Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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023383,000002: ## Copyright: Public domain.
023384,000003: ## Filename: P11.agc
023385,000004: ## Purpose: A section of Artemis revision 071.
023386,000005: ## It is part of the reconstructed source code for the first
023387,000006: ## release of the flight software for the Command Module's
023388,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
023389,000008: ## 17. The code has been recreated from a copy of Artemis 072.
023390,000009: ## It has been adapted such that the resulting bugger words
023391,000010: ## exactly match those specified for Artemis 071 in NASA
023392,000011: ## drawing 2021154-, which gives relatively high confidence
023393,000012: ## that the reconstruction is correct.
023394,000013: ## Reference: 534
023395,000014: ## Assembler: yaYUL
023396,000015: ## Contact: Ron Burkey <info@sandroid.org>.
023397,000016: ## Website: www.ibiblio.org/apollo/index.html
023398,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
023399,000018:
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Page 534
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023401,000020:
023402,000021: # EARTH ORBIT INSERTION MONITOR PROGRAM
023403,000022: # *************************************
023404,000023:
023405,000024: # PROGRAM DESCRIPTION -P11-
023406,000025:
023407,000026: # MOD NO. 1
023408,000027: # MOD BY ELIASSEN
023409,000028:
023410,000029: # FUNCTIONAL DESCRIPTION
023411,000030:
023412,000031: # P11 IS INITIATED BY
023413,000032:
023414,000033: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023415,000034: # B) BACKUP THRU VERB 75 ENTER
023416,000035:
023417,000036: # PROGRAM WILL
023418,000037: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023419,000038: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023420,000039: # 3. INITIATE SERVICER AT PREREAD1
023421,000040: # 4. CHANGE MAJOR MODE TO 11
023422,000041: # 5. CLEAR DSKY IN CASE OF V 75
023423,000042: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023424,000043: # 7. TERMINATE GYROCOMPASSING - -
023425,000044: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
023426,000045: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
023427,000046: # - - X Y Z
023428,000047: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023429,000048: # Z
023430,000049: # - - -
023431,000050: # U =UNIT (A), A=HOR VECTOR AT LAUNCH AZIMUTH
023432,000051: # X
023433,000052: # - - -
023434,000053: # U =U * U
023435,000054: # U Z X
023436,000055: #
023437,000056: # 10. SET REFSMMAT KNOWN FLAG
023438,000057: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023439,000058: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023440,000059:
023441,000060: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
023442,000061: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023443,000062: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
023444,000063: #
023445,000064: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023446,000065:
023447,000066: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023448,000067: # DESIRED ATTITUDE IS AS STORED AT L.O.
023449,000068: # B) FROM RPSTART TO POLYSTOP (APPROX.+10 TO +133SECS AFTER LO)
023450,000069: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023451,000070: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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Page 535
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023453,000072: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023454,000073: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023455,000074:
023456,000075: # SUBROUTINES CALLED
023457,000076:
023458,000077: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
023459,000078: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
023460,000079: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
023461,000080: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
023462,000081: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
023463,000082:
023464,000083: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023465,000084:
023466,000085: # DSKY -
023467,000086: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023468,000087: # R2 MINUTES
023469,000088:
023470,000089: # DSKY -
023471,000090: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023472,000091: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023473,000092: # R3 TFF IN MINUTES/SECS
023474,000093:
023475,000094: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023476,000095: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023477,000096: # NORMAL EXIT MODE
023478,000097:
023479,000098: # ASTRONAUT VERB 37 ENTER 00 ENTER
023480,000099:
023481,000100: # ALARM MODES - NONE
023482,000101:
023483,000102: # ABORT EXIT MODES -
023484,000103:
023485,000104: # OUTPUT
023486,000105:
023487,000106: # TLIFTOFF (DP) TEPHEM (TP)
023488,000107: # REFSMMAT
023489,000108: # DSKY DISPLAY
023490,000109: # FDAI DISPLAY
023491,000110:
023492,000111: # ERASABLE INITIALIZATION
023493,000112:
023494,000113: # AZO, AXO, -AYO
023495,000114: # LATITUDE
023496,000115: # PADLONG
023497,000116: # TEPHEM
023498,000117: # PGNCSALT
023499,000118: # POLYNUM THRU POLYNUM +14D)
023500,000119: # RPSTART
023501,000120: # POLYSTOP
023502,000121: # FLAGS SET OR RESET
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Page 536
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023504,000123: # SET REFSMFLG
023505,000124: # SET DVMON IDLE FLAG
023506,000125: # CLEAR ERADFLAG
023507,000126:
023508,000127: # DEBRIS
023509,000128:
023510,000129: # LIFTTEMP
023511,000130: # POLYNUM THRU POLYNUM +7
023512,000131: # SPOLYARG
023513,000132: # BODY1, BODY2, BODY3
023514,000133: # VMAG2, ALTI, HDOT
023515,000134: # CENTRALS, CORE SET AND VAC AREAS
023516,000135: 36,2016 5010 BITS5-6 = SUPER011
023517,000136: 34,2000 SETLOC P11ONE
023518,000137: 34,2000 BANK
023519,000138:
023520,000139: 34,2000 COUNT* $$/P11
023521,000140: 34,2000 E3,1706 EBANK= TEPHEM
023522,000141: 34,2000 35024 P11 CA EBANK3
023523,000142: 34,2001 54003 TS EBANK
023524,000143:
023525,000144: 34,2002 00006 EXTEND
023526,000145: 34,2003 32274 DCA REP11S # DIRECT RESTARTS TO REP11
023527,000146: 34,2004 53162 DXCH -PHASE3
023528,000147: 34,2005 01,2071 3P11SPT1 = 3.11SPOT
023529,000148: 34,2005 44772 CS ZERO
023530,000149: 34,2006 22007 ZL
023531,000150: 34,2007 55126 TS LIFTTEMP
023532,000151: 34,2010 53166 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
023533,000152: 34,2011 00006 P11+7 EXTEND
023534,000153: 34,2012 32276 DCA REP11SA
023535,000154: 34,2013 53022 DXCH TLIFTOFF
023536,000155:
023537,000156: 34,2014 00006 EXTEND
023538,000157: 34,2015 30025 ZROCLOCK DCA TIME2
023539,000158: 34,2016 53127 DXCH LIFTTEMP # FOR RESTARTS
023540,000159:
023541,000160: 34,2017 34772 -5 CAF ZERO
023542,000161: 34,2020 22007 ZL
023543,000162: 34,2021 52025 DXCH TIME2
023544,000163: 34,2022 53022 REP11A-2 DXCH TLIFTOFF
023545,000164: 34,2023 53162 REP11A-1 DXCH -PHASE3 # RESET PHASE
023546,000165:
023547,000166: 34,2024 01,2074 3P13SPT1 = 3.13SPOT
023548,000167: 34,2024 00004 REP11A INHINT
023549,000168: 34,2025 00006 EXTEND
023550,000169: 34,2026 31710 DCA TEPHEM +1
023551,000170: 34,2027 53132 DXCH TEPHEM1 +1
023552,000171: 34,2030 31706 CA TEPHEM
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Page 537
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023554,000173: 34,2031 57130 XCH TEPHEM1
023555,000174:
023556,000175: 34,2032 00006 EXTEND
023557,000176: 34,2033 31022 DCA TLIFTOFF
023558,000177: 34,2034 21132 DAS TEPHEM1 +1
023559,000178: 34,2035 27130 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
023560,000179:
023561,000180: 34,2036 05402 TC PHASCHNG
023562,000181: 34,2037 05023 OCT 05023
023563,000182: 34,2040 22000 OCT 22000
023564,000183:
023565,000184: 34,2041 00004 INHINT
023566,000185: 34,2042 00006 EXTEND
023567,000186: 34,2043 31131 DCA TEPHEM1
023568,000187: 34,2044 53707 DXCH TEPHEM
023569,000188: 34,2045 31132 CA TEPHEM1 +2
023570,000189: 34,2046 57710 XCH TEPHEM +2
023571,000190:
023572,000191: 34,2047 35046 CAF EBANK7
023573,000192: 34,2050 54003 TS EBANK
023574,000193: 34,2051 E7,1425 EBANK= DVTOTAL
023575,000194: 34,2051 04714 TC IBNKCALL
023576,000195: 34,2052 76630 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
023577,000196:
023578,000197: 34,2053 05402 TC PHASCHNG
023579,000198: 34,2054 05023 OCT 05023 # CONTINUE HERE ON RESTART
023580,000199: 34,2055 22000 OCT 22000
023581,000200:
023582,000201: 34,2056 35011 CAF .5SEC # START ATT ERROR DISPLAY
023583,000202: 34,2057 05233 TC WAITLIST # IN .5 SEC
023584,000203: 34,2060 E6,1704 EBANK= SPOLYARG
023585,000204: 34,2060 02315 70066 2CADR ATERTASK
023586,000205:
023587,000206: 34,2062 05344 TC NEWMODEX # DISPLAY MM 11
023588,000207: 34,2063 00013 MM 11 B-14
023589,000208:
023590,000209: 34,2064 05547 TC UPFLAG
023591,000210: 34,2065 00022 ADRES NODOP01
023592,000211:
023593,000212: 34,2066 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
023594,000213: 34,2067 54332 TS DNLSTCOD
023595,000214:
023596,000215: 34,2070 04636 TC BANKCALL
023597,000216: 34,2071 20715 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
023598,000217:
023599,000218: 34,2072 05362 TC 2PHSCHNG
023600,000219: 34,2073 40514 OCT 40514 # PROTECT ATERTASK
023601,000220: 34,2074 00073 OCT 00073
023602,000221: 34,2075 01,2066 3P7SPT1 = 3.7SPOT
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Page 538
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023604,000223: 34,2075 01,2215 4P51SPT1 = 4.51SPOT
023605,000224: 34,2075 35043 CAF EBANK5
023606,000225: 34,2076 54003 TS EBANK
023607,000226:
023608,000227: 34,2077 E5,1426 EBANK= QPLACES
023609,000228: 34,2077 32277 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023610,000229: 34,2100 55426 TS QPLACES
023611,000230: 34,2101 06006 TC INTPRET
023612,000231: 34,2102 64375 VLOAD MXV
023613,000232: 34,2103 02467 THETAN
023614,000233: 34,2104 02672 XSM
023615,000234: 34,2105 53372 VSL1 VAD
023616,000235: 34,2106 02650 ERCOMP
023617,000236: 34,2107 16650 STODL ERCOMP
023618,000237: 34,2110 01022 TLIFTOFF
023619,000238: 34,2111 52131 SSP GOTO
023620,000239: 34,2112 00052 S2
023621,000240: 34,2113 66202 CADR PROUT # RETURN FROM EARTHR
023622,000241: 34,2114 66151 EARTHR +3
023623,000242: 34,2115 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
023624,000243: 34,2116 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
023625,000244: 34,2117 53760 DXCH OGC
023626,000245: 34,2120 22007 ZL
023627,000246: 34,2121 30033 CA CDUY
023628,000247: 34,2122 53762 DXCH IGC
023629,000248: 34,2123 22007 ZL
023630,000249: 34,2124 30034 CA CDUZ
023631,000250: 34,2125 53764 DXCH MGC
023632,000251: 34,2126 06006 TC INTPRET # -
023633,000252: 34,2127 74575 VLOAD VSR1 # SCALE OGC B-1
023634,000253: 34,2130 02760 OGC
023635,000254: 34,2131 02760 STORE OGC
023636,000255: 34,2132 77731 SSP # ZERO RTX2
023637,000256: 34,2133 03747 RTX2 # FOR
023638,000257: 34,2134 00000 0 # EARTH
023639,000258: 34,2135 65345 DLOAD PDDL
023640,000259: 34,2136 01134 PGNCSALT # ALTITUDE OF PGNCS
023641,000260: 34,2137 01136 PADLONG # LONGITUDE
023642,000261: 34,2140 55525 PDDL VDEF
023643,000262: 34,2141 02403 LATITUDE # GEODETIC LATITUDE
023644,000263: 34,2142 14747 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023645,000264: 34,2143 15336 HI6ZEROS # TIME = 0
023646,000265: 34,2144 45014 CLEAR CALL
023647,000266: 34,2145 00662 ERADFLAG
023648,000267: 34,2146 26524 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
023649,000268:
023650,000269: 34,2147 35071 STCALL RN1 # -
023651,000270: 34,2150 70331 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
023652,000271: 34,2151 53476 VCOMP UNIT
023653,000272: 34,2152 25750 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
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Page 539
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023655,000274: 34,2153 01071 RN1
023656,000275: 34,2154 74235 VXV VXSC
023657,000276: 34,2155 01712 UNITW # SCALED AT 1
023658,000277: 34,2156 30301 -ERTHRAT # V = EARTHRATE X R
023659,000278: 34,2157 77712 VSL4 # SCALE TO 2(7) M/CS
023660,000279: 34,2160 25077 STOVL VN1
023661,000280: 34,2161 01750 REFSMMAT +12D
023662,000281: 34,2162 53435 VXV UNIT
023663,000282: 34,2163 01712 UNITW # (REF3 X UNITW) = EAST
023664,000283: 34,2164 47206 PUSH VXV
023665,000284: 34,2165 01750 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023666,000285: 34,2166 65256 UNIT PDDL
023667,000286: 34,2167 02634 LAUNCHAZ # COS(AZ)*SOUTH
023668,000287: 34,2170 74346 COS VXSC
023669,000288: 34,2171 77626 STADR
023670,000289: 34,2172 62043 STODL REFSMMAT # TEMPORARY STORAGE
023671,000290: 34,2173 02634 LAUNCHAZ
023672,000291: 34,2174 74356 SIN VXSC # SIN(AZ)*EAST
023673,000292: 34,2175 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023674,000293: 34,2176 01734 REFSMMAT
023675,000294: 34,2177 01734 STORE REFSMMAT
023676,000295:
023677,000296: 34,2200 53435 VXV UNIT # (REF1 X REF3) = -REF3
023678,000297: 34,2201 01750 REFSMMAT +12D
023679,000298: 34,2202 77676 VCOMP
023680,000299: 34,2203 01742 STORE REFSMMAT +6
023681,000300: 34,2204 45345 TRNVNREF DLOAD DSU
023682,000301: 34,2205 15334 DPHALF # 1/2 REV
023683,000302: 34,2206 02634 LAUNCHAZ
023684,000303: 34,2207 65215 DAD PDDL
023685,000304: 34,2210 02401 AZIMUTH
023686,000305: 34,2211 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023687,000306: 34,2212 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023688,000307: 34,2213 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023689,000308: 34,2214 77414 SET EXIT
023690,000309: 34,2215 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023691,000310:
023692,000311: 34,2216 05402 TC PHASCHNG
023693,000312: 34,2217 04023 OCT 04023
023694,000313:
023695,000314: 34,2220 00006 EXTEND
023696,000315: 34,2221 32303 DCA P11SCADR
023697,000316: 34,2222 53062 DXCH AVGEXIT # SET AVGEXIT
023698,000317:
023699,000318: 34,2223 37652 CA PRIO31 # 2 SECONDS AT 2(+8)
023700,000319: 34,2224 55277 TS 1/PIPADT
023701,000320:
023702,000321: 34,2225 E6,1501 EBANK= RCSFLAGS
023703,000322: 34,2225 04611 TC E6SETTER
023704,000323:
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Page 540
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023706,000325: 34,2226 00004 INHINT
023707,000326: 34,2227 44772 CS ZERO
023708,000327: 34,2230 55267 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
023709,000328:
023710,000329: 34,2231 40025 CS TIME1
023711,000330: 34,2232 65017 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023712,000331:
023713,000332: 34,2233 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023714,000333: 34,2234 12237 TCF +3 # TIME POSITIVE
023715,000334: 34,2235 12237 TCF +2 # CANNOT GET HERE
023716,000335: 34,2236 34772 CA ZERO # TIME NEGATIVE - SET TO 1
023717,000336: 34,2237 64770 AD ONE # RESTORE TIME - OR MAKE POSITIVE
023718,000337:
023719,000338: 34,2240 05233 TC WAITLIST
023720,000339: 34,2241 E6,1661 EBANK= AOG
023721,000340: 34,2241 02652 76066 2CADR READACCS
023722,000341: 34,2243 05362 TC 2PHSCHNG
023723,000342: 34,2244 00003 OCT 00003 # TURN OFF GROUP 3
023724,000343: 34,2245 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023725,000344:
023726,000345: 34,2246 01,2234 5P2SPT1 = 5.2SPOT
023727,000346: 34,2246 04655 TC POSTJUMP
023728,000347: 34,2247 77154 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023729,000348:
023730,000349:
023731,000350: 34,2250 E3,1706 EBANK= TEPHEM
023732,000351: 34,2250 00004 REP11 INHINT
023733,000352: 34,2251 11166 CCS PHASE5
023734,000353: 34,2252 05205 TC ENDOFJOB
023735,000354:
023736,000355: 34,2253 11126 CCS LIFTTEMP
023737,000356: 34,2254 12260 TCF +4
023738,000357: 34,2255 12260 TCF +3
023739,000358: 34,2256 12260 TCF +2
023740,000359: 34,2257 12011 TCF P11+7
023741,000360:
023742,000361: 34,2260 41021 CS TLIFTOFF
023743,000362: 34,2261 00006 EXTEND
023744,000363: 34,2262 62270 BZMF ENDREP11
023745,000364:
023746,000365: 34,2263 10024 CCS TIME2 # **TIME2 MUST BE NON-ZERO AT LIFTOFF**
023747,000366: 34,2264 12017 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023748,000367:
023749,000368: 34,2265 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023750,000369: 34,2266 31127 DCA LIFTTEMP
023751,000370: 34,2267 12022 TCF REP11A-2
023752,000371:
023753,000372: 34,2270 00006 ENDREP11 EXTEND
023754,000373: 34,2271 32276 DCA REP11SA
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Page 541
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023756,000375: 34,2272 12023 TCF REP11A-1
023757,000376:
023758,000377:
023759,000378: 34,2273 77766 00011 REP11S 2OCT 7776600011
023760,000379: 34,2275 77764 00013 REP11SA 2OCT 7776400013
023761,000380:
023762,000381:
023763,000382: 34,2277 02225 P11XIT GENADR P11OUT
023764,000383: 34,2300 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023765,000384: 34,2302 E6,1704 EBANK= SPOLYARG
023766,000385: 34,2302 02304 70066 P11SCADR 2CADR VHHDOT
023767,000386: 34,2304 6214 POWDNCOD EQUALS THREE
023768,000387:
023769,000388:
023770,000389: 34,2304 E6,1704 EBANK= SPOLYARG
023771,000390: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023772,000391: # VI INERTIAL VELOCITY MAGNITUDE
023773,000392: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023774,000393: # H ALTITUDE ABOVE L PAD RADIUS
023775,000394:
023776,000395: 34,2304 06006 VHHDOT TC INTPRET
023777,000396: 34,2305 77624 CALL # LOAD VMAGI, ALTI,
023778,000397: 34,2306 70537 S11.1 # HDOT FOR DISPLAY
023779,000398: 34,2307 77776 EXIT
023780,000399: 34,2310 05402 TC PHASCHNG
023781,000400: 34,2311 00035 OCT 00035
023782,000401:
023783,000402: 34,2312 01,2250 5P3SPT1 = 5.3SPOT
023784,000403: 34,2312 32617 CAF V06N62 # DISPLAY IN R1 R2 R3
023785,000404: 34,2313 04636 TC BANKCALL # VI HDOT H
023786,000405: 34,2314 20721 CADR REGODSP
023787,000406:
023788,000407: 34,2315 34757 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023789,000408: 34,2316 05135 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023790,000409: 34,2317 E6,1704 EBANK= SPOLYARG
023791,000410: 34,2317 02342 70066 2CADR ATERJOB
023792,000411: 34,2321 41501 CS RCSFLAGS # SET BIT3 FOR
023793,000412: 34,2322 74766 MASK BIT3 # NEEDLER
023794,000413: 34,2323 27501 ADS RCSFLAGS # INITIALIZATION PASS
023795,000414: 34,2324 04714 TC IBNKCALL # AND GO
023796,000415: 34,2325 42425 CADR NEEDLER # DO IT
023797,000416: 34,2326 34770 CA BIT1 # SET SW
023798,000417: 34,2327 55714 TS SATSW # FOR DISPLAY
023799,000418: 34,2330 05314 TC TASKOVER
023800,000419: 34,2331 40220 GETDOWN STQ SETPD
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Page 542
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023802,000421: 34,2332 02241 INCORPEX
023803,000422: 34,2333 00001 0D
023804,000423: 34,2334 77745 DLOAD
023805,000424: 34,2335 15336 HI6ZEROS
023806,000425: 34,2336 14007 STODL 6D
023807,000426: 34,2337 15334 DPHALF
023808,000427: 34,2340 34011 STCALL 8D
023809,000428: 34,2341 26531 LALOTORV +5
023810,000429: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023811,000430:
023812,000431: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023813,000432: # 2 3 4 5 6
023814,000433: # PITCH= A0+A1T+A2T +A3T +A4T +A5T +A6T
023815,000434: # SCALED TO 32 REVS. -14
023816,000435: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
023817,000436: # WHERE TL GE RPSTART
023818,000437: # TL LE (-POLYSTOP + RPSTART)
023819,000438: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023820,000439: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023821,000440: # ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV
023822,000441: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023823,000442: # T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
023824,000443:
023825,000444: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023826,000445: # R = 2*PI*ROLL
023827,000446:
023828,000447: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023829,000448: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023830,000449: # YDC, AND ZDC.
023831,000450:
023832,000451: # * ( SIN(P) 0 -COS(P) ) (XDC)
023833,000452: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023834,000453: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023835,000454:
023836,000455: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023837,000456: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023838,000457: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023839,000458: # AS THE DESIRED CDU ANGLES.
023840,000459:
023841,000460: # (XDC) (OGC)
023842,000461: # (YDC) ---) CALCGTA ---) (IGC)
023843,000462: # (ZDC) (MGC)
023844,000463: # -
023845,000464: # DEFINE THE VECTOR DELTACDU.
023846,000465:
023847,000466: # - (OGC) (CDUX)
023848,000467: # DELTACDU = (IGC) - (CDUY)
023849,000468: # (MGC) (CDUZ)
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Page 543
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023851,000470: # - - * -
023852,000471: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023853,000472:
023854,000473: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
023855,000474: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023856,000475: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023857,000476:
023858,000477: # -
023859,000478: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023860,000479: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023861,000480: # ERROR DISPLAY ROUTINE.
023862,000481:
023863,000482: 34,2342 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
023864,000483: 34,2343 74076 MASK DPCONFIG # BITS 14,15
023865,000484: 34,2344 00006 EXTEND
023866,000485: 34,2345 12347 BZF +2 # OK - CONTINUE
023867,000486: 34,2346 05205 TC ENDOFJOB # SATURN STICK ON - KILL JOB
023868,000487: 34,2347 34757 CAF BIT10 # CHECK IF S/C CONTROL
023869,000488: 34,2350 00006 EXTEND # OF SATURN PANEL
023870,000489: 34,2351 02030 RAND CHAN30 # SWITCH IS ON
023871,000490: 34,2352 00006 EXTEND
023872,000491: 34,2353 12505 BZF STRSAT # IT IS - GO STEER
023873,000492: 34,2354 11714 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
023874,000493: 34,2355 12360 WASIU TCF ATTDISP # NO - CONTINUE
023875,000494: 34,2356 12510 WASINIT TCF ATRESET # YES - REINITIALIZE NEEDLER (2ND PASS)
023876,000495: 34,2357 12510 WASCMC TCF ATRESET # YES - REINITIALIZE NEEDLER
023877,000496:
023878,000497: 34,2360 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023879,000498: 34,2361 60025 AD TIME1
023880,000499: 34,2362 00006 EXTEND
023881,000500: 34,2363 62612 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023882,000501: 34,2364 54154 TS MPAC # MPAC=TIME1-RPSTART
023883,000502: 34,2365 55704 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
023884,000503: 34,2366 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023885,000504: 34,2367 00006 EXTEND
023886,000505: 34,2370 62372 BZMF +2
023887,000506: 34,2371 02612 POSTPOLY TC NOPOLY # GO TO ATTITUDE HOLD
023888,000507: 34,2372 30024 CA TIME2
023889,000508: 34,2373 00006 EXTEND
023890,000509: 34,2374 62376 BZMF +2
023891,000510: 34,2375 02612 TC NOPOLY # GO TO ATTITUDE HOLD
023892,000511: 34,2376 31661 CAE POLYNUM
023893,000512: 34,2377 54001 TS L
023894,000513: 34,2400 32616 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023895,000514: 34,2401 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023896,000515:
023897,000516: 34,2402 34772 CA ZERO # RETURN WITH PITCH(32REV)
023898,000517: 34,2403 54163 TS MODE # STORED IN MPAC, MPAC +1
023899,000518: 34,2404 06006 TC INTPRET
023900,000519: 34,2405 54201 SETPD SL # 32(PITCH(32REV))=PITCH(REV)
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Page 544
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023902,000521: 34,2406 00001 0
023903,000522: 34,2407 20206 5
023904,000523: 34,2410 77606 PUSH # LET P(RAD)=2.PI.PITCH(REV)
023905,000524: 34,2411 77650 GOTO
023906,000525: 34,2412 67671 ATTDISP1 # AROUND SETLOC
023907,000526: # *
023908,000527: # CONSTRUCT SM TO S/C MATRIX, TSMV
023909,000528:
023910,000529: 33,2000 SETLOC P11TWO
023911,000530: 33,2000 BANK # 36 IN COL., 34 IN DISK
023912,000531:
023913,000532:
023914,000533: 33,3671 COUNT* $$/P11
023915,000534: 33,3671 57546 ATTDISP1 COS DCOMP
023916,000535: 33,3672 14017 STODL 14D # -.5*COS(P)
023917,000536: 33,3673 77756 SIN
023918,000537: 33,3674 14013 STODL 10D # .5*SIN(P)
023919,000538: 33,3675 15336 ZEROVECS
023920,000539: 33,3676 00015 STORE 12D # 0
023921,000540:
023922,000541: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023923,000542: 33,3677 41335 SLOAD DMP
023924,000543: 33,3700 03305 SPOLYARG # TIME1 - RPSTART ,CSECS B-14.
023925,000544: 33,3701 03301 SATRLRT
023926,000545: 33,3702 45261 SL DSU
023927,000546: 33,3703 20217 14D
023928,000547: 33,3704 15334 DPHALF
023929,000548: 33,3705 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023930,000549: 33,3706 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023931,000550: 33,3707 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023932,000551: 33,3710 77634 RTB # DETERMINE IF ROLLOUT
023933,000552: 33,3711 70601 RLTST # IS COMPLETED
023934,000553: 33,3712 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023935,000554: 33,3713 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023936,000555: 33,3714 72405 DMP SL1
023937,000556: 33,3715 00017 14D
023938,000557: 33,3716 14027 STODL 22D # -.5*COS(R)*COS(P)
023939,000558: 33,3717 77676 DCOMP
023940,000559: 33,3720 00023 STORE 18D # -.5*COS(R)
023941,000560: 33,3721 72405 DMP SL1
023942,000561: 33,3722 00013 10D
023943,000562: 33,3723 14033 STODL 26D # -.5*COS(R)*SIN(P)
023944,000563: 33,3724 41556 SIN PUSH
023945,000564: 33,3725 00031 STORE 24D # .5*SIN(R)
023946,000565: 33,3726 72405 DMP SL1
023947,000566: 33,3727 00017 14D
023948,000567: 33,3730 14021 STODL 16D # -.5*SIN(R)*COS(P)
023949,000568: 33,3731 77676 DCOMP
023950,000569: 33,3732 72405 DMP SL1
023951,000570: 33,3733 00013 10D
023952,000571: 33,3734 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
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023954,000573: 33,3735 00013 10D
023955,000574:
023956,000575: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023957,000576: 33,3736 77656 UNIT
023958,000577: 33,3737 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023959,000578: 33,3740 00021 16D
023960,000579: 33,3741 77656 UNIT
023961,000580: 33,3742 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023962,000581: 33,3743 00027 22D # -SIN(R)*SIN(P))
023963,000582: 33,3744 77656 UNIT
023964,000583: 33,3745 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023965,000584: 33,3746 47240 CALCGTA # -COS(R)*SIN(P))
023966,000585:
023967,000586: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC
023968,000587: # - - -
023969,000588: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023970,000589:
023971,000590: # ENTER HERE IF ATTITUDE HOLD
023972,000591:
023973,000592: 33,3747 41575 NOPOLYM VLOAD PUSH # OGC IGC
023974,000593: 33,3750 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023975,000594: 33,3751 45006 PUSH CALL # MGC OGC
023976,000595: 33,3752 47530 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023977,000596: 33,3753 47175 VLOAD RTB # - DPHI OGC-CDUX ,PD4
023978,000597: 33,3754 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023979,000598: 33,3755 45644 V1STO2S # DPSI MGC-CDUZ , 2
023980,000599: 33,3756 27306 STOVL BOOSTEMP
023981,000600: 33,3757 15336 ZEROVECS
023982,000601: 33,3760 24001 STOVL 0
023983,000602: 33,3761 01172 CDUSPOT
023984,000603: 33,3762 47034 RTB RTB
023985,000604: 33,3763 45644 V1STO2S
023986,000605: 33,3764 70561 DELSTOR
023987,000606: 33,3765 14013 STODL 10D
023988,000607: 33,3766 01144 SINCDUZ
023989,000608: 33,3767 72405 DMP SL1
023990,000609: 33,3770 00001 0
023991,000610: 33,3771 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023992,000611: 33,3772 00005 4
023993,000612: 33,3773 77650 GOTO
023994,000613: 33,3774 70413 ATTDISP2
023995,000614:
023996,000615: 34,2000 SETLOC P11ONE
023997,000616: 34,2000 BANK
023998,000617: 34,2413 COUNT* $$/P11
023999,000618: 34,2413 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
024000,000619: 34,2414 01152 COSCDUZ
024001,000620: 34,2415 41405 DMP PUSH
024002,000621: 34,2416 00001 0
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024004,000623: 34,2417 72405 DMP SL1
024005,000624: 34,2420 01154 COSCDUX
024006,000625: 34,2421 41325 PDDL DMP
024007,000626: 34,2422 01146 SINCDUX
024008,000627: 34,2423 00003 2
024009,000628: 34,2424 72415 DAD SL1
024010,000629: 34,2425 77626 STADR
024011,000630: 34,2426 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
024012,000631: 34,2427 72405 DMP SL1 # +DPSI*SIN(CDUX))
024013,000632: 34,2430 01146 SINCDUX
024014,000633: 34,2431 41325 PDDL DMP
024015,000634: 34,2432 01154 COSCDUX
024016,000635: 34,2433 00003 2
024017,000636: 34,2434 72425 DSU SL1
024018,000637: 34,2435 77626 STADR
024019,000638: 34,2436 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024020,000639: 34,2437 77751 TLOAD # +DPSI*COS(CDUX))
024021,000640: 34,2440 00021 16D
024022,000641: 34,2441 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
024023,000642: 34,2442 77776 EXIT
024024,000643:
024025,000644: 34,2443 31714 CA SATSW
024026,000645: 34,2444 10000 CCS A # CHK TAKEOVER STATUS
024027,000646: 34,2445 02466 TC SATOUT # POS - DISPLAY ONLY
024028,000647: 34,2446 02474 TC AKLOAD # 0 STORE BIAS
024029,000648: 34,2447 06006 STEERSAT TC INTPRET # NEG STEER L/V
024030,000649: 34,2450 76351 TLOAD TAD
024031,000650: 34,2451 03316 BIASAK
024032,000651: 34,2452 03077 AK
024033,000652: 34,2453 03077 STORE AK # AKS = AKS - STORED BIAS
024034,000653: 34,2454 77776 EXIT
024035,000654: 34,2455 31476 CA AK
024036,000655: 34,2456 02620 TC RESCALES
024037,000656: 34,2457 55476 TS AK
024038,000657: 34,2460 31477 CA AK1
024039,000658: 34,2461 02620 TC RESCALES
024040,000659: 34,2462 55477 TS AK1
024041,000660: 34,2463 31500 CA AK2
024042,000661: 34,2464 02620 TC RESCALES
024043,000662: 34,2465 55500 TS AK2
024044,000663: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024045,000664:
024046,000665: 34,2466 04636 SATOUT TC BANKCALL
024047,000666: 34,2467 42425 CADR NEEDLER
024048,000667: 34,2470 34125 ATERSET CAF OCT31 # DELAY .25 SEC
024049,000668: 34,2471 04636 TC BANKCALL # EXECUTION + DELAY =.56SEC APPROX
024050,000669: 34,2472 01731 CADR DELAYJOB
024051,000670: 34,2473 02342 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
024052,000671:
024053,000672: 34,2474 41476 AKLOAD CS AK # STORE AKS
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Page 547
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024055,000674: 34,2475 55715 TS BIASAK # INTO BIAS
024056,000675: 34,2476 41477 CS AK1 # COMPLEMENTED
024057,000676: 34,2477 55716 TS BIASAK +1
024058,000677: 34,2500 41500 CS AK2
024059,000678: 34,2501 55717 TS BIASAK +2
024060,000679: 34,2502 44770 CS BIT1 # SET SW
024061,000680: 34,2503 55714 TS SATSW # TO STEER
024062,000681: 34,2504 02447 TC STEERSAT # GO STEER
024063,000682: 34,2505 31714 STRSAT CA SATSW # CHECK IF NEEDLER
024064,000683: 34,2506 00006 EXTEND # HAS BEEN INITIALIZED
024065,000684: 34,2507 62360 BZMF ATTDISP # YES - CONTINUE
024066,000685: 34,2510 41501 ATRESET CS RCSFLAGS # NO - SET
024067,000686: 34,2511 74766 MASK BIT3 # INITIALIZATION SW
024068,000687: 34,2512 27501 ADS RCSFLAGS # FOR NEEDLER
024069,000688: 34,2513 04636 TC BANKCALL # AND GO
024070,000689: 34,2514 42425 CADR NEEDLER # DO IT
024071,000690: 34,2515 36211 CAF REVCNT # OCT 6
024072,000691: 34,2516 04636 TC BANKCALL # DELAY JOB
024073,000692: 34,2517 01731 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
024074,000693: 34,2520 11714 CCS SATSW # CHECK SW STATUS
024075,000694: 34,2521 02531 TC TAKEON # POS STEER INIT.
024076,000695: 34,2522 02523 TC +1 # 0 RETURN TO DISPLAY
024077,000696: 34,2523 34770 CA BIT1 # NEG RETURN TO DISPLAY
024078,000697: 34,2524 55714 TS SATSW # SW = DISPLAY ONLY
024079,000698: 34,2525 44760 CS BIT9 # DISABLE
024080,000699: 34,2526 00006 EXTEND # SIVB
024081,000700: 34,2527 03012 WAND CHAN12 # TAKEOVER
024082,000701: 34,2530 02466 TC SATOUT # DISPLAY
024083,000702: 34,2531 34760 TAKEON CAF BIT9 # ENABLE
024084,000703: 34,2532 00006 EXTEND # SIVB
024085,000704: 34,2533 05012 WOR CHAN12 # TAKEOVER
024086,000705: 34,2534 34772 CA ZERO # INDICATE NEEDLER
024087,000706: 34,2535 55714 TS SATSW # WAS INITIALIZED
024088,000707: 34,2536 02466 TC SATOUT
024089,000708: 34,2537 51575 S11.1 VLOAD ABVAL
024090,000709: 34,2540 01036 VN
024091,000710: 34,2541 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
024092,000711: 34,2542 01030 RN
024093,000712: 34,2543 50256 UNIT DOT
024094,000713: 34,2544 01036 VN
024095,000714: 34,2545 77752 SL1
024096,000715: 34,2546 17741 STODL HDOT
024097,000716: 34,2547 05173 RPAD
024098,000717: 34,2550 77214 BOF VLOAD
024099,000718: 34,2551 00355 AMOONFLG
024100,000719: 34,2552 70555 EARTHALT
024101,000720: 34,2553 02026 RLS
024102,000721: 34,2554 60446 ABVAL SR2
024103,000722: 34,2555 77621 EARTHALT BDSU
024104,000723: 34,2556 00045 36D
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Page 548
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024106,000725: 34,2557 03737 STORE ALTI
024107,000726: 34,2560 77616 RVQ
024108,000727: 34,2561 31705 DELSTOR CA BOOSTEMP
024109,000728: 34,2562 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
024110,000729: 34,2563 20154 MSU MPAC
024111,000730: 34,2564 50120 INDEX FIXLOC
024112,000731: 34,2565 54000 TS 0
024113,000732: 34,2566 31706 CA BOOSTEMP +1
024114,000733: 34,2567 00006 EXTEND
024115,000734: 34,2570 20155 MSU MPAC +1
024116,000735: 34,2571 50120 INDEX FIXLOC
024117,000736: 34,2572 54002 TS 2
024118,000737: 34,2573 31707 CA BOOSTEMP +2
024119,000738: 34,2574 00006 EXTEND
024120,000739: 34,2575 20156 MSU MPAC +2
024121,000740: 34,2576 50120 INDEX FIXLOC
024122,000741: 34,2577 54004 TS 4
024123,000742: 34,2600 16030 TCF DANZIG
024124,000743: 34,2601 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
024125,000744: 34,2602 00006 EXTEND # IS COMPLETED
024126,000745: 34,2603 71701 MP SATRLRT +1
024127,000746: 34,2604 00006 EXTEND
024128,000747: 34,2605 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
024129,000748: 34,2606 22007 ZL # ROLLOUT COMPLETED
024130,000749: 34,2607 34772 CAF ZERO # ZERO OUT ROLL CONTRIBUTION
024131,000750: 34,2610 52155 DXCH MPAC
024132,000751: 34,2611 06030 TC DANZIG
024133,000752: 34,2612 06006 NOPOLY TC INTPRET # COMES HERE IF
024134,000753: 34,2613 52001 SETPD GOTO # ATTITUDE HOLD
024135,000754: 34,2614 00001 0
024136,000755: 34,2615 67747 NOPOLYM
024137,000756: 34,2616 01673 COEFPOLY ADRES POLYLOC
024138,000757: 34,2617 01476 V06N62 VN 0662
024139,000758: 34,2620 00006 RESCALES EXTEND # RESCALE AK S FOR
024140,000759: 34,2621 71720 MP SATSCALE # NEW HARDWARE
024141,000760: 34,2622 20001 DDOUBL # SCALING FOR
024142,000761: 34,2623 20001 DDOUBL # STEERING
024143,000762: 34,2624 00002 TC Q # SATURN
024144,000763: # SATURN TAKEOVER FUNCTION
024145,000764: # ************************
024146,000765: #
024147,000766: # PROGRAM DESCRIPTION
024148,000767:
024149,000768: # MOD NUMBER 1
024150,000769: # MOD BY ELIASSEN
024151,000770:
024152,000771: # FUNCTIONAL DESCRIPTION
024153,000772:
024154,000773: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024155,000774: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
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Page 549
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024157,000776: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024158,000777: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024159,000778: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
024160,000779: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
024161,000780: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
024162,000781: # SULTS IN A ZERO RATE COMMAND.
024163,000782:
024164,000783: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024165,000784: # OF THE RATE COMMAND.
024166,000785:
024167,000786: # CALLING SEQUENCE
024168,000787:
024169,000788: # DAPFIG +9D TC POSTJUMP
024170,000789: # CADR SATSTKON
024171,000790:
024172,000791: # SUBROUTINES CALLED
024173,000792:
024174,000793: # ENDEXT
024175,000794: # IBNKCALL
024176,000795: # STICKCHK
024177,000796: # NEEDLER
024178,000797: # T5RUPT
024179,000798: # RESUME
024180,000799:
024181,000800: # ASTRONAUT REQUESTS
024182,000801:
024183,000802: # ENTRY - VERB 46 ENTER
024184,000803: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024185,000804:
024186,000805: # EXIT - VERB 48 ENTER (FLASH V06N46)
024187,000806: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
024188,000807: # VERB 34 ENTER
024189,000808: # VERB 46 ENTER
024190,000809:
024191,000810: # NORMAL EXIT MODE
024192,000811:
024193,000812: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
024194,000813:
024195,000814: # ALARM OR ABORT EXIT MODES
024196,000815:
024197,000816: # NONE
024198,000817:
024199,000818: # OUTPUT
024200,000819:
024201,000820: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
024202,000821:
024203,000822: # ERASABLE INITIALIZATION
024204,000823:
024205,000824: # DAPDATR1 (BITS 13,14 MUST BE SET)
024206,000825:
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024208,000827: # DEBRIS
024209,000828:
024210,000829: # CENTRALS
024211,000830: # CDUXCMD, CDUYCMD, CDUZCMD
024212,000831:
024213,000832: 26,2000 SETLOC P11FOUR
024214,000833: 26,2000 BANK
024215,000834:
024216,000835: 26,2000 COUNT* $$/P11
024217,000836: 26,2000 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
024218,000837: 26,2001 00006 EXTEND
024219,000838: 26,2002 22012 QXCH QRUPT
024220,000839: 26,2003 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
024221,000840: 26,2004 74766 MASK BIT3 # FOR
024222,000841: 26,2005 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
024223,000842: 26,2006 04714 TC IBNKCALL
024224,000843: 26,2007 42425 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
024225,000844: 26,2010 34760 CAF BIT9 # SIVB
024226,000845: 26,2011 00006 EXTEND # TAKEOVER
024227,000846: 26,2012 05012 WOR CHAN12 # ENABLE
024228,000847: 26,2013 00006 EXTEND # SET UP T5 CYCLE
024229,000848: 26,2014 34541 DCA 2SATSTCK
024230,000849: 26,2015 52113 DXCH T5LOC
024231,000850: 26,2016 37661 CAF 100MST5 # IN 100 MSECS
024232,000851: 26,2017 54030 TS TIME5
024233,000852: 26,2020 15323 TCF RESUME # END OF SATURN STICK INITIALIZATION
024234,000853:
024235,000854: # THIS SECTION IS EXECUTED EVERY 100 MSECS
024236,000855:
024237,000856: 21,2000 SETLOC P11THREE
024238,000857: 21,2000 BANK
024239,000858:
024240,000859: 21,2000 COUNT* $$/P11
024241,000860: 21,2000 22016 SATSTICK LXCH BANKRUPT
024242,000861: 21,2001 00006 EXTEND
024243,000862: 21,2002 22012 QXCH QRUPT
024244,000863:
024245,000864: 21,2003 34540 CAF 2SATSTCK # SET UP RUPT
024246,000865: 21,2004 54112 TS T5LOC # LO ORDER LOC SET
024247,000866: 21,2005 37661 CAF 100MST5 # 100 MSECS
024248,000867: 21,2006 54030 TS TIME5
024249,000868: 21,2007 32031 CAF STIKBITS
024250,000869: 21,2010 00006 EXTEND
024251,000870: 21,2011 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
024252,000871: 21,2012 72031 MASK STIKBITS
024253,000872: 21,2013 04714 TC IBNKCALL # SET RATE INDICES
024254,000873: 21,2014 43152 CADR STICKCHK # FOR PITCH YAW AND ROLL
024255,000874:
024256,000875: 21,2015 51656 INDEX RMANNDX # SET SATURN RATES
024257,000876: 21,2016 31710 CA SATRATE
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024259,000878: 21,2017 55476 TS AK # ROLL
024260,000879: 21,2020 51657 INDEX PMANNDX
024261,000880: 21,2021 31710 CA SATRATE
024262,000881: 21,2022 55477 TS AK1 # PITCH
024263,000882: 21,2023 51660 INDEX YMANNDX
024264,000883: 21,2024 31710 CA SATRATE
024265,000884: 21,2025 55500 TS AK2 # YAW
024266,000885:
024267,000886: 21,2026 04714 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
024268,000887: 21,2027 42425 CADR NEEDLER
024269,000888: 21,2030 15323 STICKOUT TCF RESUME # END OF SATURN STICK CONTROL
024270,000889:
024271,000890: 21,2031 00077 STIKBITS OCT 00077
024272,000891: 21,2032 7661 100MST5 = OCT37766
024273,000892: 4000 SETLOC FFTAG2
024274,000893: 4000 BANK
024275,000894:
024276,000895: 4540 COUNT* $$/P11
024277,000896: 4540 E6,1704 EBANK= SPOLYARG
024278,000897: 4540 02000 42066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc