660,000291: 34,2151 35232 STCALL RN1 # -
023661,000292: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
023662,000293: 34,2153 53476 VCOMP UNIT
023663,000294: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
023664,000295: 34,2155 01232 RN1
023665,000296: 34,2156 74235 VXV VXSC
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Page 538 |
023667,000298: 34,2157 01714 UNITW # SCALED AT 1
023668,000299: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
023669,000300: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
023670,000301: 34,2162 25240 STOVL VN1
023671,000302: 34,2163 01752 REFSMMAT +12D
023672,000303: 34,2164 53435 VXV UNIT
023673,000304: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
023674,000305: 34,2166 47206 PUSH VXV
023675,000306: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023676,000307: 34,2170 65256 UNIT PDDL
023677,000308: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
023678,000309: 34,2172 74346 COS VXSC
023679,000310: 34,2173 77626 STADR
023680,000311: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
023681,000312: 34,2175 02634 LAUNCHAZ
023682,000313: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
023683,000314: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023684,000315: 34,2200 01736 REFSMMAT
023685,000316: 34,2201 01736 STORE REFSMMAT
023686,000317:
023687,000318: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
023688,000319: 34,2203 01752 REFSMMAT +12D
023689,000320: 34,2204 77676 VCOMP
023690,000321: 34,2205 01744 STORE REFSMMAT +6
023691,000322: 34,2206 45345 DLOAD DSU
023692,000323: 34,2207 15333 DPHALF # 1/2 REV
023693,000324: 34,2210 02634 LAUNCHAZ
023694,000325: 34,2211 65215 DAD PDDL
023695,000326:
023696,000327: 34,2212 02401 AZIMUTH
023697,000328: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023698,000329: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023699,000330: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023700,000331: 34,2216 77414 SET EXIT
023701,000332: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023702,000333:
023703,000334: 34,2220 05412 TC PHASCHNG
023704,000335: 34,2221 04023 OCT 04023
023705,000336:
023706,000337: 34,2222 00006 EXTEND
023707,000338: 34,2223 32306 DCA P11SCADR
023708,000339: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
023709,000340:
023710,000341: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
023711,000342: 34,2226 55074 TS 1/PIPADT
023712,000343:
023713,000344: 34,2227 E6,1501 EBANK= RCSFLAGS
023714,000345: 34,2227 35057 CA EBANK6
023715,000346: 34,2230 54003 TS EBANK
023716,000347:
023717,000348: 34,2231 00004 INHINT
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Page 539 |
023719,000350: 34,2232 45021 CS ZERO
023720,000351: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
023721,000352:
023722,000353: 34,2234 40025 CS TIME1
023723,000354: 34,2235 65042 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023724,000355:
023725,000356: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023726,000357: 34,2237 12242 TCF +3 # TIME POSITIVE
023727,000358: 34,2240 12242 TCF +2 # CANNOT GET HERE
023728,000359: 34,2241 35021 CA ZERO # TIME NEGATIVE - SET TO 1
023729,000360: 34,2242 65017 AD ONE # RESTORE TIME - OR MAKE POSITIVE
023730,000361:
023731,000362: 34,2243 05245 TC WAITLIST
023732,000363: 34,2244 E6,1661 EBANK= AOG
023733,000364: 34,2244 02744 76066 2CADR READACCS
023734,000365:
023735,000366: 34,2246 05372 TC 2PHSCHNG
023736,000367: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
023737,000368: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023738,000369:
023739,000370: 34,2251 04701 TC POSTJUMP
023740,000371: 34,2252 77236 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023741,000372:
023742,000373:
023743,000374: 34,2253 E3,1706 EBANK= TEPHEM
023744,000375: 34,2253 00004 REP11 INHINT
023745,000376: 34,2254 10763 CCS PHASE5
023746,000377: 34,2255 05217 TC ENDOFJOB
023747,000378:
023748,000379: 34,2256 11265 CCS LIFTTEMP
023749,000380: 34,2257 12263 TCF +4
023750,000381: 34,2260 12263 TCF +3
023751,000382: 34,2261 12263 TCF +2
023752,000383: 34,2262 12013 TCF P11+7
023753,000384:
023754,000385: 34,2263 41336 CS TLIFTOFF
023755,000386: 34,2264 00006 EXTEND
023756,000387: 34,2265 62273 BZMF ENDREP11
023757,000388:
023758,000389: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023759,000390: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023760,000391:
023761,000392: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023762,000393: 34,2271 31266 DCA LIFTTEMP
023763,000394: 34,2272 12024 TCF REP11A-2
023764,000395:
023765,000396: 34,2273 00006 ENDREP11 EXTEND
023766,000397: 34,2274 32301 DCA REP11SA
023767,000398: 34,2275 12025 TCF REP11A-1
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Page 540 |
023769,000400: 34,2276 77766 00011 REP11S 2OCT 7776600011
023770,000401:
023771,000402: 34,2300 77764 00013 REP11SA 2OCT 7776400013
023772,000403:
023773,000404: 34,2302 02451 P11XIT GENADR P11OUT
023774,000405: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023775,000406:
023776,000407: 34,2305 E6,1704 EBANK= BODY3
023777,000408: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
023778,000409:
023779,000410: 34,2307 6214 POWDNCOD EQUALS THREE
023780,000411:
023781,000412: 34,2307 E6,1704 EBANK= BODY3
023782,000413: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023783,000414: # VI INERTIAL VELOCITY MAGNITUDE
023784,000415: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023785,000416: # H ALTITUDE ABOVE L PAD RADIUS
023786,000417:
023787,000418: 34,2307 06006 VHHDOT TC INTPRET
023788,000419: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
023789,000420: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
023790,000421: 34,2312 77776 EXIT
023791,000422: 34,2313 05412 TC PHASCHNG
023792,000423: 34,2314 00035 OCT 00035
023793,000424:
023794,000425: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
023795,000426: 34,2316 04662 TC BANKCALL # VI HDOT H
023796,000427: 34,2317 20707 CADR REGODSP
023797,000428:
023798,000429: 34,2320 35006 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023799,000430: 34,2321 05147 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023800,000431: 34,2322 E6,1704 EBANK= BODY3
023801,000432: 34,2322 02345 70066 2CADR ATERJOB
023802,000433:
023803,000434: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
023804,000435: 34,2325 75015 MASK BIT3 # NEEDLER
023805,000436: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
023806,000437: 34,2327 04740 TC IBNKCALL # AND GO
023807,000438: 34,2330 42420 CADR NEEDLER # DO IT
023808,000439: 34,2331 35017 CA BIT1 # SET SW
023809,000440: 34,2332 55725 TS SATSW # FOR DISPLAY
023810,000441: 34,2333 05324 TC TASKOVER
023811,000442: 34,2334 40220 GETDOWN STQ SETPD
023812,000443: 34,2335 02242 INCORPEX
023813,000444: 34,2336 00001 0D
023814,000445: 34,2337 77745 DLOAD
023815,000446: 34,2340 15335 HI6ZEROS
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023817,000448: 34,2341 14007 STODL 6D
023818,000449: 34,2342 15333 DPHALF
023819,000450: 34,2343 34011 STCALL 8D
023820,000451: 34,2344 26446 LALOTORV +5
023821,000452: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023822,000453:
023823,000454: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023824,000455: # 2 3 4 5 6
023825,000456: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023826,000457: # SCALED TO 32 REVS. -14
023827,000458: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
023828,000459: # WHERE TL GE RPSTART
023829,000460: # TL LE (-POLYSTOP + RPSTART)
023830,000461: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023831,000462: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023832,000463: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
023833,000464: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023834,000465: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023835,000466:
023836,000467: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023837,000468: # R = 2*PI*ROLL
023838,000469:
023839,000470: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023840,000471: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023841,000472: # YDC, AND ZDC.
023842,000473:
023843,000474: # * ( SIN(P) 0 -COS(P) ) (XDC)
023844,000475: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023845,000476: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023846,000477:
023847,000478: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023848,000479: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023849,000480: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023850,000481: # AS THE DESIRED CDU ANGLES.
023851,000482:
023852,000483: # (XDC) (OGC)
023853,000484: # (YDC) ---) CALCGTA ---) (IGC)
023854,000485: # (ZDC) (MGC)
023855,000486: # -
023856,000487: # DEFINE THE VECTOR DELTACDU.
023857,000488:
023858,000489: # - (OGC) (CDUX)
023859,000490: # DELTACDU = (IGC) - (CDUY)
023860,000491: # (MGC) (CDUZ)
023861,000492: # - - * -
023862,000493: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023863,000494:
023864,000495: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
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023866,000497: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023867,000498: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023868,000499: # -
023869,000500: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023870,000501: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023871,000502: # ERROR DISPLAY ROUTINE.
023872,000503:
023873,000504: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
023874,000505: 34,2346 74105 MASK OCT60000 # BITS 14, 15
023875,000506: 34,2347 00006 EXTEND
023876,000507: 34,2350 12352 BZF +2 # OK - CONTINUE
023877,000508: 34,2351 05217 TC ENDOFJOB # SATURN STICK ON - KILL JOB
023878,000509: 34,2352 35006 CAF BIT10 # CHECK IF S/C CONTROL
023879,000510: 34,2353 00006 EXTEND # OF SATURN PANEL
023880,000511: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
023881,000512: 34,2355 00006 EXTEND
023882,000513: 34,2356 12510 BZF STRSAT # IT IS - GO STEER
023883,000514: 34,2357 11725 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
023884,000515: 34,2360 02363 TC ATTDISP # NO - CONTINUE
023885,000516: 34,2361 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023886,000517: 34,2362 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023887,000518: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023888,000519: 34,2364 60025 AD TIME1
023889,000520: 34,2365 00006 EXTEND
023890,000521: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023891,000522: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
023892,000523: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
023893,000524: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023894,000525: 34,2372 00006 EXTEND
023895,000526: 34,2373 62375 BZMF +2
023896,000527: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023897,000528: 34,2375 30024 CA TIME2
023898,000529: 34,2376 00006 EXTEND
023899,000530: 34,2377 62401 BZMF +2
023900,000531: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023901,000532: 34,2401 31661 CAE POLYNUM
023902,000533: 34,2402 54001 TS L
023903,000534: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023904,000535: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023905,000536: 34,2405 35021 CA ZERO # RETURN WITH PITCH(32REV)
023906,000537: 34,2406 54163 TS MODE # STORED IN MPAC, MPAC +1
023907,000538: 34,2407 06006 TC INTPRET
023908,000539: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023909,000540: 34,2411 00001 0
023910,000541: 34,2412 20206 5
023911,000542: 34,2413 77606 PUSH # LET P(RAD) = 2.PI.PITCH(REV)
023912,000543: 34,2414 77650 GOTO
023913,000544: 34,2415 76155 ATTDISP1 # AROUND SETLOC
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023915,000546: # *
023916,000547: # CONSTRUCT SM TO S/C MATRIX, TSMV
023917,000548:
023918,000549: 37,2000 SETLOC P11TWO
023919,000550: 37,2000 BANK # 36 IN COL., 34 IN DISK
023920,000551:
023921,000552: 37,2155 COUNT 36/P11
023922,000553:
023923,000554: 37,2155 57546 ATTDISP1 COS DCOMP
023924,000555: 37,2156 14017 STODL 14D # -.5*COS(P)
023925,000556: 37,2157 77756 SIN
023926,000557: 37,2160 14013 STODL 10D # .5*SIN(P)
023927,000558: 37,2161 15335 ZEROVECS
023928,000559: 37,2162 00015 STORE 12D # 0
023929,000560:
023930,000561: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023931,000562: 37,2163 41335 SLOAD DMP
023932,000563: 37,2164 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
023933,000564: 37,2165 03301 SATRLRT
023934,000565: 37,2166 45261 SL DSU
023935,000566: 37,2167 20217 14D
023936,000567: 37,2170 15333 DPHALF
023937,000568: 37,2171 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023938,000569: 37,2172 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023939,000570: 37,2173 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023940,000571: 37,2174 77634 RTB # DETERMINE IF ROLLOUT
023941,000572: 37,2175 70604 RLTST # IS COMPLETED
023942,000573: 37,2176 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023943,000574: 37,2177 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023944,000575: 37,2200 72405 DMP SL1
023945,000576: 37,2201 00017 14D
023946,000577: 37,2202 14027 STODL 22D # -.5*COS(R)*COS(P)
023947,000578: 37,2203 77676 DCOMP
023948,000579: 37,2204 00023 STORE 18D # -.5*COS(R)
023949,000580: 37,2205 72405 DMP SL1
023950,000581: 37,2206 00013 10D
023951,000582: 37,2207 14033 STODL 26D # -.5*COS(R)*SIN(P)
023952,000583: 37,2210 41556 SIN PUSH
023953,000584: 37,2211 00031 STORE 24D # .5*SIN(R)
023954,000585: 37,2212 72405 DMP SL1
023955,000586: 37,2213 00017 14D
023956,000587: 37,2214 14021 STODL 16D # -.5*SIN(R)*COS(P)
023957,000588: 37,2215 77676 DCOMP
023958,000589: 37,2216 72405 DMP SL1
023959,000590: 37,2217 00013 10D
023960,000591: 37,2220 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023961,000592: 37,2221 00013 10D
023962,000593:
023963,000594: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
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023965,000596: 37,2222 77656 UNIT
023966,000597: 37,2223 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023967,000598: 37,2224 00021 16D
023968,000599: 37,2225 77656 UNIT
023969,000600: 37,2226 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023970,000601: 37,2227 00027 22D # -SIN(R)*SIN(P))
023971,000602: 37,2230 77656 UNIT
023972,000603: 37,2231 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023973,000604: 37,2232 47205 CALCGTA # -COS(R)*SIN(P))
023974,000605:
023975,000606: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023976,000607: # - - -
023977,000608: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023978,000609: #
023979,000610: # ENTER HERE IF ATTITUDE HOLD
023980,000611:
023981,000612: 37,2233 41575 NOPOLYM VLOAD PUSH # OGC IGC
023982,000613: 37,2234 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023983,000614: 37,2235 45006 PUSH CALL # MGC OGC
023984,000615: 37,2236 47477 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023985,000616: 37,2237 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023986,000617: 37,2240 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023987,000618: 37,2241 45552 V1STO2S # DPSI MGC-CDUZ , 2
023988,000619: 37,2242 27317 STOVL BOOSTEMP
023989,000620: 37,2243 15335 ZEROVECS
023990,000621: 37,2244 24001 STOVL 0
023991,000622: 37,2245 00767 CDUSPOT
023992,000623: 37,2246 47034 RTB RTB
023993,000624: 37,2247 45552 V1STO2S
023994,000625: 37,2250 70564 DELSTOR
023995,000626: 37,2251 14013 STODL 10D
023996,000627: 37,2252 00741 SINCDUZ
023997,000628: 37,2253 72405 DMP SL1
023998,000629: 37,2254 00001 0
023999,000630: 37,2255 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
024000,000631: 37,2256 00005 4
024001,000632: 37,2257 77650 GOTO
024002,000633: 37,2260 70416 ATTDISP2
024003,000634:
024004,000635: 34,2000 SETLOC P11ONE
024005,000636: 34,2000 BANK
024006,000637: 34,2416 COUNT 34/P11
024007,000638:
024008,000639: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
024009,000640: 34,2417 00747 COSCDUZ
024010,000641: 34,2420 41405 DMP PUSH
024011,000642: 34,2421 00001 0
024012,000643: 34,2422 72405 DMP SL1
024013,000644: 34,2423 00751 COSCDUX
024014,000645: 34,2424 41325 PDDL DMP
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Page 545 |
024016,000647: 34,2425 00743 SINCDUX
024017,000648: 34,2426 00003 2
024018,000649: 34,2427 72415 DAD SL1
024019,000650: 34,2430 77626 STADR
024020,000651: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
024021,000652: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
024022,000653: 34,2433 00743 SINCDUX
024023,000654: 34,2434 41325 PDDL DMP
024024,000655: 34,2435 00751 COSCDUX
024025,000656: 34,2436 00003 2
024026,000657: 34,2437 72425 DSU SL1
024027,000658: 34,2440 77626 STADR
024028,000659: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024029,000660: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
024030,000661: 34,2443 00021 16D
024031,000662: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
024032,000663: 34,2445 77776 EXIT
024033,000664:
024034,000665: 34,2446 31725 CA SATSW
024035,000666: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
024036,000667: 34,2450 02471 TC SATOUT # POS - DISPLAY ONLY
024037,000668: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
024038,000669: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
024039,000670: 34,2453 76351 TLOAD TAD
024040,000671: 34,2454 03327 BIASAK
024041,000672: 34,2455 03077 AK
024042,000673: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
024043,000674: 34,2457 77776 EXIT
024044,000675: 34,2460 31476 CA AK
024045,000676: 34,2461 02623 TC RESCALES
024046,000677: 34,2462 55476 TS AK
024047,000678: 34,2463 31477 CA AK1
024048,000679: 34,2464 02623 TC RESCALES
024049,000680: 34,2465 55477 TS AK1
024050,000681: 34,2466 31500 CA AK2
024051,000682: 34,2467 02623 TC RESCALES
024052,000683: 34,2470 55500 TS AK2
024053,000684: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024054,000685:
024055,000686: 34,2471 04662 SATOUT TC BANKCALL
024056,000687: 34,2472 42420 CADR NEEDLER
024057,000688: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
024058,000689: 34,2474 04662 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
024059,000690: 34,2475 01732 CADR DELAYJOB
024060,000691: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
024061,000692:
024062,000693: 34,2477 41476 AKLOAD CS AK # STORE AKS
024063,000694: 34,2500 55726 TS BIASAK # INTO BIAS
024064,000695: 34,2501 41477 CS AK1 # COMPLEMENTED
024065,000696: 34,2502 55727 TS BIASAK +1
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024067,000698: 34,2503 41500 CS AK2
024068,000699: 34,2504 55730 TS BIASAK +2
024069,000700: 34,2505 45017 CS BIT1 # SET SW
024070,000701: 34,2506 55725 TS SATSW # TO STEER
024071,000702: 34,2507 02452 TC STEERSAT # GO STEER
024072,000703: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEEDLER
024073,000704: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
024074,000705: 34,2512 62363 BZMF ATTDISP # YES - CONTINUE
024075,000706: 34,2513 41501 ATRESET CS RCSFLAGS # NO - SET
024076,000707: 34,2514 75015 MASK BIT3 # INITIALIZATION SW
024077,000708: 34,2515 27501 ADS RCSFLAGS # FOR NEEDLER
024078,000709: 34,2516 04662 TC BANKCALL # AND GO
024079,000710: 34,2517 42420 CADR NEEDLER # DO IT
024080,000711: 34,2520 36211 CAF REVCNT # OCT 6
024081,000712: 34,2521 04662 TC BANKCALL # DELAY JOB
024082,000713: 34,2522 01732 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
024083,000714: 34,2523 11725 CCS SATSW # CHECK SW STATUS
024084,000715: 34,2524 02534 TC TAKEON # POS STEER INIT.
024085,000716: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
024086,000717: 34,2526 35017 CA BIT1 # NEG RETURN TO DISPLAY
024087,000718: 34,2527 55725 TS SATSW # SW = DISPLAY ONLY
024088,000719: 34,2530 45007 CS BIT9 # DISABLE
024089,000720: 34,2531 00006 EXTEND # SIVB
024090,000721: 34,2532 03012 WAND CHAN12 # TAKEOVER
024091,000722: 34,2533 02471 TC SATOUT # DISPLAY
024092,000723: 34,2534 35007 TAKEON CAF BIT9 # ENABLE
024093,000724: 34,2535 00006 EXTEND # SIVB
024094,000725: 34,2536 05012 WOR CHAN12 # TAKEOVER
024095,000726: 34,2537 35021 CA ZERO # INDICATE NEEDLER
024096,000727: 34,2540 55725 TS SATSW # WAS INITIALIZED
024097,000728: 34,2541 02471 TC SATOUT
024098,000729: 34,2542 51575 S11.1 VLOAD ABVAL
024099,000730: 34,2543 01177 VN
024100,000731: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
024101,000732: 34,2545 01171 RN
024102,000733: 34,2546 50256 UNIT DOT
024103,000734: 34,2547 01177 VN
024104,000735: 34,2550 77752 SL1
024105,000736: 34,2551 17737 STODL HDOT
024106,000737: 34,2552 05152 RPAD
024107,000738: 34,2553 77214 BOF VLOAD
024108,000739: 34,2554 00355 AMOONFLG
024109,000740: 34,2555 70560 EARTHALT
024110,000741: 34,2556 02026 RLS
024111,000742: 34,2557 60446 ABVAL SR2
024112,000743: 34,2560 77621 EARTHALT BDSU
024113,000744: 34,2561 00045 36D
024114,000745: 34,2562 03735 STORE ALTI
024115,000746: 34,2563 77616 RVQ
024116,000747: 34,2564 31716 DELSTOR CA BOOSTEMP
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024118,000749: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
024119,000750: 34,2566 20154 MSU MPAC
024120,000751: 34,2567 50120 INDEX FIXLOC
024121,000752: 34,2570 54000 TS 0
024122,000753: 34,2571 31717 CA BOOSTEMP +1
024123,000754: 34,2572 00006 EXTEND
024124,000755: 34,2573 20155 MSU MPAC +1
024125,000756: 34,2574 50120 INDEX FIXLOC
024126,000757: 34,2575 54002 TS 2
024127,000758: 34,2576 31720 CA BOOSTEMP +2
024128,000759: 34,2577 00006 EXTEND
024129,000760: 34,2600 20156 MSU MPAC +2
024130,000761: 34,2601 50120 INDEX FIXLOC
024131,000762: 34,2602 54004 TS 4
024132,000763: 34,2603 16030 TCF DANZIG
024133,000764: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
024134,000765: 34,2605 00006 EXTEND # IS COMPLETED
024135,000766: 34,2606 71701 MP SATRLRT +1
024136,000767: 34,2607 00006 EXTEND
024137,000768: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
024138,000769: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
024139,000770: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
024140,000771: 34,2613 52155 DXCH MPAC
024141,000772: 34,2614 06030 TC DANZIG
024142,000773: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
024143,000774: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
024144,000775: 34,2617 00001 0
024145,000776: 34,2620 76233 NOPOLYM
024146,000777: 34,2621 01673 COEFPOLY ADRES POLYLOC
024147,000778: 34,2622 01476 V06N62 VN 0662
024148,000779: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
024149,000780: 34,2624 71731 MP SATSCALE # NEW HARDWARE
024150,000781: 34,2625 20001 DDOUBL # SCALING FOR
024151,000782: 34,2626 20001 DDOUBL # STEERING
024152,000783: 34,2627 00002 TC Q # SATURN
024153,000784:
024154,000785: # SATURN TAKEOVER FUNCTION
024155,000786: # ************************
024156,000787: #
024157,000788: # PROGRAM DESCRIPTION
024158,000789:
024159,000790: # MOD NUMBER 1
024160,000791: # MOD BY ELIASSEN
024161,000792:
024162,000793: # FUNCTIONAL DESCRIPTION
024163,000794:
024164,000795: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024165,000796: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
024166,000797: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024167,000798: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024168,000799: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
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024170,000801: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
024171,000802: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
024172,000803: # SULTS IN A ZERO RATE COMMAND.
024173,000804:
024174,000805: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024175,000806: # OF THE RATE COMMAND.
024176,000807:
024177,000808: # CALLING SEQUENCE
024178,000809:
024179,000810: # DAPFIG +9D TC POSTJUMP
024180,000811: # CADR SATSTKON
024181,000812:
024182,000813: # SUBROUTINES CALLED
024183,000814:
024184,000815: # ENDEXT
024185,000816: # IBNKCALL
024186,000817: # STICKCHK
024187,000818: # NEEDLER
024188,000819: # T5RUPT
024189,000820: # RESUME
024190,000821:
024191,000822: # ASTRONAUT REQUESTS
024192,000823:
024193,000824: # ENTRY - VERB 46 ENTER
024194,000825: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024195,000826:
024196,000827: # EXIT - VERB 48 ENTER (FLASH V06N46)
024197,000828: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
024198,000829: # VERB 34 ENTER
024199,000830: # VERB 46 ENTER
024200,000831:
024201,000832: # NORMAL EXIT MODE
024202,000833:
024203,000834: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
024204,000835:
024205,000836: # ALARM OR ABORT EXIT MODES
024206,000837:
024207,000838: # NONE
024208,000839:
024209,000840: # OUTPUT
024210,000841:
024211,000842: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
024212,000843:
024213,000844: # ERASABLE INITIALIZATION
024214,000845:
024215,000846: # DAPDATR1 (BITS 13, 14 MUST BE SET)
024216,000847:
024217,000848: # DEBRIS
024218,000849:
024219,000850: # CENTRALS
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024221,000852: # CDUXCMD, CDUYCMD, CDUZCMD
024222,000853:
024223,000854: 43,3215 BANK 43
024224,000855: 43,2000 SETLOC EXTVERBS
024225,000856: 43,2000 BANK
024226,000857:
024227,000858: 43,3215 COUNT 23/STTKE
024228,000859: 43,3215 00006 SATSTKON EXTEND
024229,000860: 43,3216 33233 DCA 2REDOSAT
024230,000861: 43,3217 00004 INHINT
024231,000862: 43,3220 53313 DXCH T5LOC
024232,000863: 43,3221 34777 CAF POSMAX
024233,000864: 43,3222 54030 TS TIME5
024234,000865: 43,3223 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
024235,000866: 43,3224 74105 MASK RELTAB11 # FLAGWRD6
024236,000867: 43,3225 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
024237,000868: 43,3226 04740 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
024238,000869: 43,3227 42632 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
024239,000870: 43,3230 00003 RELINT
024240,000871: 43,3231 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
024241,000872:
024242,000873: 43,3232 E6,1704 EBANK= BODY3
024243,000874: 43,3232 02765 46106 2REDOSAT 2CADR REDOSAT
024244,000875:
024245,000876:
024246,000877: 43,3234 30,2000 SBANK= LOWSUPER
024247,000878: 32,2017 BANK 32
024248,000879: 23,2000 SETLOC P11FOUR
024249,000880: 23,2000 BANK
024250,000881:
024251,000882: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
024252,000883: 23,2766 00006 EXTEND
024253,000884: 23,2767 22012 QXCH QRUPT
024254,000885: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
024255,000886: 23,2771 75015 MASK BIT3 # FOR
024256,000887: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
024257,000888: 23,2773 04740 TC IBNKCALL
024258,000889: 23,2774 42420 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
024259,000890: 23,2775 35007 CAF BIT9 # SIVB
024260,000891: 23,2776 00006 EXTEND # TAKEOVER
024261,000892: 23,2777 05012 WOR CHAN12 # ENABLE
024262,000893: 23,3000 00006 EXTEND # SET UP T5 CYCLE
024263,000894: 23,3001 33042 DCA 2SATSTCK
024264,000895: 23,3002 53313 DXCH T5LOC
024265,000896: 23,3003 33040 CAF 100MST5 # IN 100 MSECS
024266,000897: 23,3004 54030 TS TIME5
024267,000898: 23,3005 15333 TCF RESUME # END OF SATURN STICK INITIALIZATION
024268,000899:
024269,000900: # THIS SECTION IS EXECUTED EVERY 100 MSECS
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024271,000902: 23,3006 22016 SATSTICK LXCH BANKRUPT
024272,000903: 23,3007 00006 EXTEND
024273,000904: 23,3010 22012 QXCH QRUPT
024274,000905:
024275,000906: 23,3011 33041 CAF 2SATSTCK # SET UP RUPT
024276,000907: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
024277,000908: 23,3013 33040 CAF 100MST5 # 100 MSECS
024278,000909: 23,3014 54030 TS TIME5
024279,000910: 23,3015 33037 CAF STIKBITS
024280,000911: 23,3016 00006 EXTEND
024281,000912: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
024282,000913: 23,3020 73037 MASK STIKBITS
024283,000914: 23,3021 04740 TC IBNKCALL # SET RATE INDICES
024284,000915: 23,3022 43130 CADR STICKCHK # FOR PITCH YAW AND ROLL
024285,000916:
024286,000917: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
024287,000918: 23,3024 31721 CA SATRATE
024288,000919: 23,3025 55476 TS AK # ROLL
024289,000920: 23,3026 51657 INDEX PMANNDX
024290,000921: 23,3027 31721 CA SATRATE
024291,000922: 23,3030 55477 TS AK1 # PITCH
024292,000923: 23,3031 51660 INDEX YMANNDX
024293,000924: 23,3032 31721 CA SATRATE
024294,000925: 23,3033 55500 TS AK2 # YAW
024295,000926:
024296,000927: 23,3034 04740 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
024297,000928: 23,3035 42420 CADR NEEDLER
024298,000929: 23,3036 15333 TCF RESUME # END OF SATURN STICK CONTROL
024299,000930:
024300,000931: 23,3037 00077 STIKBITS OCT 00077
024301,000932: 23,3040 37766 100MST5 DEC 16374 B-14
024302,000933: 23,3041 E6,1704 EBANK= BODY3
024303,000934: 23,3041 03006 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc