Source Code
023191,000001: # Copyright: Public domain.
023192,000002: # Filename: P11.agc
023193,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
023194,000004: # It is part of the source code for the Command Module's (CM)
023195,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
023196,000006: # Assembler: yaYUL
023197,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
023198,000008: # Website: www.ibiblio.org/apollo.
023199,000009: # Pages: 533-550
023200,000010: # Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
023201,000011: # of the same name, using Comanche055 page
023202,000012: # images 0533.jpg - 0550.jpg.
023203,000013: # 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
023204,000014: # STATSW -> SATSW.
023205,000015: # 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
023206,000016: # Added an SBANK= prior to a 2CADR.
023207,000017:
023208,000018: # This source code has been transcribed or otherwise adapted from digitized
023209,000019: # images of a hardcopy from the MIT Museum. The digitization was performed
023210,000020: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
023211,000021: # thanks to both. The images (with suitable reduction in storage size and
023212,000022: # consequent reduction in image quality as well) are available online at
023213,000023: # www.ibiblio.org/apollo. If for some reason you find that the images are
023214,000024: # illegible, contact me at info@sandroid.org about getting access to the
023215,000025: # (much) higher-quality images which Paul actually created.
023216,000026:
023217,000027: # Notations on the hardcopy document read, in part:
023218,000028:
023219,000029: # Assemble revision 055 of AGC program Comanche by NASA
023220,000030: # 2021113-051. 10:28 APR. 1, 1969
023221,000031:
023222,000032: # This AGC program shall also be referred to as
023223,000033: # Colossus 2A
023224,000034: # Page 533
023225,000035: # EARTH ORBIT INSERTION MONITOR PROGRAM
023226,000036: # *************************************
023227,000037:
023228,000038: # PROGRAM DESCRIPTION -P11-
023229,000039:
023230,000040: # MOD NO. 1
023231,000041: # MOD BY ELIASSEN
023232,000042:
023233,000043: # FUNCTIONAL DESCRIPTION
023234,000044:
023235,000045: # P11 IS INITIATED BY
023236,000046:
023237,000047: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023238,000048: # B) BACKUP THRU VERB 75 ENTER
023239,000049:
023240,000050: # PROGRAM WILL
023241,000051: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023242,000052: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023243,000053: # 3. INITIATE SERVICER AT PREREAD1
023244,000054: # 4. CHANGE MAJOR MODE TO 11
023245,000055: # 5. CLEAR DSKY IN CASE OF V 75
023246,000056: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023247,000057: # 7. TERMINATE GYROCOMPASSING __ __
023248,000058: # 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
023249,000059: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
023250,000060: # _ _ X Y Z
023251,000061: # U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023252,000062: # _Z _ _
023253,000063: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
023254,000064: # _X _ _
023255,000065: # U =U * U
023256,000066: # U Z X
023257,000067: # 10. SET REFSMMAT KNOWN FLAG
023258,000068: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023259,000069: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023260,000070:
023261,000071: # R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
023262,000072: # R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
023263,000073: # R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
023264,000074: #
023265,000075: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023266,000076:
023267,000077: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023268,000078: # DESIRED ATTITUDE IS AS STORED AT L.O.
023269,000079: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023270,000080: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023271,000081: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
023272,000082: # Page 534
023273,000083: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023274,000084: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023275,000085:
023276,000086: # SUBROUTINES CALLED
023277,000087:
023278,000088: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
023279,000089: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
023280,000090: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
023281,000091: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
023282,000092: # SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
023283,000093:
023284,000094: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023285,000095:
023286,000096: # DSKY --
023287,000097: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023288,000098: # R2 MINUTES
023289,000099:
023290,000100: # DSKY --
023291,000101: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023292,000102: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023293,000103: # R3 TFF IN MINUTES/SECS
023294,000104:
023295,000105: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023296,000106: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
023297,000107: # NORMAL EXIT MODE
023298,000108:
023299,000109: # ASTRONAUT VERB 37 ENTER 00 ENTER
023300,000110:
023301,000111: # ALARM MODES -- NONE
023302,000112:
023303,000113: # ABORT EXIT MODES --
023304,000114:
023305,000115: # OUTPUT
023306,000116:
023307,000117: # TLIFTOFF (DP) TEPHEM (TP)
023308,000118: # REFSMMAT
023309,000119: # DSKY DISPLAY
023310,000120: # FDAI DISPLAY
023311,000121:
023312,000122: # ERASABLE INITIALIZATION
023313,000123:
023314,000124: # AZO, AXO, -AYO
023315,000125: # LATITUDE
023316,000126: # PADLONG
023317,000127: # TEPHEM
023318,000128: # PGNCSALT
023319,000129: # POLYNUM THRU POLYNUM +14D
023320,000130: # RPSTART
023321,000131: # POLYSTOP
023322,000132: # FLAGS SET OR RESET
023323,000133: # Page 535
023324,000134: # SET REFSMFLG
023325,000135: # SET DVMON IDLE FLAG
023326,000136: # CLEAR ERADFLAG
023327,000137:
023328,000138: # DEBRIS
023329,000139:
023330,000140: # LIFTTEMP
023331,000141: # POLYNUM THRU POLYNUM +7
023332,000142: # SPOLYARG
023333,000143: # BODY1, BODY2, BODY3
023334,000144: # VMAG2, ALTI, HDOT
023335,000145: # CENTRALS, CORE SET, AND VAC AREAS
023336,000146:
023337,000147: 04,3303 COUNT 34/P11
023338,000148:
023339,000149: 04,3303 5035 BITS5-6 = SUPER011
023340,000150: 42,3606 BANK 42
023341,000151: 34,2000 SETLOC P11ONE
023342,000152: 34,2000 BANK
023343,000153:
023344,000154: 34,2002 E3,1706 EBANK= TEPHEM
023345,000155: 34,2002 35051 P11 CA EBANK3
023346,000156: 34,2003 54003 TS EBANK
023347,000157:
023348,000158: 34,2004 00006 EXTEND
023349,000159: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
023350,000160: 34,2006 52757 DXCH -PHASE3
023351,000161: 34,2007 45021 CS ZERO
023352,000162: 34,2010 22007 ZL
023353,000163: 34,2011 55265 TS LIFTTEMP
023354,000164: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
023355,000165: 34,2013 00006 P11+7 EXTEND
023356,000166: 34,2014 32301 DCA REP11SA
023357,000167: 34,2015 53337 DXCH TLIFTOFF
023358,000168:
023359,000169: 34,2016 00006 EXTEND
023360,000170: 34,2017 30025 DCA TIME2
023361,000171: 34,2020 53266 DXCH LIFTTEMP # FORE RESTARTS
023362,000172:
023363,000173: 34,2021 35021 CA ZERO
023364,000174: 34,2022 22007 ZL
023365,000175: 34,2023 52025 DXCH TIME2
023366,000176: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
023367,000177: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
023368,000178:
023369,000179: 34,2026 00004 REP11A INHINT
023370,000180: 34,2027 00006 EXTEND
023371,000181: 34,2030 31710 DCA TEPHEM +1
023372,000182: 34,2031 53271 DXCH TEPHEM1 +1
023373,000183: 34,2032 31706 CA TEPHEM
023374,000184: # Page 536
023375,000185: 34,2033 57267 XCH TEPHEM1
023376,000186:
023377,000187: 34,2034 00006 EXTEND
023378,000188: 34,2035 31337 DCA TLIFTOFF
023379,000189: 34,2036 21271 DAS TEPHEM1 +1
023380,000190: 34,2037 27267 ADS TEPHEM1 # CORRECT FOR OVERFLOW
023381,000191:
023382,000192: 34,2040 05412 TC PHASCHNG
023383,000193: 34,2041 05023 OCT 05023
023384,000194: 34,2042 22000 OCT 22000
023385,000195:
023386,000196: 34,2043 00004 INHINT
023387,000197: 34,2044 00006 EXTEND
023388,000198: 34,2045 31270 DCA TEPHEM1
023389,000199: 34,2046 53707 DXCH TEPHEM
023390,000200: 34,2047 31271 CA TEPHEM1 +2
023391,000201: 34,2050 57710 XCH TEPHEM +2
023392,000202:
023393,000203: 34,2051 32000 CAF EBDVCNT
023394,000204: 34,2052 54003 TS EBANK
023395,000205: 34,2053 E7,1431 EBANK= DVCNTR
023396,000206: 34,2053 04740 TC IBNKCALL
023397,000207: 34,2054 76722 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
023398,000208:
023399,000209: 34,2055 05412 TC PHASCHNG
023400,000210: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
023401,000211: 34,2057 22000 OCT 22000
023402,000212:
023403,000213: 34,2060 35036 CAF .5SEC # START ATT ERROR DISPLAY
023404,000214: 34,2061 05245 TC WAITLIST # IN .5 SEC
023405,000215: 34,2062 E6,1704 EBANK= BODY3
023406,000216: 34,2062 02320 70066 2CADR ATERTASK
023407,000217:
023408,000218: 34,2064 05354 TC NEWMODEX # DISPLAY MM 11
023409,000219: 34,2065 00013 MM 11 B-14
023410,000220:
023411,000221: 34,2066 05546 TC UPFLAG
023412,000222: 34,2067 00022 ADRES NODOP01
023413,000223:
023414,000224: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
023415,000225: 34,2071 54332 TS DNLSTCOD
023416,000226:
023417,000227: 34,2072 04662 TC BANKCALL
023418,000228: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
023419,000229:
023420,000230: 34,2074 05372 TC 2PHSCHNG
023421,000231: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
023422,000232: 34,2076 00073 OCT 00073
023423,000233: 34,2077 32001 CAF EBQPLACE
023424,000234: # Page 537
023425,000235: 34,2100 54003 TS EBANK
023426,000236:
023427,000237: 34,2101 E5,1426 EBANK= QPLACES
023428,000238: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023429,000239: 34,2102 55426 TS QPLACES
023430,000240: 34,2103 06006 TC INTPRET
023431,000241: 34,2104 64375 VLOAD MXV
023432,000242: 34,2105 02467 THETAN
023433,000243: 34,2106 02672 XSM
023434,000244: 34,2107 53372 VSL1 VAD
023435,000245: 34,2110 02650 ERCOMP
023436,000246: 34,2111 16650 STODL ERCOMP
023437,000247: 34,2112 01337 TLIFTOFF
023438,000248: 34,2113 52131 SSP GOTO
023439,000249: 34,2114 00052 S2
023440,000250: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
023441,000251: 34,2116 66373 EARTHR +3
023442,000252: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
023443,000253: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
023444,000254: 34,2121 53760 DXCH OGC
023445,000255: 34,2122 22007 ZL
023446,000256: 34,2123 30033 CA CDUY
023447,000257: 34,2124 53762 DXCH IGC
023448,000258: 34,2125 22007 ZL
023449,000259: 34,2126 30034 CA CDUZ
023450,000260: 34,2127 53764 DXCH MGC
023451,000261: 34,2130 06006 TC INTPRET _
023452,000262: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
023453,000263: 34,2132 02760 OGC
023454,000264: 34,2133 02760 STORE OGC
023455,000265: 34,2134 77731 SSP # ZERO RTX2
023456,000266: 34,2135 03747 RTX2 # FOR
023457,000267: 34,2136 00000 0 # EARTH
023458,000268: 34,2137 65345 DLOAD PDDL
023459,000269: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
023460,000270: 34,2141 01264 PADLONG # LONGITUDE
023461,000271: 34,2142 55525 PDDL VDEF
023462,000272: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
023463,000273: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023464,000274: 34,2145 15335 HI6ZEROS # TIME = 0
023465,000275: 34,2146 45014 CLEAR CALL
023466,000276: 34,2147 00662 ERADFLAG
023467,000277: 34,2150 26441 LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
023468,000278:
023469,000279: 34,2151 35232 STCALL RN1 # _
023470,000280: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
023471,000281: 34,2153 53476 VCOMP UNIT
023472,000282: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
023473,000283: 34,2155 01232 RN1
023474,000284: 34,2156 74235 VXV VXSC
023475,000285: # Page 538
023476,000286: 34,2157 01714 UNITW # SCALED AT 1
023477,000287: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
023478,000288: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
023479,000289: 34,2162 25240 STOVL VN1
023480,000290: 34,2163 01752 REFSMMAT +12D
023481,000291: 34,2164 53435 VXV UNIT
023482,000292: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
023483,000293: 34,2166 47206 PUSH VXV
023484,000294: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023485,000295: 34,2170 65256 UNIT PDDL
023486,000296: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
023487,000297: 34,2172 74346 COS VXSC
023488,000298: 34,2173 77626 STADR
023489,000299: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
023490,000300: 34,2175 02634 LAUNCHAZ
023491,000301: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
023492,000302: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023493,000303: 34,2200 01736 REFSMMAT
023494,000304: 34,2201 01736 STORE REFSMMAT
023495,000305:
023496,000306: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
023497,000307: 34,2203 01752 REFSMMAT +12D
023498,000308: 34,2204 77676 VCOMP
023499,000309: 34,2205 01744 STORE REFSMMAT +6
023500,000310: 34,2206 45345 DLOAD DSU
023501,000311: 34,2207 15333 DPHALF # 1/2 REV
023502,000312: 34,2210 02634 LAUNCHAZ
023503,000313: 34,2211 65215 DAD PDDL
023504,000314: 34,2212 02401 AZIMUTH
023505,000315: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023506,000316: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023507,000317: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023508,000318: 34,2216 77414 SET EXIT
023509,000319: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023510,000320:
023511,000321: 34,2220 05412 TC PHASCHNG
023512,000322: 34,2221 04023 OCT 04023
023513,000323:
023514,000324: 34,2222 00006 EXTEND
023515,000325: 34,2223 32306 DCA P11SCADR
023516,000326: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
023517,000327:
023518,000328: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
023519,000329: 34,2226 55074 TS 1/PIPADT
023520,000330:
023521,000331: 34,2227 E6,1501 EBANK= RCSFLAGS
023522,000332: 34,2227 35057 CA EBANK6
023523,000333: 34,2230 54003 TS EBANK
023524,000334:
023525,000335: 34,2231 00004 INHINT
023526,000336: # Page 539
023527,000337: 34,2232 45021 CS ZERO
023528,000338: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
023529,000339:
023530,000340: 34,2234 40025 CS TIME1
023531,000341: 34,2235 65042 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023532,000342:
023533,000343: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023534,000344: 34,2237 12242 TCF +3 # TIME POSITIVE
023535,000345: 34,2240 12242 TCF +2 # CANNOT GET HERE
023536,000346: 34,2241 35021 CA ZERO # TIME NEGATIVE -- SET TO 1
023537,000347: 34,2242 65017 AD ONE # RESTORE TIME -- OR MAKE POSITIVE
023538,000348:
023539,000349: 34,2243 05245 TC WAITLIST
023540,000350: 34,2244 E6,1661 EBANK= AOG
023541,000351: 34,2244 02744 76066 2CADR READACCS
023542,000352:
023543,000353: 34,2246 05372 TC 2PHSCHNG
023544,000354: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
023545,000355: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023546,000356:
023547,000357: 34,2251 04701 TC POSTJUMP
023548,000358: 34,2252 77236 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023549,000359:
023550,000360:
023551,000361: 34,2253 E3,1706 EBANK= TEPHEM
023552,000362: 34,2253 00004 REP11 INHINT
023553,000363: 34,2254 10763 CCS PHASE5
023554,000364: 34,2255 05217 TC ENDOFJOB
023555,000365:
023556,000366: 34,2256 11265 CCS LIFTTEMP
023557,000367: 34,2257 12263 TCF +4
023558,000368: 34,2260 12263 TCF +3
023559,000369: 34,2261 12263 TCF +2
023560,000370: 34,2262 12013 TCF P11+7
023561,000371:
023562,000372: 34,2263 41336 CS TLIFTOFF
023563,000373: 34,2264 00006 EXTEND
023564,000374: 34,2265 62273 BZMF ENDREP11
023565,000375:
023566,000376: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023567,000377: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023568,000378:
023569,000379: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023570,000380: 34,2271 31266 DCA LIFTTEMP
023571,000381: 34,2272 12024 TCF REP11A-2
023572,000382:
023573,000383: 34,2273 00006 ENDREP11 EXTEND
023574,000384: 34,2274 32301 DCA REP11SA
023575,000385: 34,2275 12025 TCF REP11A-1
023576,000386: # Page 540
023577,000387: 34,2276 77766 00011 REP11S 2OCT 7776600011
023578,000388:
023579,000389: 34,2300 77764 00013 REP11SA 2OCT 7776400013
023580,000390:
023581,000391: 34,2302 02451 P11XIT GENADR P11OUT
023582,000392: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023583,000393:
023584,000394: 34,2305 E6,1704 EBANK= BODY3
023585,000395: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
023586,000396:
023587,000397: 34,2307 6214 POWDNCOD EQUALS THREE
023588,000398:
023589,000399: 34,2307 E6,1704 EBANK= BODY3
023590,000400: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023591,000401: # VI INERTIAL VELOCITY MAGNITUDE
023592,000402: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023593,000403: # H ALTITUDE ABOVE L PAD RADIUS
023594,000404:
023595,000405: 34,2307 06006 VHHDOT TC INTPRET
023596,000406: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
023597,000407: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
023598,000408: 34,2312 77776 EXIT
023599,000409: 34,2313 05412 TC PHASCHNG
023600,000410: 34,2314 00035 OCT 00035
023601,000411:
023602,000412: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
023603,000413: 34,2316 04662 TC BANKCALL # VI HDOT H
023604,000414: 34,2317 20707 CADR REGODSP
023605,000415:
023606,000416: 34,2320 35006 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023607,000417: 34,2321 05147 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023608,000418: 34,2322 E6,1704 EBANK= BODY3
023609,000419: 34,2322 02345 70066 2CADR ATERJOB
023610,000420:
023611,000421: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
023612,000422: 34,2325 75015 MASK BIT3 # NEEDLER
023613,000423: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
023614,000424: 34,2327 04740 TC IBNKCALL # AND GO
023615,000425: 34,2330 42420 CADR NEEDLER # DO IT
023616,000426: 34,2331 35017 CA BIT1 # SET SW
023617,000427: 34,2332 55725 TS SATSW # FOR DISPLAY
023618,000428: 34,2333 05324 TC TASKOVER
023619,000429: 34,2334 40220 GETDOWN STQ SETPD
023620,000430: 34,2335 02242 INCORPEX
023621,000431: 34,2336 00001 0D
023622,000432: 34,2337 77745 DLOAD
023623,000433: 34,2340 15335 HI6ZEROS
023624,000434: # Page 541
023625,000435: 34,2341 14007 STODL 6D
023626,000436: 34,2342 15333 DPHALF
023627,000437: 34,2343 34011 STCALL 8D
023628,000438: 34,2344 26446 LALOTORV +5
023629,000439: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023630,000440:
023631,000441: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023632,000442: # 2 3 4 5 6
023633,000443: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023634,000444: # SCALED TO 32 REVS. -14
023635,000445: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
023636,000446: # WHERE TL GE RPSTART
023637,000447: # TL LE (-POLYSTOP + RPSTART)
023638,000448: # COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
023639,000449: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023640,000450: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
023641,000451: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023642,000452: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023643,000453:
023644,000454: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023645,000455: # R = 2*PI*ROLL
023646,000456:
023647,000457: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023648,000458: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023649,000459: # YDC, AND ZDC.
023650,000460:
023651,000461: # * ( SIN(P) 0 -COS(P) ) (XDC)
023652,000462: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023653,000463: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023654,000464:
023655,000465: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023656,000466: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023657,000467: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023658,000468: # AS THE DESIRED CDU ANGLES.
023659,000469:
023660,000470: # (XDC) (OGC)
023661,000471: # (YDC) ---) CALCGTA ---) (IGC)
023662,000472: # (ZDC) (MGC)
023663,000473: # _
023664,000474: # DEFINE THE VECTOR DELTACDU.
023665,000475:
023666,000476: # _ (OGC) (CDUX)
023667,000477: # DELTACDU = (IGC) - (CDUY)
023668,000478: # (MGC) (CDUZ)
023669,000479: # _ _ * _
023670,000480: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023671,000481:
023672,000482: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
023673,000483: # Page 542
023674,000484: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023675,000485: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023676,000486: # _
023677,000487: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023678,000488: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023679,000489: # ERROR DISPLAY ROUTINE.
023680,000490:
023681,000491: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
023682,000492: 34,2346 74105 MASK OCT60000 # BITS 14, 15
023683,000493: 34,2347 00006 EXTEND
023684,000494: 34,2350 12352 BZF +2 # OK -- CONTINUE
023685,000495: 34,2351 05217 TC ENDOFJOB # STAURN STICK ON -- KILL JOB
023686,000496: 34,2352 35006 CAF BIT10 # CHECK IF S/C CONTROL
023687,000497: 34,2353 00006 EXTEND # OF SATURN PANEL
023688,000498: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
023689,000499: 34,2355 00006 EXTEND
023690,000500: 34,2356 12510 BZF STRSAT # IT IS -- GO STEER
023691,000501: 34,2357 11725 CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
023692,000502: 34,2360 02363 TC ATTDISP # NO -- CONTINUE
023693,000503: 34,2361 02513 TC ATRESET # YES -- REINITIALIZE NEEDLER
023694,000504: 34,2362 02513 TC ATRESET # YES -- REINITIALIZE NEEDLER
023695,000505: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023696,000506: 34,2364 60025 AD TIME1
023697,000507: 34,2365 00006 EXTEND
023698,000508: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023699,000509: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
023700,000510: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
023701,000511: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023702,000512: 34,2372 00006 EXTEND
023703,000513: 34,2373 62375 BZMF +2
023704,000514: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023705,000515: 34,2375 30024 CA TIME2
023706,000516: 34,2376 00006 EXTEND
023707,000517: 34,2377 62401 BZMF +2
023708,000518: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023709,000519: 34,2401 31661 CAE POLYNUM
023710,000520: 34,2402 54001 TS L
023711,000521: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023712,000522: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023713,000523: 34,2405 35021 CA ZERO # RETURN WITH PITCH(32REV)
023714,000524: 34,2406 54163 TS MODE # STORED MPAC, MPAC +1
023715,000525: 34,2407 06006 TC INTPRET
023716,000526: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023717,000527: 34,2411 00001 0
023718,000528: 34,2412 20206 5
023719,000529: 34,2413 77606 PUSH # LET P(RAD) = 2*PI*PITCH(REV)
023720,000530: 34,2414 77650 GOTO
023721,000531: 34,2415 76155 ATTDISP1 # AROUND SETLOC
023722,000532: # Page 543
023723,000533: # *
023724,000534: # CONSTRUCT SM TO S/C MATRIX, TSMV
023725,000535:
023726,000536: 37,2000 SETLOC P11TWO
023727,000537: 37,2000 BANK # 36 IN COL., 34 IN DISK
023728,000538:
023729,000539: 37,2155 COUNT 36/P11
023730,000540:
023731,000541: 37,2155 57546 ATTDISP1 COS DCOMP
023732,000542: 37,2156 14017 STODL 14D # -.5*COS(P)
023733,000543: 37,2157 77756 SIN
023734,000544: 37,2160 14013 STODL 10D # .5*SIN(P)
023735,000545: 37,2161 15335 ZEROVECS
023736,000546: 37,2162 00015 STORE 12D # 0
023737,000547:
023738,000548: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023739,000549: 37,2163 41335 SLOAD DMP
023740,000550: 37,2164 03310 SPOLYARG # TIME1 - RSPSTART, CSECS B-14.
023741,000551: 37,2165 03301 SATRLRT
023742,000552: 37,2166 45261 SL DSU
023743,000553: 37,2167 20217 14D
023744,000554: 37,2170 15333 DPHALF
023745,000555: 37,2171 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023746,000556: 37,2172 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023747,000557: 37,2173 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023748,000558: 37,2174 77634 RTB # DETERMINE IF ROLLOUT
023749,000559: 37,2175 70604 RLTST # IS COMPLETED
023750,000560: 37,2176 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023751,000561: 37,2177 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023752,000562: 37,2200 72405 DMP SL1
023753,000563: 37,2201 00017 14D
023754,000564: 37,2202 14027 STODL 22D # -.5*COS(R)*COS(P)
023755,000565: 37,2203 77676 DCOMP
023756,000566: 37,2204 00023 STORE 18D # -.5*COS(R)
023757,000567: 37,2205 72405 DMP SL1
023758,000568: 37,2206 00013 10D
023759,000569: 37,2207 14033 STODL 26D # -.5*COS(R)*SIN(P)
023760,000570: 37,2210 41556 SIN PUSH
023761,000571: 37,2211 00031 STORE 24D # .5*SIN(R)
023762,000572: 37,2212 72405 DMP SL1
023763,000573: 37,2213 00017 14D
023764,000574: 37,2214 14021 STODL 16D # -.5*SIN(R)*COS(P)
023765,000575: 37,2215 77676 DCOMP
023766,000576: 37,2216 72405 DMP SL1
023767,000577: 37,2217 00013 10D
023768,000578: 37,2220 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023769,000579: 37,2221 00013 10D
023770,000580:
023771,000581: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023772,000582: # Page 544
023773,000583: 37,2222 77656 UNIT
023774,000584: 37,2223 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023775,000585: 37,2224 00021 16D
023776,000586: 37,2225 77656 UNIT
023777,000587: 37,2226 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023778,000588: 37,2227 00027 22D # -SIN(R)*SIN(P))
023779,000589: 37,2230 77656 UNIT
023780,000590: 37,2231 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023781,000591: 37,2232 47205 CALCGTA # -COS(R)*SIN(P))
023782,000592:
023783,000593: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023784,000594: # _ _ _
023785,000595: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023786,000596: #
023787,000597: # ENTER HERE IF ATTITUDE HOLD
023788,000598:
023789,000599: 37,2233 41575 NOPOLYM VLOAD PUSH # OGC IGC
023790,000600: 37,2234 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023791,000601: 37,2235 45006 PUSH CALL # MGC OGC
023792,000602: 37,2236 47477 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023793,000603: 37,2237 47175 VLOAD RTB # _ DPHI OGC-CDUX , PD4
023794,000604: 37,2240 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023795,000605: 37,2241 45552 V1STO2S # DPSI MGC-CDUZ , 2
023796,000606: 37,2242 27317 STOVL BOOSTEMP
023797,000607: 37,2243 15335 ZEROVECS
023798,000608: 37,2244 24001 STOVL 0
023799,000609: 37,2245 00767 CDUSPOT
023800,000610: 37,2246 47034 RTB RTB
023801,000611: 37,2247 45552 V1STO2S
023802,000612: 37,2250 70564 DELSTOR
023803,000613: 37,2251 14013 STODL 10D
023804,000614: 37,2252 00741 SINCDUZ
023805,000615: 37,2253 72405 DMP SL1
023806,000616: 37,2254 00001 0
023807,000617: 37,2255 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023808,000618: 37,2256 00005 4
023809,000619: 37,2257 77650 GOTO
023810,000620: 37,2260 70416 ATTDISP2
023811,000621:
023812,000622: 34,2000 SETLOC P11ONE
023813,000623: 34,2000 BANK
023814,000624: 34,2416 COUNT 34/P11
023815,000625:
023816,000626: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023817,000627: 34,2417 00747 COSCDUZ
023818,000628: 34,2420 41405 DMP PUSH
023819,000629: 34,2421 00001 0
023820,000630: 34,2422 72405 DMP SL1
023821,000631: 34,2423 00751 COSCDUX
023822,000632: 34,2424 41325 PDDL DMP
023823,000633: # Page 545
023824,000634: 34,2425 00743 SINCDUX
023825,000635: 34,2426 00003 2
023826,000636: 34,2427 72415 DAD SL1
023827,000637: 34,2430 77626 STADR
023828,000638: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023829,000639: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
023830,000640: 34,2433 00743 SINCDUX
023831,000641: 34,2434 41325 PDDL DMP
023832,000642: 34,2435 00751 COSCDUX
023833,000643: 34,2436 00003 2
023834,000644: 34,2437 72425 DSU SL1
023835,000645: 34,2440 77626 STADR
023836,000646: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023837,000647: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
023838,000648: 34,2443 00021 16D
023839,000649: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023840,000650: 34,2445 77776 EXIT
023841,000651:
023842,000652: 34,2446 31725 CA SATSW
023843,000653: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
023844,000654: 34,2450 02471 TC SATOUT # POS -- DISPLAY ONLY
023845,000655: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
023846,000656: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
023847,000657: 34,2453 76351 TLOAD TAD
023848,000658: 34,2454 03327 BIASAK
023849,000659: 34,2455 03077 AK
023850,000660: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
023851,000661: 34,2457 77776 EXIT
023852,000662: 34,2460 31476 CA AK
023853,000663: 34,2461 02623 TC RESCALES
023854,000664: 34,2462 55476 TS AK
023855,000665: 34,2463 31477 CA AK1
023856,000666: 34,2464 02623 TC RESCALES
023857,000667: 34,2465 55477 TS AK1
023858,000668: 34,2466 31500 CA AK2
023859,000669: 34,2467 02623 TC RESCALES
023860,000670: 34,2470 55500 TS AK2
023861,000671: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023862,000672:
023863,000673: 34,2471 04662 SATOUT TC BANKCALL
023864,000674: 34,2472 42420 CADR NEEDLER
023865,000675: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023866,000676: 34,2474 04662 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
023867,000677: 34,2475 01732 CADR DELAYJOB
023868,000678: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023869,000679:
023870,000680: 34,2477 41476 AKLOAD CS AK # STORE AKS
023871,000681: 34,2500 55726 TS BIASAK # INTO BIAS
023872,000682: 34,2501 41477 CS AK1 # COMPLEMENTED
023873,000683: 34,2502 55727 TS BIASAK +1
023874,000684: # Page 546
023875,000685: 34,2503 41500 CS AK2
023876,000686: 34,2504 55730 TS BIASAK +2
023877,000687: 34,2505 45017 CS BIT1 # SET SW
023878,000688: 34,2506 55725 TS SATSW # TO STEER
023879,000689: 34,2507 02452 TC STEERSAT # GO STEER
023880,000690: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEDLER
023881,000691: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
023882,000692: 34,2512 62363 BZMF ATTDISP # YES -- CONTINUE
023883,000693: 34,2513 41501 ATRESET CS RCSFLAGS # NO -- SET
023884,000694: 34,2514 75015 MASK BIT3 # INITIALIZATION SW
023885,000695: 34,2515 27501 ADS RCSFLAGS # FOR NEDLER
023886,000696: 34,2516 04662 TC BANKCALL # AND GO
023887,000697: 34,2517 42420 CADR NEEDLER # DO IT
023888,000698: 34,2520 36211 CAF REVCNT # OCT 6
023889,000699: 34,2521 04662 TC BANKCALL # DELAY JOB
023890,000700: 34,2522 01732 CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
023891,000701: 34,2523 11725 CCS SATSW # CHECK SW STATUS
023892,000702: 34,2524 02534 TC TAKEON # POS STEER INIT.
023893,000703: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
023894,000704: 34,2526 35017 CA BIT1 # NEG RETURN TO DISPLAY
023895,000705: 34,2527 55725 TS SATSW # SW = DISPLAY ON
023896,000706: 34,2530 45007 CS BIT9 # DISABLE
023897,000707: 34,2531 00006 EXTEND # SIVB
023898,000708: 34,2532 03012 WAND CHAN12 # TAKEOVER
023899,000709: 34,2533 02471 TC SATOUT # DISPLAY
023900,000710: 34,2534 35007 TAKEON CAF BIT9 # ENABLE
023901,000711: 34,2535 00006 EXTEND # SIVB
023902,000712: 34,2536 05012 WOR CHAN12 # TAKEOVER
023903,000713: 34,2537 35021 CA ZERO # INDICATE NEEDLER
023904,000714: 34,2540 55725 TS SATSW # WAS INITIALIZED
023905,000715: 34,2541 02471 TC SATOUT
023906,000716: 34,2542 51575 S11.1 VLOAD ABVAL
023907,000717: 34,2543 01177 VN
023908,000718: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023909,000719: 34,2545 01171 RN
023910,000720: 34,2546 50256 UNIT DOT
023911,000721: 34,2547 01177 VN
023912,000722: 34,2550 77752 SL1
023913,000723: 34,2551 17737 STODL HDOT
023914,000724: 34,2552 05152 RPAD
023915,000725: 34,2553 77214 BOF VLOAD
023916,000726: 34,2554 00355 AMOONFLG
023917,000727: 34,2555 70560 EARTHALT
023918,000728: 34,2556 02026 RLS
023919,000729: 34,2557 60446 ABVAL SR2
023920,000730: 34,2560 77621 EARTHALT BDSU
023921,000731: 34,2561 00045 36D
023922,000732: 34,2562 03735 STORE ALTI
023923,000733: 34,2563 77616 RVQ
023924,000734: 34,2564 31716 DELSTOR CA BOOSTEMP
023925,000735: # Page 547
023926,000736: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023927,000737: 34,2566 20154 MSU MPAC
023928,000738: 34,2567 50120 INDEX FIXLOC
023929,000739: 34,2570 54000 TS 0
023930,000740: 34,2571 31717 CA BOOSTEMP +1
023931,000741: 34,2572 00006 EXTEND
023932,000742: 34,2573 20155 MSU MPAC +1
023933,000743: 34,2574 50120 INDEX FIXLOC
023934,000744: 34,2575 54002 TS 2
023935,000745: 34,2576 31720 CA BOOSTEMP +2
023936,000746: 34,2577 00006 EXTEND
023937,000747: 34,2600 20156 MSU MPAC +2
023938,000748: 34,2601 50120 INDEX FIXLOC
023939,000749: 34,2602 54004 TS 4
023940,000750: 34,2603 16030 TCF DANZIG
023941,000751: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023942,000752: 34,2605 00006 EXTEND # IS COMPLETED
023943,000753: 34,2606 71701 MP SATRLRT +1
023944,000754: 34,2607 00006 EXTEND
023945,000755: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023946,000756: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
023947,000757: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023948,000758: 34,2613 52155 DXCH MPAC
023949,000759: 34,2614 06030 TC DANZIG
023950,000760: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
023951,000761: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
023952,000762: 34,2617 00001 0
023953,000763: 34,2620 76233 NOPOLYM
023954,000764: 34,2621 01673 COEFPOLY ADRES POLYLOC
023955,000765: 34,2622 01476 V06N62 VN 0662
023956,000766: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
023957,000767: 34,2624 71731 MP SATSCALE # NEW HARDWARE
023958,000768: 34,2625 20001 DDOUBL # SCALING FOR
023959,000769: 34,2626 20001 DDOUBL # STEERING
023960,000770: 34,2627 00002 TC Q # SATURN
023961,000771:
023962,000772: # SATURN TAKEOVER FUNCTION
023963,000773: # ************************
023964,000774: #
023965,000775: # PROGRAM DESCRIPTION
023966,000776:
023967,000777: # MOD NUMBER 1
023968,000778: # MOD BY ELIASSEN
023969,000779:
023970,000780: # FUNCTIONAL DESCRIPTION
023971,000781:
023972,000782: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023973,000783: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023974,000784: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023975,000785: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023976,000786: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023977,000787: # Page 548
023978,000788: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023979,000789: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023980,000790: # SULTS IN A ZERO RATE COMMAND.
023981,000791:
023982,000792: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023983,000793: # OF THE RATE COMMAND.
023984,000794:
023985,000795: # CALLING SEQUENCE
023986,000796:
023987,000797: # DAPFIG +9D TC POSTJUMP
023988,000798: # CADR SATSTKON
023989,000799:
023990,000800: # SUBROUTINES CALLED
023991,000801:
023992,000802: # ENDEXT
023993,000803: # IBNKCALL
023994,000804: # STICKCHK
023995,000805: # NEEDLER
023996,000806: # T5RUPT
023997,000807: # RESUME
023998,000808:
023999,000809: # ASTRONAUT REQUESTS
024000,000810:
024001,000811: # ENTRY -- VERB 46 ENTER
024002,000812: # (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
024003,000813:
024004,000814: # EXIT -- VERB 48 ENTER (FLASH V06N46)
024005,000815: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
024006,000816: # VERB 34 ENTER
024007,000817: # VERB 46 ENTER
024008,000818:
024009,000819: # NORMAL EXIT MODE
024010,000820:
024011,000821: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
024012,000822:
024013,000823: # ALARM OR ABORT EXIT MODES
024014,000824:
024015,000825: # NONE
024016,000826:
024017,000827: # OUTPUT
024018,000828:
024019,000829: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
024020,000830:
024021,000831: # ERASABLE INITIALIZATION
024022,000832:
024023,000833: # DAPDATR1 (BITS 13, 14 MUST BE SET)
024024,000834:
024025,000835: # DEBRIS
024026,000836:
024027,000837: # CENTRALS
024028,000838: # Page 549
024029,000839: # CDUXCMD, CDUYCMD, CDUZCMD
024030,000840:
024031,000841: 43,3215 BANK 43
024032,000842: 43,2000 SETLOC EXTVERBS
024033,000843: 43,2000 BANK
024034,000844:
024035,000845: 43,3215 COUNT 23/STTKE
024036,000846: 43,3215 00006 SATSTKON EXTEND
024037,000847: 43,3216 33233 DCA 2REDOSAT
024038,000848: 43,3217 00004 INHINT
024039,000849: 43,3220 53313 DXCH T5LOC
024040,000850: 43,3221 34777 CAF POSMAX
024041,000851: 43,3222 54030 TS TIME5
024042,000852: 43,3223 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
024043,000853: 43,3224 74105 MASK RELTAB11 # FLAGWRD6
024044,000854: 43,3225 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
024045,000855: 43,3226 04740 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
024046,000856: 43,3227 42632 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
024047,000857: 43,3230 00003 RELINT
024048,000858: 43,3231 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
024049,000859:
024050,000860: 43,3232 40,2000 SBANK= PINSUPER # Added RSB 2009
024051,000861: 43,3232 E6,1704 EBANK= BODY3
024052,000862: 43,3232 02765 46106 2REDOSAT 2CADR REDOSAT
024053,000863:
024054,000864:
024055,000865: 43,3234 30,2000 SBANK= LOWSUPER
024056,000866: 32,2017 BANK 32
024057,000867: 23,2000 SETLOC P11FOUR
024058,000868: 23,2000 BANK
024059,000869:
024060,000870: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
024061,000871: 23,2766 00006 EXTEND
024062,000872: 23,2767 22012 QXCH QRUPT
024063,000873: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
024064,000874: 23,2771 75015 MASK BIT3 # FOR
024065,000875: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
024066,000876: 23,2773 04740 TC IBNKCALL
024067,000877: 23,2774 42420 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
024068,000878: 23,2775 35007 CAF BIT9 # SIVB
024069,000879: 23,2776 00006 EXTEND # TAKEOVER
024070,000880: 23,2777 05012 WOR CHAN12 # ENABLE
024071,000881: 23,3000 00006 EXTEND # SET UP T5 CYCLE
024072,000882: 23,3001 33042 DCA 2SATSTCK
024073,000883: 23,3002 53313 DXCH T5LOC
024074,000884: 23,3003 33040 CAF 100MST5 # IN 100 MSECS
024075,000885: 23,3004 54030 TS TIME5
024076,000886: 23,3005 15333 TCF RESUME # END OF SATURN STICK INITIALIZATION
024077,000887:
024078,000888: # THIS SECTION IS EXECUTED EVERY 100 MSECS.
024079,000889: # Page 550
024080,000890: 23,3006 22016 SATSTICK LXCH BANKRUPT
024081,000891: 23,3007 00006 EXTEND
024082,000892: 23,3010 22012 QXCH QRUPT
024083,000893:
024084,000894: 23,3011 33041 CAF 2SATSTCK # SET UP RUPT
024085,000895: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
024086,000896: 23,3013 33040 CAF 100MST5 # 100 MSECS
024087,000897: 23,3014 54030 TS TIME5
024088,000898: 23,3015 33037 CAF STIKBITS
024089,000899: 23,3016 00006 EXTEND
024090,000900: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
024091,000901: 23,3020 73037 MASK STIKBITS
024092,000902: 23,3021 04740 TC IBNKCALL # SET RATE INDICES
024093,000903: 23,3022 43130 CADR STICKCHK # FOR PITCH YAW AND ROLL
024094,000904:
024095,000905: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
024096,000906: 23,3024 31721 CA SATRATE
024097,000907: 23,3025 55476 TS AK # ROLL
024098,000908: 23,3026 51657 INDEX PMANNDX
024099,000909: 23,3027 31721 CA SATRATE
024100,000910: 23,3030 55477 TS AK1 # PITCH
024101,000911: 23,3031 51660 INDEX YMANNDX
024102,000912: 23,3032 31721 CA SATRATE
024103,000913: 23,3033 55500 TS AK2 # YAW
024104,000914:
024105,000915: 23,3034 04740 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
024106,000916: 23,3035 42420 CADR NEEDLER
024107,000917: 23,3036 15333 TCF RESUME # END OF SATURN STICK CONTROL
024108,000918:
024109,000919: 23,3037 00077 STIKBITS OCT 00077
024110,000920: 23,3040 37766 100MST5 DEC 16374 B-14
024111,000921: 23,3041 E6,1704 EBANK= BODY3
024112,000922: 23,3041 03006 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc