Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be 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 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

023480,000002:                                                                                                  ## Copyright:   Public domain.
023481,000003:                                                                                                  ## Filename:    P11.agc
023482,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
023483,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
023484,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
023485,000007:                                                                                                  ##              Apollo 15-17.
023486,000008:                                                                                                  ## Assembler:   yaYUL
023487,000009:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
023488,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
023489,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
023490,000012:                                                                                                  ## Mod history: 2010-01-26 JL   Started Artemis072 conversion based on Comanche055 module.
023491,000013:                                                                                                  ##              2010-01-27 JL   Finished conversion.
023492,000014:                                                                                                  ##              2010-02-02 JL   Removed extra line left over from Comanche055.
023493,000015:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
023494,000016:                                                                                                  ##              2017-02-05 RSB  Proofed comment text by diff'ing vs Comanche 55
023495,000017:                                                                                                  ##                              and corrected errors found.
023496,000018: 

Page 534

023498,000020: 
023499,000021:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023500,000022:                                                                                                  #  *************************************
023501,000023: 
023502,000024:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023503,000025: 
023504,000026:                                                                                                  #        MOD NO. 1
023505,000027:                                                                                                  #        MOD BY ELIASSEN
023506,000028: 
023507,000029:                                                                                                  #  FUNCTIONAL DESCRIPTION
023508,000030: 
023509,000031:                                                                                                  #        P11 IS INITIATED BY
023510,000032: 
023511,000033:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023512,000034:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023513,000035: 
023514,000036:                                                                                                  #        PROGRAM WILL
023515,000037:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023516,000038:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023517,000039:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023518,000040:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023519,000041:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023520,000042:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023521,000043:                                                                                                  #                7. TERMINATE GYROCOMPASSING -   -
023522,000044:                                                                                                  #                8. COMPUTE INITIAL VECTORS  RN, VN                -  -  -
023523,000045:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023524,000046:                                                                                                  #                        -         -                                X  Y  Z
023525,000047:                                                                                                  #                        U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023526,000048:                                                                                                  #                         Z
023527,000049:                                                                                                  #                        -        -   -
023528,000050:                                                                                                  #                        U =UNIT (A), A=HOR VECTOR AT LAUNCH AZIMUTH
023529,000051:                                                                                                  #                         X
023530,000052:                                                                                                  #                        -  -   -
023531,000053:                                                                                                  #                        U =U * U
023532,000054:                                                                                                  #                         U  Z   X
023533,000055:                                                                                                  #                
023534,000056:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023535,000057:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023536,000058:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023537,000059: 
023538,000060:                                                                                                  #                    R1  V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023539,000061:                                                                                                  #                    R2  HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023540,000062:                                                                                                  #                    R3  H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023541,000063:                                                                                                  #                
023542,000064:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023543,000065: 
023544,000066:                                                                                                  #                    A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023545,000067:                                                                                                  #                       DESIRED ATTITUDE IS AS STORED AT L.O.
023546,000068:                                                                                                  #                    B) FROM RPSTART TO POLYSTOP (APPROX.+10 TO +133SECS AFTER LO)
023547,000069:                                                                                                  #                       DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023548,000070:                                                                                                  #                       POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 535

023550,000072:                                                                                                  #                       THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023551,000073:                                                                                                  #                       EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023552,000074: 
023553,000075:                                                                                                  #  SUBROUTINES CALLED
023554,000076: 
023555,000077:                                                                                                  #           2PHSCHNG  BANKCALL  CALCGRA   CDUTRIG   CLEANDSP  DANZIG
023556,000078:                                                                                                  #           DELAYJOB  EARTHR    ENDOFJOB  FINDVAC   IBNKCALL
023557,000079:                                                                                                  #           INTPRET   LALOTORV  NEEDLER   NEWMODEX  PHASCHNG
023558,000080:                                                                                                  #           POSTJUMP  POWRSERS  PREREAD1  REGODSPR  S11.1
023559,000081:                                                                                                  #           SERVEXIT  TASKOVER  TCDANZIG  V1ST02S   WAITLIST
023560,000082: 
023561,000083:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023562,000084: 
023563,000085:                                                                                                  #        DSKY -
023564,000086:                                                                                                  #             MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023565,000087:                                                                                                  #                                                R2 MINUTES
023566,000088: 
023567,000089:                                                                                                  #        DSKY -
023568,000090:                                                                                                  #             MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023569,000091:                                                                                                  #                                R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023570,000092:                                                                                                  #                                R3 TFF IN MINUTES/SECS
023571,000093: 
023572,000094:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023573,000095:                                                                                                  #  HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023574,000096:                                                                                                  #  NORMAL EXIT MODE
023575,000097: 
023576,000098:                                                                                                  #        ASTRONAUT  VERB 37 ENTER 00 ENTER
023577,000099: 
023578,000100:                                                                                                  #  ALARM MODES - NONE
023579,000101: 
023580,000102:                                                                                                  #  ABORT EXIT MODES -
023581,000103: 
023582,000104:                                                                                                  #  OUTPUT
023583,000105: 
023584,000106:                                                                                                  #        TLIFTOFF (DP)  TEPHEM (TP)
023585,000107:                                                                                                  #        REFSMMAT
023586,000108:                                                                                                  #        DSKY DISPLAY
023587,000109:                                                                                                  #        FDAI DISPLAY
023588,000110: 
023589,000111:                                                                                                  #  ERASABLE INITIALIZATION
023590,000112: 
023591,000113:                                                                                                  #        AZO, AXO, -AYO
023592,000114:                                                                                                  #        LATITUDE
023593,000115:                                                                                                  #        PADLONG
023594,000116:                                                                                                  #        TEPHEM
023595,000117:                                                                                                  #        PGNCSALT
023596,000118:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023597,000119:                                                                                                  #        RPSTART
023598,000120:                                                                                                  #        POLYSTOP
023599,000121:                                                                                                  #  FLAGS SET OR RESET

Page 536

023601,000123:                                                                                                  #        SET REFSMFLG
023602,000124:                                                                                                  #        SET DVMON IDLE FLAG
023603,000125:                                                                                                  #        CLEAR ERADFLAG
023604,000126: 
023605,000127:                                                                                                  #  DEBRIS
023606,000128: 
023607,000129:                                                                                                  #        LIFTTEMP
023608,000130:                                                                                                  #        POLYNUM THRU POLYNUM +7
023609,000131:                                                                                                  #        SPOLYARG
023610,000132:                                                                                                  #        BODY1, BODY2, BODY3
023611,000133:                                                                                                  #        VMAG2, ALTI, HDOT
023612,000134:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023613,000135: 36,2016     5010               BITS5-6            =        SUPER011                              
023614,000136: 34,2000                                           SETLOC   P11ONE                                
023615,000137: 34,2000                                           BANK                                           
023616,000138: 
023617,000139: 34,2000                                           COUNT*   $$/P11                                
023618,000140: 34,2000  E3,1706                                  EBANK=   TEPHEM                                
023619,000141: 34,2000           35024        P11                CA       EBANK3                                
023620,000142: 34,2001           54003                           TS       EBANK                                 
023621,000143: 
023622,000144: 34,2002           00006                           EXTEND                                         
023623,000145: 34,2003           32274                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023624,000146: 34,2004           53162                           DXCH     -PHASE3                               
023625,000147: 34,2005  01,2071               3P11SPT1           =        3.11SPOT                              
023626,000148: 34,2005           44772                           CS       ZERO                                  
023627,000149: 34,2006           22007                           ZL                                             
023628,000150: 34,2007           55126                           TS       LIFTTEMP                              
023629,000151: 34,2010           53166                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023630,000152: 34,2011           00006        P11+7              EXTEND                                         
023631,000153: 34,2012           32276                           DCA      REP11SA                               
023632,000154: 34,2013           53022                           DXCH     TLIFTOFF                              
023633,000155: 
023634,000156: 34,2014           00006                           EXTEND                                         
023635,000157: 34,2015           30025        ZROCLOCK           DCA      TIME2                                 
023636,000158: 34,2016           53127                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023637,000159: 
023638,000160: 34,2017           34772                 -5        CAF      ZERO                                  
023639,000161: 34,2020           22007                           ZL                                             
023640,000162: 34,2021           52025                           DXCH     TIME2                                 
023641,000163: 34,2022           53022        REP11A-2           DXCH     TLIFTOFF                              
023642,000164: 34,2023           53162        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE
023643,000165: 
023644,000166: 34,2024  01,2074               3P13SPT1           =        3.13SPOT                              
023645,000167: 34,2024           00004        REP11A             INHINT                                         
023646,000168: 34,2025           00006                           EXTEND                                         
023647,000169: 34,2026           31710                           DCA      TEPHEM     +1                         
023648,000170: 34,2027           53132                           DXCH     TEPHEM1    +1                         
023649,000171: 34,2030           31706                           CA       TEPHEM                                

Page 537

023651,000173: 34,2031           57130                           XCH      TEPHEM1                               
023652,000174: 
023653,000175: 34,2032           00006                           EXTEND                                         
023654,000176: 34,2033           31022                           DCA      TLIFTOFF                              
023655,000177: 34,2034           21132                           DAS      TEPHEM1    +1                         
023656,000178: 34,2035           27130                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023657,000179: 
023658,000180: 34,2036           05402                           TC       PHASCHNG                              
023659,000181: 34,2037           05023                           OCT      05023                                 
023660,000182: 34,2040           22000                           OCT      22000                                 
023661,000183: 
023662,000184: 34,2041           00004                           INHINT                                         
023663,000185: 34,2042           00006                           EXTEND                                         
023664,000186: 34,2043           31131                           DCA      TEPHEM1                               
023665,000187: 34,2044           53707                           DXCH     TEPHEM                                
023666,000188: 34,2045           31132                           CA       TEPHEM1    +2                         
023667,000189: 34,2046           57710                           XCH      TEPHEM     +2                         
023668,000190: 
023669,000191: 34,2047           35046                           CAF      EBANK7                                
023670,000192: 34,2050           54003                           TS       EBANK                                 
023671,000193: 34,2051  E7,1425                                  EBANK=   DVTOTAL                               
023672,000194: 34,2051           04714                           TC       IBNKCALL                              
023673,000195: 34,2052           76630                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023674,000196: 
023675,000197: 34,2053           05402                           TC       PHASCHNG                              
023676,000198: 34,2054           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023677,000199: 34,2055           22000                           OCT      22000                                 
023678,000200: 
023679,000201: 34,2056           35011                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023680,000202: 34,2057           05233                           TC       WAITLIST                              #  IN .5 SEC
023681,000203: 34,2060  E6,1704                                  EBANK=   SPOLYARG                              
023682,000204: 34,2060           02315 70066                     2CADR    ATERTASK                              
023683,000205: 
023684,000206: 34,2062           05344                           TC       NEWMODEX                              #  DISPLAY MM 11
023685,000207: 34,2063           00013                           MM       11         B-14                       
023686,000208: 
023687,000209: 34,2064           05547                           TC       UPFLAG                                
023688,000210: 34,2065           00022                           ADRES    NODOP01                               
023689,000211: 
023690,000212: 34,2066           36214                           CA       POWDNCOD                              #  SWITCH TO POWERED FLIGHT DOWNLIST
023691,000213: 34,2067           54332                           TS       DNLSTCOD                              
023692,000214: 
023693,000215: 34,2070           04636                           TC       BANKCALL                              
023694,000216: 34,2071           20715                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023695,000217: 
023696,000218: 34,2072           05362                           TC       2PHSCHNG                              
023697,000219: 34,2073           40514                           OCT      40514                                 #  PROTECT ATERTASK
023698,000220: 34,2074           00073                           OCT      00073                                 
023699,000221: 34,2075  01,2066               3P7SPT1            =        3.7SPOT                               

Page 538

023701,000223: 34,2075  01,2215               4P51SPT1           =        4.51SPOT                              
023702,000224: 34,2075           35043                           CAF      EBANK5                                
023703,000225: 34,2076           54003                           TS       EBANK                                 
023704,000226: 
023705,000227: 34,2077  E5,1426                                  EBANK=   QPLACES                               
023706,000228: 34,2077           32277                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023707,000229: 34,2100           55426                           TS       QPLACES                               
023708,000230: 34,2101           06006                           TC       INTPRET                               
023709,000231: 34,2102           64375                           VLOAD    MXV                                   
023710,000232: 34,2103           02467                                    THETAN                                
023711,000233: 34,2104           02672                                    XSM                                   
023712,000234: 34,2105           53372                           VSL1     VAD                                   
023713,000235: 34,2106           02650                                    ERCOMP                                
023714,000236: 34,2107           16650                           STODL    ERCOMP                                
023715,000237: 34,2110           01022                                    TLIFTOFF                              
023716,000238: 34,2111           52131                           SSP      GOTO                                  
023717,000239: 34,2112           00052                                    S2                                    
023718,000240: 34,2113           66202                           CADR     PROUT                                 #  RETURN FROM EARTHR
023719,000241: 34,2114           66151                                    EARTHR     +3                         
023720,000242: 34,2115           22007        MATRXJOB           ZL                                             #  STORE DP GIMBAL ANGLES FOR ATTITUDE
023721,000243: 34,2116           30032                           CA       CDUX                                  #        ERROR DISPLAY AFTER LIFTOFF
023722,000244: 34,2117           53760                           DXCH     OGC                                   
023723,000245: 34,2120           22007                           ZL                                             
023724,000246: 34,2121           30033                           CA       CDUY                                  
023725,000247: 34,2122           53762                           DXCH     IGC                                   
023726,000248: 34,2123           22007                           ZL                                             
023727,000249: 34,2124           30034                           CA       CDUZ                                  
023728,000250: 34,2125           53764                           DXCH     MGC                                   
023729,000251: 34,2126           06006                           TC       INTPRET                               #        -
023730,000252: 34,2127           74575                           VLOAD    VSR1                                  #  SCALE OGC  B-1
023731,000253: 34,2130           02760                                    OGC                                   
023732,000254: 34,2131           02760                           STORE    OGC                                   
023733,000255: 34,2132           77731                           SSP                                            #  ZERO RTX2
023734,000256: 34,2133           03747                                    RTX2                                  #  FOR
023735,000257: 34,2134           00000                                    0                                     #  EARTH
023736,000258: 34,2135           65345                           DLOAD    PDDL                                  
023737,000259: 34,2136           01134                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023738,000260: 34,2137           01136                                    PADLONG                               #  LONGITUDE
023739,000261: 34,2140           55525                           PDDL     VDEF                                  
023740,000262: 34,2141           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023741,000263: 34,2142           14747                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023742,000264: 34,2143           15336                                    HI6ZEROS                              #  TIME = 0
023743,000265: 34,2144           45014                           CLEAR    CALL                                  
023744,000266: 34,2145           00662                                    ERADFLAG                              
023745,000267: 34,2146           26524                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF.COORDS
023746,000268: 
023747,000269: 34,2147           35071                           STCALL   RN1                                   #               -   
023748,000270: 34,2150           70331                                    GETDOWN                               #  RETURN WITH VECTOR FOR DOWN DIRECTION
023749,000271: 34,2151           53476                           VCOMP    UNIT                                  
023750,000272: 34,2152           25750                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)

Page 539

023752,000274: 34,2153           01071                                    RN1                                   
023753,000275: 34,2154           74235                           VXV      VXSC                                  
023754,000276: 34,2155           01712                                    UNITW                                 #  SCALED AT 1
023755,000277: 34,2156           30301                                    -ERTHRAT                              #  V = EARTHRATE X R
023756,000278: 34,2157           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023757,000279: 34,2160           25077                           STOVL    VN1                                   
023758,000280: 34,2161           01750                                    REFSMMAT   +12D                       
023759,000281: 34,2162           53435                           VXV      UNIT                                  
023760,000282: 34,2163           01712                                    UNITW                                 #  (REF3 X UNITW) = EAST
023761,000283: 34,2164           47206                           PUSH     VXV                                   
023762,000284: 34,2165           01750                                    REFSMMAT   +12D                       #   (EAST X REF3) = -SOUTH
023763,000285: 34,2166           65256                           UNIT     PDDL                                  
023764,000286: 34,2167           02634                                    LAUNCHAZ                              #   COS(AZ)*SOUTH
023765,000287: 34,2170           74346                           COS      VXSC                                  
023766,000288: 34,2171           77626                           STADR                                          
023767,000289: 34,2172           62043                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023768,000290: 34,2173           02634                                    LAUNCHAZ                              
023769,000291: 34,2174           74356                           SIN      VXSC                                  #   SIN(AZ)*EAST
023770,000292: 34,2175           53455                           VAD      UNIT                                  #   SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023771,000293: 34,2176           01734                                    REFSMMAT                              
023772,000294: 34,2177           01734                           STORE    REFSMMAT                              
023773,000295: 
023774,000296: 34,2200           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023775,000297: 34,2201           01750                                    REFSMMAT   +12D                       
023776,000298: 34,2202           77676                           VCOMP                                          
023777,000299: 34,2203           01742                           STORE    REFSMMAT   +6                         
023778,000300: 34,2204           45345        TRNVNREF           DLOAD    DSU                                   
023779,000301: 34,2205           15334                                    DPHALF                                #  1/2 REV
023780,000302: 34,2206           02634                                    LAUNCHAZ                              
023781,000303: 34,2207           65215                           DAD      PDDL                                  
023782,000304: 34,2210           02401                                    AZIMUTH                               
023783,000305: 34,2211           03301                                    SATRLRT                               #  SET  SATRLRT = -SATRLRT IF
023784,000306: 34,2212           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023785,000307: 34,2213           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023786,000308: 34,2214           77414                           SET      EXIT                                  
023787,000309: 34,2215           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023788,000310: 
023789,000311: 34,2216           05402                           TC       PHASCHNG                              
023790,000312: 34,2217           04023                           OCT      04023                                 
023791,000313: 
023792,000314: 34,2220           00006                           EXTEND                                         
023793,000315: 34,2221           32303                           DCA      P11SCADR                              
023794,000316: 34,2222           53062                           DXCH     AVGEXIT                               #  SET AVGEXIT
023795,000317: 
023796,000318: 34,2223           37652                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023797,000319: 34,2224           55277                           TS       1/PIPADT                              
023798,000320: 
023799,000321: 34,2225  E6,1501                                  EBANK=   RCSFLAGS                              
023800,000322: 34,2225           04611                           TC       E6SETTER                              
023801,000323: 

Page 540

023803,000325: 34,2226           00004                           INHINT                                         
023804,000326: 34,2227           44772                           CS       ZERO                                  
023805,000327: 34,2230           55267                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF
023806,000328: 
023807,000329: 34,2231           40025                           CS       TIME1                                 
023808,000330: 34,2232           65017                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023809,000331: 
023810,000332: 34,2233           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023811,000333: 34,2234           12237                           TCF      +3                                    #  TIME POSITIVE
023812,000334: 34,2235           12237                           TCF      +2                                    #  CANNOT GET HERE
023813,000335: 34,2236           34772                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023814,000336: 34,2237           64770                           AD       ONE                                   #  RESTORE TIME  -  OR MAKE POSITIVE
023815,000337: 
023816,000338: 34,2240           05233                           TC       WAITLIST                              
023817,000339: 34,2241  E6,1661                                  EBANK=   AOG                                   
023818,000340: 34,2241           02652 76066                     2CADR    READACCS                              
023819,000341: 34,2243           05362                           TC       2PHSCHNG                              
023820,000342: 34,2244           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023821,000343: 34,2245           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023822,000344: 
023823,000345: 34,2246  01,2234               5P2SPT1            =        5.2SPOT                               
023824,000346: 34,2246           04655                           TC       POSTJUMP                              
023825,000347: 34,2247           77154                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023826,000348: 
023827,000349: 
023828,000350: 34,2250  E3,1706                                  EBANK=   TEPHEM                                
023829,000351: 34,2250           00004        REP11              INHINT                                         
023830,000352: 34,2251           11166                           CCS      PHASE5                                
023831,000353: 34,2252           05205                           TC       ENDOFJOB                              
023832,000354: 
023833,000355: 34,2253           11126                           CCS      LIFTTEMP                              
023834,000356: 34,2254           12260                           TCF      +4                                    
023835,000357: 34,2255           12260                           TCF      +3                                    
023836,000358: 34,2256           12260                           TCF      +2                                    
023837,000359: 34,2257           12011                           TCF      P11+7                                 
023838,000360: 
023839,000361: 34,2260           41021                           CS       TLIFTOFF                              
023840,000362: 34,2261           00006                           EXTEND                                         
023841,000363: 34,2262           62270                           BZMF     ENDREP11                              
023842,000364: 
023843,000365: 34,2263           10024                           CCS      TIME2                                 #  **TIME2 MUST BE NON-ZERO AT LIFTOFF**
023844,000366: 34,2264           12017                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023845,000367: 
023846,000368: 34,2265           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023847,000369: 34,2266           31127                           DCA      LIFTTEMP                              
023848,000370: 34,2267           12022                           TCF      REP11A-2                              
023849,000371: 
023850,000372: 34,2270           00006        ENDREP11           EXTEND                                         
023851,000373: 34,2271           32276                           DCA      REP11SA                               

Page 541

023853,000375: 34,2272           12023                           TCF      REP11A-1                              
023854,000376: 
023855,000377: 
023856,000378: 34,2273           77766 00011  REP11S             2OCT     7776600011                            
023857,000379: 34,2275           77764 00013  REP11SA            2OCT     7776400013                            
023858,000380: 
023859,000381: 
023860,000382: 34,2277           02225        P11XIT             GENADR   P11OUT                                
023861,000383: 34,2300           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023862,000384: 34,2302  E6,1704                                  EBANK=   SPOLYARG                              
023863,000385: 34,2302           02304 70066  P11SCADR           2CADR    VHHDOT                                
023864,000386: 34,2304     6214               POWDNCOD           EQUALS   THREE                                 
023865,000387: 
023866,000388: 
023867,000389: 34,2304  E6,1704                                  EBANK=   SPOLYARG                              
023868,000390:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023869,000391:                                                                                                  #                      VI INERTIAL VELOCITY MAGNITUDE
023870,000392:                                                                                                  #                      HDOT  RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023871,000393:                                                                                                  #                      H   ALTITUDE ABOVE L PAD RADIUS
023872,000394: 
023873,000395: 34,2304           06006        VHHDOT             TC       INTPRET                               
023874,000396: 34,2305           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023875,000397: 34,2306           70537                                    S11.1                                 #  HDOT FOR DISPLAY
023876,000398: 34,2307           77776                           EXIT                                           
023877,000399: 34,2310           05402                           TC       PHASCHNG                              
023878,000400: 34,2311           00035                           OCT      00035                                 
023879,000401: 
023880,000402: 34,2312  01,2250               5P3SPT1            =        5.3SPOT                               
023881,000403: 34,2312           32617                           CAF      V06N62                                #  DISPLAY IN R1   R2    R3
023882,000404: 34,2313           04636                           TC       BANKCALL                              #             VI   HDOT  H
023883,000405: 34,2314           20721                           CADR     REGODSP                               
023884,000406: 
023885,000407: 34,2315           34757        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023886,000408: 34,2316           05135                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023887,000409: 34,2317  E6,1704                                  EBANK=   SPOLYARG                              
023888,000410: 34,2317           02342 70066                     2CADR    ATERJOB                               
023889,000411: 34,2321           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023890,000412: 34,2322           74766                           MASK     BIT3                                  #  NEEDLER
023891,000413: 34,2323           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023892,000414: 34,2324           04714                           TC       IBNKCALL                              #  AND GO
023893,000415: 34,2325           42425                           CADR     NEEDLER                               #  DO IT
023894,000416: 34,2326           34770                           CA       BIT1                                  #  SET SW
023895,000417: 34,2327           55714                           TS       SATSW                                 #  FOR DISPLAY
023896,000418: 34,2330           05314                           TC       TASKOVER                              
023897,000419: 34,2331           40220        GETDOWN            STQ      SETPD                                 

Page 542

023899,000421: 34,2332           02241                                    INCORPEX                              
023900,000422: 34,2333           00001                                    0D                                    
023901,000423: 34,2334           77745                           DLOAD                                          
023902,000424: 34,2335           15336                                    HI6ZEROS                              
023903,000425: 34,2336           14007                           STODL    6D                                    
023904,000426: 34,2337           15334                                    DPHALF                                
023905,000427: 34,2340           34011                           STCALL   8D                                    
023906,000428: 34,2341           26531                                    LALOTORV   +5                         
023907,000429:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023908,000430: 
023909,000431:                                                                                                  #                                          COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023910,000432:                                                                                                  #                                                           2    3    4    5    6
023911,000433:                                                                                                  #                                          PITCH= A0+A1T+A2T +A3T +A4T +A5T +A6T
023912,000434:                                                                                                  #                                                 SCALED TO 32 REVS.                                   -14
023913,000435:                                                                                                  #                                          IF TL = TIME IN SECS FROM L.O., THEN    T = 100(TL-RPSTART)2
023914,000436:                                                                                                  #                                          WHERE    TL GE RPSTART
023915,000437:                                                                                                  #                                                   TL LE (-POLYSTOP + RPSTART)
023916,000438:                                                                                                  #                                          COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023917,000439:                                                                                                  #                                          LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023918,000440:                                                                                                  #                                          ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T      IN REV
023919,000441:                                                                                                  #                                          SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023920,000442:                                                                                                  #                                          T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
023921,000443: 
023922,000444:                                                                                                  #                                          FOR SIMPLICITY, LET   P = 2*PI*PITCH
023923,000445:                                                                                                  #                                                                R = 2*PI*ROLL
023924,000446: 
023925,000447:                                                                                                  #                                          CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023926,000448:                                                                                                  #                                          TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023927,000449:                                                                                                  #                                          YDC, AND ZDC.
023928,000450: 
023929,000451:                                                                                                  #                                           *     (    SIN(P)          0         -COS(P)    )   (XDC)
023930,000452:                                                                                                  #                                          TSMV = (-SIN(R)*COS(P)   -COS(R)   -SIN(R)*SIN(P)) = (YDC)
023931,000453:                                                                                                  #                                                 (-COS(R)*COS(P)    SIN(R)   -COS(R)*SIN(P))   (ZDC)
023932,000454: 
023933,000455:                                                                                                  #                                          XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023934,000456:                                                                                                  #                                          EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023935,000457:                                                                                                  #                                          ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023936,000458:                                                                                                  #                                          AS THE DESIRED CDU ANGLES.
023937,000459: 
023938,000460:                                                                                                  #                                          (XDC)                   (OGC)
023939,000461:                                                                                                  #                                          (YDC) ---) CALCGTA ---) (IGC)
023940,000462:                                                                                                  #                                          (ZDC)                   (MGC)
023941,000463:                                                                                                  #                                                             -
023942,000464:                                                                                                  #                                          DEFINE THE VECTOR DELTACDU.
023943,000465: 
023944,000466:                                                                                                  #                                           -         (OGC)   (CDUX)
023945,000467:                                                                                                  #                                          DELTACDU = (IGC) - (CDUY)
023946,000468:                                                                                                  #                                                     (MGC)   (CDUZ)

Page 543

023948,000470:                                                                                                  #                                                                   -          -    *    -
023949,000471:                                                                                                  #                                          COMPUTE ATTITUDE ERRORS, A, WHERE   A = TGSC*DELTACDU
023950,000472: 
023951,000473:                                                                                                  #                                           *     (1        SIN(CDUZ)            0    )   THE GIMBAL ANGLES
023952,000474:                                                                                                  #                                          TGSC = (0   COS(CDUX)*COS(CDUZ)   SIN(CDUX)) = TO SPACECRAFT AXES
023953,000475:                                                                                                  #                                                 (0  -SIN(CDUX)*COS(CDUZ)   COS(CDUX))   CONVERSION MATRIX
023954,000476: 
023955,000477:                                                                                                  #                                                               -
023956,000478:                                                                                                  #                                          THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023957,000479:                                                                                                  #                                          THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023958,000480:                                                                                                  #                                          ERROR DISPLAY ROUTINE.
023959,000481: 
023960,000482: 34,2342           30102        ATERJOB            CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023961,000483: 34,2343           74076                           MASK     DPCONFIG                              #  BITS 14,15
023962,000484: 34,2344           00006                           EXTEND                                         
023963,000485: 34,2345           12347                           BZF      +2                                    #  OK - CONTINUE
023964,000486: 34,2346           05205                           TC       ENDOFJOB                              #  SATURN STICK ON - KILL JOB
023965,000487: 34,2347           34757                           CAF      BIT10                                 #  CHECK IF S/C CONTROL
023966,000488: 34,2350           00006                           EXTEND                                         #  OF SATURN PANEL
023967,000489: 34,2351           02030                           RAND     CHAN30                                #  SWITCH IS ON
023968,000490: 34,2352           00006                           EXTEND                                         
023969,000491: 34,2353           12505                           BZF      STRSAT                                #  IT IS - GO STEER
023970,000492: 34,2354           11714                           CCS      SATSW                                 #  IT IS NOT - WAS IT ON LAST CYCLE
023971,000493: 34,2355           12360        WASIU              TCF      ATTDISP                               #  NO - CONTINUE
023972,000494: 34,2356           12510        WASINIT            TCF      ATRESET                               #  YES - REINITIALIZE NEEDLER (2ND PASS)
023973,000495: 34,2357           12510        WASCMC             TCF      ATRESET                               #  YES - REINITIALIZE NEEDLER
023974,000496: 
023975,000497: 34,2360           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023976,000498: 34,2361           60025                           AD       TIME1                                 
023977,000499: 34,2362           00006                           EXTEND                                         
023978,000500: 34,2363           62612                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023979,000501: 34,2364           54154                           TS       MPAC                                  #  MPAC=TIME1-RPSTART
023980,000502: 34,2365           55704                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALUCLATION
023981,000503: 34,2366           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023982,000504: 34,2367           00006                           EXTEND                                         
023983,000505: 34,2370           62372                           BZMF     +2                                    
023984,000506: 34,2371           02612        POSTPOLY           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023985,000507: 34,2372           30024                           CA       TIME2                                 
023986,000508: 34,2373           00006                           EXTEND                                         
023987,000509: 34,2374           62376                           BZMF     +2                                    
023988,000510: 34,2375           02612                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023989,000511: 34,2376           31661                           CAE      POLYNUM                               
023990,000512: 34,2377           54001                           TS       L                                     
023991,000513: 34,2400           32616                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023992,000514: 34,2401           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023993,000515: 
023994,000516: 34,2402           34772                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023995,000517: 34,2403           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023996,000518: 34,2404           06006                           TC       INTPRET                               
023997,000519: 34,2405           54201                           SETPD    SL                                    #  32(PITCH(32REV))=PITCH(REV)

Page 544

023999,000521: 34,2406           00001                                    0                                     
024000,000522: 34,2407           20206                                    5                                     
024001,000523: 34,2410           77606                           PUSH                                           #  LET P(RAD)=2.PI.PITCH(REV)
024002,000524: 34,2411           77650                           GOTO                                           
024003,000525: 34,2412           67672                                    ATTDISP1                              #  AROUND SETLOC
024004,000526:                                                                                                  #                                                                       *
024005,000527:                                                                                                  #                                          CONSTRUCT SM TO S/C MATRIX, TSMV
024006,000528: 
024007,000529: 33,2000                                           SETLOC   P11TWO                                
024008,000530: 33,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
024009,000531: 
024010,000532: 
024011,000533: 33,3672                                           COUNT*   $$/P11                                
024012,000534: 33,3672           57546        ATTDISP1           COS      DCOMP                                 
024013,000535: 33,3673           14017                           STODL    14D                                   #  -.5*COS(P)
024014,000536: 33,3674           77756                           SIN                                            
024015,000537: 33,3675           14013                           STODL    10D                                   #  .5*SIN(P)
024016,000538: 33,3676           15336                                    ZEROVECS                              
024017,000539: 33,3677           00015                           STORE    12D                                   #  0
024018,000540: 
024019,000541:                                                                                                  #                                          EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
024020,000542: 33,3700           41335                           SLOAD    DMP                                   
024021,000543: 33,3701           03305                                    SPOLYARG                              #  TIME1 - RPSTART ,CSECS B-14.
024022,000544: 33,3702           03301                                    SATRLRT                               
024023,000545: 33,3703           45261                           SL       DSU                                   
024024,000546: 33,3704           20217                                    14D                                   
024025,000547: 33,3705           15334                                    DPHALF                                
024026,000548: 33,3706           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
024027,000549: 33,3707           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
024028,000550: 33,3710           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
024029,000551: 33,3711           77634                           RTB                                            #  DETERMINE IF ROLLOUT
024030,000552: 33,3712           70601                                    RLTST                                 #  IS COMPLETED
024031,000553: 33,3713           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
024032,000554: 33,3714           77606                           PUSH                                           #  LET  R(RAD) = 2*PI*ROLL(REV)
024033,000555: 33,3715           72405                           DMP      SL1                                   
024034,000556: 33,3716           00017                                    14D                                   
024035,000557: 33,3717           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
024036,000558: 33,3720           77676                           DCOMP                                          
024037,000559: 33,3721           00023                           STORE    18D                                   #  -.5*COS(R)
024038,000560: 33,3722           72405                           DMP      SL1                                   
024039,000561: 33,3723           00013                                    10D                                   
024040,000562: 33,3724           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
024041,000563: 33,3725           41556                           SIN      PUSH                                  
024042,000564: 33,3726           00031                           STORE    24D                                   #  .5*SIN(R)
024043,000565: 33,3727           72405                           DMP      SL1                                   
024044,000566: 33,3730           00017                                    14D                                   
024045,000567: 33,3731           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
024046,000568: 33,3732           77676                           DCOMP                                          
024047,000569: 33,3733           72405                           DMP      SL1                                   
024048,000570: 33,3734           00013                                    10D                                   
024049,000571: 33,3735           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)

Page 545

024051,000573: 33,3736           00013                                    10D                                   
024052,000574: 
024053,000575:                                                                                                  #                                          FROM TSMV FIND THE HALF UNIT VECTORS  XDC,YDC,ZDC = INPUT TO CALCGTA
024054,000576: 33,3737           77656                           UNIT                                           
024055,000577: 33,3740           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
024056,000578: 33,3741           00021                                    16D                                   
024057,000579: 33,3742           77656                           UNIT                                           
024058,000580: 33,3743           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
024059,000581: 33,3744           00027                                    22D                                   #                           -SIN(R)*SIN(P))
024060,000582: 33,3745           77656                           UNIT                                           
024061,000583: 33,3746           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
024062,000584: 33,3747           47240                                    CALCGTA                               #                           -COS(R)*SIN(P))
024063,000585: 
024064,000586:                                                                                                  #                                          CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC,AND MGC
024065,000587:                                                                                                  #                                                                    -          -   -
024066,000588:                                                                                                  #                                          FIND DIFFERENCE VECTOR   DELTACDU = OGC-CDUX
024067,000589: 
024068,000590:                                                                                                  #                                          ENTER HERE IF ATTITUDE HOLD
024069,000591: 
024070,000592: 33,3750           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
024071,000593: 33,3751           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
024072,000594: 33,3752           45006                           PUSH     CALL                                  #         MGC      OGC
024073,000595: 33,3753           47530                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
024074,000596: 33,3754           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX ,PD4
024075,000597: 33,3755           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY ,   0
024076,000598: 33,3756           45644                                    V1STO2S                               #             DPSI     MGC-CDUZ ,   2
024077,000599: 33,3757           27306                           STOVL    BOOSTEMP                              
024078,000600: 33,3760           15336                                    ZEROVECS                              
024079,000601: 33,3761           24001                           STOVL    0                                     
024080,000602: 33,3762           01172                                    CDUSPOT                               
024081,000603: 33,3763           47034                           RTB      RTB                                   
024082,000604: 33,3764           45644                                    V1STO2S                               
024083,000605: 33,3765           70561                                    DELSTOR                               
024084,000606: 33,3766           14013                           STODL    10D                                   
024085,000607: 33,3767           01144                                    SINCDUZ                               
024086,000608: 33,3770           72405                           DMP      SL1                                   
024087,000609: 33,3771           00001                                    0                                     
024088,000610: 33,3772           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
024089,000611: 33,3773           00005                                    4                                     
024090,000612: 33,3774           77650                           GOTO                                           
024091,000613: 33,3775           70413                                    ATTDISP2                              
024092,000614: 
024093,000615: 34,2000                                           SETLOC   P11ONE                                
024094,000616: 34,2000                                           BANK                                           
024095,000617: 34,2413                                           COUNT*   $$/P11                                
024096,000618: 34,2413           14021        ATTDISP2           STODL    16D                                   #  16D,  .5(DPHI + DTHETA*SIN(CDUZ))
024097,000619: 34,2414           01152                                    COSCDUZ                               
024098,000620: 34,2415           41405                           DMP      PUSH                                  
024099,000621: 34,2416           00001                                    0                                     

Page 546

024101,000623: 34,2417           72405                           DMP      SL1                                   
024102,000624: 34,2420           01154                                    COSCDUX                               
024103,000625: 34,2421           41325                           PDDL     DMP                                   
024104,000626: 34,2422           01146                                    SINCDUX                               
024105,000627: 34,2423           00003                                    2                                     
024106,000628: 34,2424           72415                           DAD      SL1                                   
024107,000629: 34,2425           77626                           STADR                                          
024108,000630: 34,2426           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
024109,000631: 34,2427           72405                           DMP      SL1                                   #                          +DPSI*SIN(CDUX))
024110,000632: 34,2430           01146                                    SINCDUX                               
024111,000633: 34,2431           41325                           PDDL     DMP                                   
024112,000634: 34,2432           01154                                    COSCDUX                               
024113,000635: 34,2433           00003                                    2                                     
024114,000636: 34,2434           72425                           DSU      SL1                                   
024115,000637: 34,2435           77626                           STADR                                          
024116,000638: 34,2436           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024117,000639: 34,2437           77751                           TLOAD                                          #                          +DPSI*COS(CDUX))
024118,000640: 34,2440           00021                                    16D                                   
024119,000641: 34,2441           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
024120,000642: 34,2442           77776                           EXIT                                           
024121,000643: 
024122,000644: 34,2443           31714                           CA       SATSW                                 
024123,000645: 34,2444           10000                           CCS      A                                     #  CHK TAKEOVER STATUS
024124,000646: 34,2445           02466                           TC       SATOUT                                #  POS - DISPLAY ONLY
024125,000647: 34,2446           02474                           TC       AKLOAD                                #  0     STORE BIAS
024126,000648: 34,2447           06006        STEERSAT           TC       INTPRET                               #  NEG   STEER L/V
024127,000649: 34,2450           76351                           TLOAD    TAD                                   
024128,000650: 34,2451           03316                                    BIASAK                                
024129,000651: 34,2452           03077                                    AK                                    
024130,000652: 34,2453           03077                           STORE    AK                                    #  AKS = AKS - STORED BIAS
024131,000653: 34,2454           77776                           EXIT                                           
024132,000654: 34,2455           31476                           CA       AK                                    
024133,000655: 34,2456           02620                           TC       RESCALES                              
024134,000656: 34,2457           55476                           TS       AK                                    
024135,000657: 34,2460           31477                           CA       AK1                                   
024136,000658: 34,2461           02620                           TC       RESCALES                              
024137,000659: 34,2462           55477                           TS       AK1                                   
024138,000660: 34,2463           31500                           CA       AK2                                   
024139,000661: 34,2464           02620                           TC       RESCALES                              
024140,000662: 34,2465           55500                           TS       AK2                                   
024141,000663:                                                                                                  #                                          DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024142,000664: 
024143,000665: 34,2466           04636        SATOUT             TC       BANKCALL                              
024144,000666: 34,2467           42425                           CADR     NEEDLER                               
024145,000667: 34,2470           34125        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
024146,000668: 34,2471           04636                           TC       BANKCALL                              #  EXECUTION + DELAY =.56SEC APPROX
024147,000669: 34,2472           01731                           CADR     DELAYJOB                              
024148,000670: 34,2473           02342                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
024149,000671: 
024150,000672: 34,2474           41476        AKLOAD             CS       AK                                    #  STORE AKS

Page 547

024152,000674: 34,2475           55715                           TS       BIASAK                                #  INTO BIAS
024153,000675: 34,2476           41477                           CS       AK1                                   #  COMPLEMENTED
024154,000676: 34,2477           55716                           TS       BIASAK     +1                         
024155,000677: 34,2500           41500                           CS       AK2                                   
024156,000678: 34,2501           55717                           TS       BIASAK     +2                         
024157,000679: 34,2502           44770                           CS       BIT1                                  #  SET SW
024158,000680: 34,2503           55714                           TS       SATSW                                 #  TO STEER
024159,000681: 34,2504           02447                           TC       STEERSAT                              #  GO STEER
024160,000682: 34,2505           31714        STRSAT             CA       SATSW                                 #  CHECK IF NEEDLER
024161,000683: 34,2506           00006                           EXTEND                                         #  HAS BEEN INITIALIZED
024162,000684: 34,2507           62360                           BZMF     ATTDISP                               #  YES - CONTINUE
024163,000685: 34,2510           41501        ATRESET            CS       RCSFLAGS                              #  NO - SET
024164,000686: 34,2511           74766                           MASK     BIT3                                  #  INITIALIZATION SW
024165,000687: 34,2512           27501                           ADS      RCSFLAGS                              #  FOR NEEDLER
024166,000688: 34,2513           04636                           TC       BANKCALL                              #  AND GO
024167,000689: 34,2514           42425                           CADR     NEEDLER                               #  DO IT
024168,000690: 34,2515           36211                           CAF      REVCNT                                #  OCT 6
024169,000691: 34,2516           04636                           TC       BANKCALL                              #  DELAY JOB
024170,000692: 34,2517           01731                           CADR     DELAYJOB                              #  60 MS -WAIT TILL IMUERRCNTR ZEROED
024171,000693: 34,2520           11714                           CCS      SATSW                                 #  CHECK SW STATUS
024172,000694: 34,2521           02531                           TC       TAKEON                                #  POS   STEER INIT.
024173,000695: 34,2522           02523                           TC       +1                                    #  0     RETURN TO DISPLAY
024174,000696: 34,2523           34770                           CA       BIT1                                  #  NEG   RETURN TO DISPLAY
024175,000697: 34,2524           55714                           TS       SATSW                                 #  SW = DISPLAY ONLY
024176,000698: 34,2525           44760                           CS       BIT9                                  #  DISABLE
024177,000699: 34,2526           00006                           EXTEND                                         #  SIVB
024178,000700: 34,2527           03012                           WAND     CHAN12                                #  TAKEOVER
024179,000701: 34,2530           02466                           TC       SATOUT                                #  DISPLAY
024180,000702: 34,2531           34760        TAKEON             CAF      BIT9                                  #  ENABLE
024181,000703: 34,2532           00006                           EXTEND                                         #  SIVB
024182,000704: 34,2533           05012                           WOR      CHAN12                                #  TAKEOVER
024183,000705: 34,2534           34772                           CA       ZERO                                  #  INDICATE NEEDLER
024184,000706: 34,2535           55714                           TS       SATSW                                 #  WAS INITIALIZED
024185,000707: 34,2536           02466                           TC       SATOUT                                
024186,000708: 34,2537           51575        S11.1              VLOAD    ABVAL                                 
024187,000709: 34,2540           01036                                    VN                                    
024188,000710: 34,2541           27723                           STOVL    VMAGI                                 #  VI     SCALED  2(7)  IN METERS/CSEC
024189,000711: 34,2542           01030                                    RN                                    
024190,000712: 34,2543           50256                           UNIT     DOT                                   
024191,000713: 34,2544           01036                                    VN                                    
024192,000714: 34,2545           77752                           SL1                                            
024193,000715: 34,2546           17741                           STODL    HDOT                                  
024194,000716: 34,2547           05173                                    RPAD                                  
024195,000717: 34,2550           77214                           BOF      VLOAD                                 
024196,000718: 34,2551           00355                                    AMOONFLG                              
024197,000719: 34,2552           70555                                    EARTHALT                              
024198,000720: 34,2553           02026                                    RLS                                   
024199,000721: 34,2554           60446                           ABVAL    SR2                                   
024200,000722: 34,2555           77621        EARTHALT           BDSU                                           
024201,000723: 34,2556           00045                                    36D                                   

Page 548

024203,000725: 34,2557           03737                           STORE    ALTI                                  
024204,000726: 34,2560           77616                           RVQ                                            
024205,000727: 34,2561           31705        DELSTOR            CA       BOOSTEMP                              
024206,000728: 34,2562           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
024207,000729: 34,2563           20154                           MSU      MPAC                                  
024208,000730: 34,2564           50120                           INDEX    FIXLOC                                
024209,000731: 34,2565           54000                           TS       0                                     
024210,000732: 34,2566           31706                           CA       BOOSTEMP   +1                         
024211,000733: 34,2567           00006                           EXTEND                                         
024212,000734: 34,2570           20155                           MSU      MPAC       +1                         
024213,000735: 34,2571           50120                           INDEX    FIXLOC                                
024214,000736: 34,2572           54002                           TS       2                                     
024215,000737: 34,2573           31707                           CA       BOOSTEMP   +2                         
024216,000738: 34,2574           00006                           EXTEND                                         
024217,000739: 34,2575           20156                           MSU      MPAC       +2                         
024218,000740: 34,2576           50120                           INDEX    FIXLOC                                
024219,000741: 34,2577           54004                           TS       4                                     
024220,000742: 34,2600           16030                           TCF      DANZIG                                
024221,000743: 34,2601           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
024222,000744: 34,2602           00006                           EXTEND                                         #  IS COMPLETED
024223,000745: 34,2603           71701                           MP       SATRLRT    +1                         
024224,000746: 34,2604           00006                           EXTEND                                         
024225,000747: 34,2605           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS  STILL ROLLING
024226,000748: 34,2606           22007                           ZL                                             #  ROLLOUT COMPLETED
024227,000749: 34,2607           34772                           CAF      ZERO                                  #  ZERO OUT ROLL CONTRIBUTION
024228,000750: 34,2610           52155                           DXCH     MPAC                                  
024229,000751: 34,2611           06030                           TC       DANZIG                                
024230,000752: 34,2612           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
024231,000753: 34,2613           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
024232,000754: 34,2614           00001                                    0                                     
024233,000755: 34,2615           67750                                    NOPOLYM                               
024234,000756: 34,2616           01673        COEFPOLY           ADRES    POLYLOC                               
024235,000757: 34,2617           01476        V06N62             VN       0662                                  
024236,000758: 34,2620           00006        RESCALES           EXTEND                                         #  RESCALE AK S FOR
024237,000759: 34,2621           71720                           MP       SATSCALE                              #  NEW HARDWARE
024238,000760: 34,2622           20001                           DDOUBL                                         #  SCALING FOR
024239,000761: 34,2623           20001                           DDOUBL                                         #  STEERING
024240,000762: 34,2624           00002                           TC       Q                                     #  SATURN
024241,000763:                                                                                                  #  SATURN TAKEOVER FUNCTION
024242,000764:                                                                                                  #  ************************
024243,000765:                                                                                                  #  
024244,000766:                                                                                                  #  PROGRAM DESCRIPTION
024245,000767: 
024246,000768:                                                                                                  #        MOD NUMBER 1
024247,000769:                                                                                                  #        MOD BY ELIASSEN
024248,000770: 
024249,000771:                                                                                                  #  FUNCTIONAL DESCRIPTION
024250,000772: 
024251,000773:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024252,000774:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH

Page 549

024254,000776:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024255,000777:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024256,000778:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
024257,000779:                                                                                                  #        VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
024258,000780:                                                                                                  #        IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
024259,000781:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
024260,000782: 
024261,000783:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024262,000784:                                                                                                  #        OF THE RATE COMMAND.
024263,000785: 
024264,000786:                                                                                                  #  CALLING SEQUENCE
024265,000787: 
024266,000788:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
024267,000789:                                                                                                  #                        CADR    SATSTKON
024268,000790: 
024269,000791:                                                                                                  #  SUBROUTINES CALLED
024270,000792: 
024271,000793:                                                                                                  #        ENDEXT
024272,000794:                                                                                                  #        IBNKCALL
024273,000795:                                                                                                  #        STICKCHK
024274,000796:                                                                                                  #        NEEDLER
024275,000797:                                                                                                  #        T5RUPT
024276,000798:                                                                                                  #        RESUME
024277,000799: 
024278,000800:                                                                                                  #  ASTRONAUT REQUESTS
024279,000801: 
024280,000802:                                                                                                  #        ENTRY -  VERB 46 ENTER
024281,000803:                                                                                                  #                 (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024282,000804: 
024283,000805:                                                                                                  #        EXIT  -  VERB 48 ENTER  (FLASH V06N46)
024284,000806:                                                                                                  #                 VERB 21 ENTER  AXXXX ENTER WHERE  A=0 OR 1
024285,000807:                                                                                                  #                 VERB 34 ENTER
024286,000808:                                                                                                  #                 VERB 46 ENTER
024287,000809: 
024288,000810:                                                                                                  #  NORMAL EXIT MODE
024289,000811: 
024290,000812:                                                                                                  #                 VERB 46 ENTER  (SEE ASTRONAUT ABOVE)
024291,000813: 
024292,000814:                                                                                                  #  ALARM OR ABORT EXIT MODES
024293,000815: 
024294,000816:                                                                                                  #        NONE
024295,000817: 
024296,000818:                                                                                                  #  OUTPUT
024297,000819: 
024298,000820:                                                                                                  #        SATURN RATES IN  CDUXCMD, CDUYCMD, CDUZCMD
024299,000821: 
024300,000822:                                                                                                  #  ERASABLE INITIALIZATION
024301,000823: 
024302,000824:                                                                                                  #        DAPDATR1  (BITS 13,14 MUST BE SET)
024303,000825: 

Page 550

024305,000827:                                                                                                  #  DEBRIS
024306,000828: 
024307,000829:                                                                                                  #        CENTRALS
024308,000830:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
024309,000831: 
024310,000832: 26,2000                                           SETLOC   P11FOUR                               
024311,000833: 26,2000                                           BANK                                           
024312,000834: 
024313,000835: 26,2000                                           COUNT*   $$/P11                                
024314,000836: 26,2000           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
024315,000837: 26,2001           00006                           EXTEND                                         
024316,000838: 26,2002           22012                           QXCH     QRUPT                                 
024317,000839: 26,2003           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
024318,000840: 26,2004           74766                           MASK     BIT3                                  #  FOR
024319,000841: 26,2005           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
024320,000842: 26,2006           04714                           TC       IBNKCALL                              
024321,000843: 26,2007           42425                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
024322,000844: 26,2010           34760                           CAF      BIT9                                  #  SIVB
024323,000845: 26,2011           00006                           EXTEND                                         #  TAKEOVER
024324,000846: 26,2012           05012                           WOR      CHAN12                                #  ENABLE
024325,000847: 26,2013           00006                           EXTEND                                         #  SET UP T5 CYCLE
024326,000848: 26,2014           34541                           DCA      2SATSTCK                              
024327,000849: 26,2015           52113                           DXCH     T5LOC                                 
024328,000850: 26,2016           37661                           CAF      100MST5                               #  IN 100 MSECS
024329,000851: 26,2017           54030                           TS       TIME5                                 
024330,000852: 26,2020           15323                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
024331,000853: 
024332,000854:                                                                                                  #                                          THIS SECTION IS EXECUTED EVERY 100 MSECS
024333,000855: 
024334,000856: 21,2000                                           SETLOC   P11THREE                              
024335,000857: 21,2000                                           BANK                                           
024336,000858: 
024337,000859: 21,2000                                           COUNT*   $$/P11                                
024338,000860: 21,2000           22016        SATSTICK           LXCH     BANKRUPT                              
024339,000861: 21,2001           00006                           EXTEND                                         
024340,000862: 21,2002           22012                           QXCH     QRUPT                                 
024341,000863: 
024342,000864: 21,2003           34540                           CAF      2SATSTCK                              #  SET UP RUPT
024343,000865: 21,2004           54112                           TS       T5LOC                                 #  LO ORDER LOC SET
024344,000866: 21,2005           37661                           CAF      100MST5                               #  100 MSECS
024345,000867: 21,2006           54030                           TS       TIME5                                 
024346,000868: 21,2007           32031                           CAF      STIKBITS                              
024347,000869: 21,2010           00006                           EXTEND                                         
024348,000870: 21,2011           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
024349,000871: 21,2012           72031                           MASK     STIKBITS                              
024350,000872: 21,2013           04714                           TC       IBNKCALL                              #  SET RATE INDICES
024351,000873: 21,2014           43152                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
024352,000874: 
024353,000875: 21,2015           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
024354,000876: 21,2016           31710                           CA       SATRATE                               

Page 551

024356,000878: 21,2017           55476                           TS       AK                                    #                   ROLL
024357,000879: 21,2020           51657                           INDEX    PMANNDX                               
024358,000880: 21,2021           31710                           CA       SATRATE                               
024359,000881: 21,2022           55477                           TS       AK1                                   #                   PITCH
024360,000882: 21,2023           51660                           INDEX    YMANNDX                               
024361,000883: 21,2024           31710                           CA       SATRATE                               
024362,000884: 21,2025           55500                           TS       AK2                                   #                   YAW
024363,000885: 
024364,000886: 21,2026           04714                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
024365,000887: 21,2027           42425                           CADR     NEEDLER                               
024366,000888: 21,2030           15323        STICKOUT           TCF      RESUME                                #  END OF SATURN STICK CONTROL
024367,000889: 
024368,000890: 21,2031           00077        STIKBITS           OCT      00077                                 
024369,000891: 21,2032     7661               100MST5            =        OCT37766                              
024370,000892:    4000                                           SETLOC   FFTAG2                                
024371,000893:    4000                                           BANK                                           
024372,000894: 
024373,000895:    4540                                           COUNT*   $$/P11                                
024374,000896:    4540  E6,1704                                  EBANK=   SPOLYARG                              
024375,000897:    4540           02000 42066  2SATSTCK           2CADR    SATSTICK                              

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