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.

023474,000002:                                                                                                  ## Copyright:   Public domain.
023475,000003:                                                                                                  ## Filename:    P11.agc
023476,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
023477,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
023478,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
023479,000007:                                                                                                  ##              Apollo 15-17.
023480,000008:                                                                                                  ## Assembler:   yaYUL
023481,000009:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
023482,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
023483,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
023484,000012:                                                                                                  ## Mod history: 2010-01-26 JL   Started Artemis072 conversion based on Comanche055 module.
023485,000013:                                                                                                  ##              2010-01-27 JL   Finished conversion.
023486,000014:                                                                                                  ##              2010-02-02 JL   Removed extra line left over from Comanche055.
023487,000015:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
023488,000016:                                                                                                  ##              2017-02-05 RSB  Proofed comment text by diff'ing vs Comanche 55
023489,000017:                                                                                                  ##                              and corrected errors found.
023490,000018: 

Page 534

023492,000020: 
023493,000021:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023494,000022:                                                                                                  #  *************************************
023495,000023: 
023496,000024:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023497,000025: 
023498,000026:                                                                                                  #        MOD NO. 1
023499,000027:                                                                                                  #        MOD BY ELIASSEN
023500,000028: 
023501,000029:                                                                                                  #  FUNCTIONAL DESCRIPTION
023502,000030: 
023503,000031:                                                                                                  #        P11 IS INITIATED BY
023504,000032: 
023505,000033:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023506,000034:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023507,000035: 
023508,000036:                                                                                                  #        PROGRAM WILL
023509,000037:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023510,000038:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023511,000039:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023512,000040:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023513,000041:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023514,000042:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023515,000043:                                                                                                  #                7. TERMINATE GYROCOMPASSING -   -
023516,000044:                                                                                                  #                8. COMPUTE INITIAL VECTORS  RN, VN                -  -  -
023517,000045:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023518,000046:                                                                                                  #                        -         -                                X  Y  Z
023519,000047:                                                                                                  #                        U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023520,000048:                                                                                                  #                         Z
023521,000049:                                                                                                  #                        -        -   -
023522,000050:                                                                                                  #                        U =UNIT (A), A=HOR VECTOR AT LAUNCH AZIMUTH
023523,000051:                                                                                                  #                         X
023524,000052:                                                                                                  #                        -  -   -
023525,000053:                                                                                                  #                        U =U * U
023526,000054:                                                                                                  #                         U  Z   X
023527,000055:                                                                                                  #                
023528,000056:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023529,000057:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023530,000058:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023531,000059: 
023532,000060:                                                                                                  #                    R1  V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023533,000061:                                                                                                  #                    R2  HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023534,000062:                                                                                                  #                    R3  H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023535,000063:                                                                                                  #                
023536,000064:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023537,000065: 
023538,000066:                                                                                                  #                    A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023539,000067:                                                                                                  #                       DESIRED ATTITUDE IS AS STORED AT L.O.
023540,000068:                                                                                                  #                    B) FROM RPSTART TO POLYSTOP (APPROX.+10 TO +133SECS AFTER LO)
023541,000069:                                                                                                  #                       DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023542,000070:                                                                                                  #                       POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 535

023544,000072:                                                                                                  #                       THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023545,000073:                                                                                                  #                       EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023546,000074: 
023547,000075:                                                                                                  #  SUBROUTINES CALLED
023548,000076: 
023549,000077:                                                                                                  #           2PHSCHNG  BANKCALL  CALCGRA   CDUTRIG   CLEANDSP  DANZIG
023550,000078:                                                                                                  #           DELAYJOB  EARTHR    ENDOFJOB  FINDVAC   IBNKCALL
023551,000079:                                                                                                  #           INTPRET   LALOTORV  NEEDLER   NEWMODEX  PHASCHNG
023552,000080:                                                                                                  #           POSTJUMP  POWRSERS  PREREAD1  REGODSPR  S11.1
023553,000081:                                                                                                  #           SERVEXIT  TASKOVER  TCDANZIG  V1ST02S   WAITLIST
023554,000082: 
023555,000083:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023556,000084: 
023557,000085:                                                                                                  #        DSKY -
023558,000086:                                                                                                  #             MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023559,000087:                                                                                                  #                                                R2 MINUTES
023560,000088: 
023561,000089:                                                                                                  #        DSKY -
023562,000090:                                                                                                  #             MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023563,000091:                                                                                                  #                                R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023564,000092:                                                                                                  #                                R3 TFF IN MINUTES/SECS
023565,000093: 
023566,000094:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023567,000095:                                                                                                  #  HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023568,000096:                                                                                                  #  NORMAL EXIT MODE
023569,000097: 
023570,000098:                                                                                                  #        ASTRONAUT  VERB 37 ENTER 00 ENTER
023571,000099: 
023572,000100:                                                                                                  #  ALARM MODES - NONE
023573,000101: 
023574,000102:                                                                                                  #  ABORT EXIT MODES -
023575,000103: 
023576,000104:                                                                                                  #  OUTPUT
023577,000105: 
023578,000106:                                                                                                  #        TLIFTOFF (DP)  TEPHEM (TP)
023579,000107:                                                                                                  #        REFSMMAT
023580,000108:                                                                                                  #        DSKY DISPLAY
023581,000109:                                                                                                  #        FDAI DISPLAY
023582,000110: 
023583,000111:                                                                                                  #  ERASABLE INITIALIZATION
023584,000112: 
023585,000113:                                                                                                  #        AZO, AXO, -AYO
023586,000114:                                                                                                  #        LATITUDE
023587,000115:                                                                                                  #        PADLONG
023588,000116:                                                                                                  #        TEPHEM
023589,000117:                                                                                                  #        PGNCSALT
023590,000118:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023591,000119:                                                                                                  #        RPSTART
023592,000120:                                                                                                  #        POLYSTOP
023593,000121:                                                                                                  #  FLAGS SET OR RESET

Page 536

023595,000123:                                                                                                  #        SET REFSMFLG
023596,000124:                                                                                                  #        SET DVMON IDLE FLAG
023597,000125:                                                                                                  #        CLEAR ERADFLAG
023598,000126: 
023599,000127:                                                                                                  #  DEBRIS
023600,000128: 
023601,000129:                                                                                                  #        LIFTTEMP
023602,000130:                                                                                                  #        POLYNUM THRU POLYNUM +7
023603,000131:                                                                                                  #        SPOLYARG
023604,000132:                                                                                                  #        BODY1, BODY2, BODY3
023605,000133:                                                                                                  #        VMAG2, ALTI, HDOT
023606,000134:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023607,000135: 36,2016     5010               BITS5-6            =        SUPER011                              
023608,000136: 34,2000                                           SETLOC   P11ONE                                
023609,000137: 34,2000                                           BANK                                           
023610,000138: 
023611,000139: 34,2000                                           COUNT*   $$/P11                                
023612,000140: 34,2000  E3,1706                                  EBANK=   TEPHEM                                
023613,000141: 34,2000           35024        P11                CA       EBANK3                                
023614,000142: 34,2001           54003                           TS       EBANK                                 
023615,000143: 
023616,000144: 34,2002           00006                           EXTEND                                         
023617,000145: 34,2003           32274                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023618,000146: 34,2004           53162                           DXCH     -PHASE3                               
023619,000147: 34,2005  01,2071               3P11SPT1           =        3.11SPOT                              
023620,000148: 34,2005           44772                           CS       ZERO                                  
023621,000149: 34,2006           22007                           ZL                                             
023622,000150: 34,2007           55126                           TS       LIFTTEMP                              
023623,000151: 34,2010           53166                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023624,000152: 34,2011           00006        P11+7              EXTEND                                         
023625,000153: 34,2012           32276                           DCA      REP11SA                               
023626,000154: 34,2013           53022                           DXCH     TLIFTOFF                              
023627,000155: 
023628,000156: 34,2014           00006                           EXTEND                                         
023629,000157: 34,2015           30025        ZROCLOCK           DCA      TIME2                                 
023630,000158: 34,2016           53127                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023631,000159: 
023632,000160: 34,2017           34772                 -5        CAF      ZERO                                  
023633,000161: 34,2020           22007                           ZL                                             
023634,000162: 34,2021           52025                           DXCH     TIME2                                 
023635,000163: 34,2022           53022        REP11A-2           DXCH     TLIFTOFF                              
023636,000164: 34,2023           53162        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE
023637,000165: 
023638,000166: 34,2024  01,2074               3P13SPT1           =        3.13SPOT                              
023639,000167: 34,2024           00004        REP11A             INHINT                                         
023640,000168: 34,2025           00006                           EXTEND                                         
023641,000169: 34,2026           31710                           DCA      TEPHEM     +1                         
023642,000170: 34,2027           53132                           DXCH     TEPHEM1    +1                         
023643,000171: 34,2030           31706                           CA       TEPHEM                                

Page 537

023645,000173: 34,2031           57130                           XCH      TEPHEM1                               
023646,000174: 
023647,000175: 34,2032           00006                           EXTEND                                         
023648,000176: 34,2033           31022                           DCA      TLIFTOFF                              
023649,000177: 34,2034           21132                           DAS      TEPHEM1    +1                         
023650,000178: 34,2035           27130                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023651,000179: 
023652,000180: 34,2036           05402                           TC       PHASCHNG                              
023653,000181: 34,2037           05023                           OCT      05023                                 
023654,000182: 34,2040           22000                           OCT      22000                                 
023655,000183: 
023656,000184: 34,2041           00004                           INHINT                                         
023657,000185: 34,2042           00006                           EXTEND                                         
023658,000186: 34,2043           31131                           DCA      TEPHEM1                               
023659,000187: 34,2044           53707                           DXCH     TEPHEM                                
023660,000188: 34,2045           31132                           CA       TEPHEM1    +2                         
023661,000189: 34,2046           57710                           XCH      TEPHEM     +2                         
023662,000190: 
023663,000191: 34,2047           35046                           CAF      EBANK7                                
023664,000192: 34,2050           54003                           TS       EBANK                                 
023665,000193: 34,2051  E7,1425                                  EBANK=   DVTOTAL                               
023666,000194: 34,2051           04714                           TC       IBNKCALL                              
023667,000195: 34,2052           76630                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023668,000196: 
023669,000197: 34,2053           05402                           TC       PHASCHNG                              
023670,000198: 34,2054           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023671,000199: 34,2055           22000                           OCT      22000                                 
023672,000200: 
023673,000201: 34,2056           35011                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023674,000202: 34,2057           05233                           TC       WAITLIST                              #  IN .5 SEC
023675,000203: 34,2060  E6,1704                                  EBANK=   SPOLYARG                              
023676,000204: 34,2060           02315 70066                     2CADR    ATERTASK                              
023677,000205: 
023678,000206: 34,2062           05344                           TC       NEWMODEX                              #  DISPLAY MM 11
023679,000207: 34,2063           00013                           MM       11         B-14                       
023680,000208: 
023681,000209: 34,2064           05547                           TC       UPFLAG                                
023682,000210: 34,2065           00022                           ADRES    NODOP01                               
023683,000211: 
023684,000212: 34,2066           36214                           CA       POWDNCOD                              #  SWITCH TO POWERED FLIGHT DOWNLIST
023685,000213: 34,2067           54332                           TS       DNLSTCOD                              
023686,000214: 
023687,000215: 34,2070           04636                           TC       BANKCALL                              
023688,000216: 34,2071           20715                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023689,000217: 
023690,000218: 34,2072           05362                           TC       2PHSCHNG                              
023691,000219: 34,2073           40514                           OCT      40514                                 #  PROTECT ATERTASK
023692,000220: 34,2074           00073                           OCT      00073                                 
023693,000221: 34,2075  01,2066               3P7SPT1            =        3.7SPOT                               

Page 538

023695,000223: 34,2075  01,2215               4P51SPT1           =        4.51SPOT                              
023696,000224: 34,2075           35043                           CAF      EBANK5                                
023697,000225: 34,2076           54003                           TS       EBANK                                 
023698,000226: 
023699,000227: 34,2077  E5,1426                                  EBANK=   QPLACES                               
023700,000228: 34,2077           32277                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023701,000229: 34,2100           55426                           TS       QPLACES                               
023702,000230: 34,2101           06006                           TC       INTPRET                               
023703,000231: 34,2102           64375                           VLOAD    MXV                                   
023704,000232: 34,2103           02467                                    THETAN                                
023705,000233: 34,2104           02672                                    XSM                                   
023706,000234: 34,2105           53372                           VSL1     VAD                                   
023707,000235: 34,2106           02650                                    ERCOMP                                
023708,000236: 34,2107           16650                           STODL    ERCOMP                                
023709,000237: 34,2110           01022                                    TLIFTOFF                              
023710,000238: 34,2111           52131                           SSP      GOTO                                  
023711,000239: 34,2112           00052                                    S2                                    
023712,000240: 34,2113           66202                           CADR     PROUT                                 #  RETURN FROM EARTHR
023713,000241: 34,2114           66151                                    EARTHR     +3                         
023714,000242: 34,2115           22007        MATRXJOB           ZL                                             #  STORE DP GIMBAL ANGLES FOR ATTITUDE
023715,000243: 34,2116           30032                           CA       CDUX                                  #        ERROR DISPLAY AFTER LIFTOFF
023716,000244: 34,2117           53760                           DXCH     OGC                                   
023717,000245: 34,2120           22007                           ZL                                             
023718,000246: 34,2121           30033                           CA       CDUY                                  
023719,000247: 34,2122           53762                           DXCH     IGC                                   
023720,000248: 34,2123           22007                           ZL                                             
023721,000249: 34,2124           30034                           CA       CDUZ                                  
023722,000250: 34,2125           53764                           DXCH     MGC                                   
023723,000251: 34,2126           06006                           TC       INTPRET                               #        -
023724,000252: 34,2127           74575                           VLOAD    VSR1                                  #  SCALE OGC  B-1
023725,000253: 34,2130           02760                                    OGC                                   
023726,000254: 34,2131           02760                           STORE    OGC                                   
023727,000255: 34,2132           77731                           SSP                                            #  ZERO RTX2
023728,000256: 34,2133           03747                                    RTX2                                  #  FOR
023729,000257: 34,2134           00000                                    0                                     #  EARTH
023730,000258: 34,2135           65345                           DLOAD    PDDL                                  
023731,000259: 34,2136           01134                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023732,000260: 34,2137           01136                                    PADLONG                               #  LONGITUDE
023733,000261: 34,2140           55525                           PDDL     VDEF                                  
023734,000262: 34,2141           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023735,000263: 34,2142           14747                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023736,000264: 34,2143           15336                                    HI6ZEROS                              #  TIME = 0
023737,000265: 34,2144           45014                           CLEAR    CALL                                  
023738,000266: 34,2145           00662                                    ERADFLAG                              
023739,000267: 34,2146           26524                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF.COORDS
023740,000268: 
023741,000269: 34,2147           35071                           STCALL   RN1                                   #               -   
023742,000270: 34,2150           70331                                    GETDOWN                               #  RETURN WITH VECTOR FOR DOWN DIRECTION
023743,000271: 34,2151           53476                           VCOMP    UNIT                                  
023744,000272: 34,2152           25750                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)

Page 539

023746,000274: 34,2153           01071                                    RN1                                   
023747,000275: 34,2154           74235                           VXV      VXSC                                  
023748,000276: 34,2155           01712                                    UNITW                                 #  SCALED AT 1
023749,000277: 34,2156           30301                                    -ERTHRAT                              #  V = EARTHRATE X R
023750,000278: 34,2157           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023751,000279: 34,2160           25077                           STOVL    VN1                                   
023752,000280: 34,2161           01750                                    REFSMMAT   +12D                       
023753,000281: 34,2162           53435                           VXV      UNIT                                  
023754,000282: 34,2163           01712                                    UNITW                                 #  (REF3 X UNITW) = EAST
023755,000283: 34,2164           47206                           PUSH     VXV                                   
023756,000284: 34,2165           01750                                    REFSMMAT   +12D                       #   (EAST X REF3) = -SOUTH
023757,000285: 34,2166           65256                           UNIT     PDDL                                  
023758,000286: 34,2167           02634                                    LAUNCHAZ                              #   COS(AZ)*SOUTH
023759,000287: 34,2170           74346                           COS      VXSC                                  
023760,000288: 34,2171           77626                           STADR                                          
023761,000289: 34,2172           62043                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023762,000290: 34,2173           02634                                    LAUNCHAZ                              
023763,000291: 34,2174           74356                           SIN      VXSC                                  #   SIN(AZ)*EAST
023764,000292: 34,2175           53455                           VAD      UNIT                                  #   SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023765,000293: 34,2176           01734                                    REFSMMAT                              
023766,000294: 34,2177           01734                           STORE    REFSMMAT                              
023767,000295: 
023768,000296: 34,2200           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023769,000297: 34,2201           01750                                    REFSMMAT   +12D                       
023770,000298: 34,2202           77676                           VCOMP                                          
023771,000299: 34,2203           01742                           STORE    REFSMMAT   +6                         
023772,000300: 34,2204           45345        TRNVNREF           DLOAD    DSU                                   
023773,000301: 34,2205           15334                                    DPHALF                                #  1/2 REV
023774,000302: 34,2206           02634                                    LAUNCHAZ                              
023775,000303: 34,2207           65215                           DAD      PDDL                                  
023776,000304: 34,2210           02401                                    AZIMUTH                               
023777,000305: 34,2211           03301                                    SATRLRT                               #  SET  SATRLRT = -SATRLRT IF
023778,000306: 34,2212           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023779,000307: 34,2213           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023780,000308: 34,2214           77414                           SET      EXIT                                  
023781,000309: 34,2215           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023782,000310: 
023783,000311: 34,2216           05402                           TC       PHASCHNG                              
023784,000312: 34,2217           04023                           OCT      04023                                 
023785,000313: 
023786,000314: 34,2220           00006                           EXTEND                                         
023787,000315: 34,2221           32303                           DCA      P11SCADR                              
023788,000316: 34,2222           53062                           DXCH     AVGEXIT                               #  SET AVGEXIT
023789,000317: 
023790,000318: 34,2223           37652                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023791,000319: 34,2224           55277                           TS       1/PIPADT                              
023792,000320: 
023793,000321: 34,2225  E6,1501                                  EBANK=   RCSFLAGS                              
023794,000322: 34,2225           04611                           TC       E6SETTER                              
023795,000323: 

Page 540

023797,000325: 34,2226           00004                           INHINT                                         
023798,000326: 34,2227           44772                           CS       ZERO                                  
023799,000327: 34,2230           55267                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF
023800,000328: 
023801,000329: 34,2231           40025                           CS       TIME1                                 
023802,000330: 34,2232           65017                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023803,000331: 
023804,000332: 34,2233           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023805,000333: 34,2234           12237                           TCF      +3                                    #  TIME POSITIVE
023806,000334: 34,2235           12237                           TCF      +2                                    #  CANNOT GET HERE
023807,000335: 34,2236           34772                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023808,000336: 34,2237           64770                           AD       ONE                                   #  RESTORE TIME  -  OR MAKE POSITIVE
023809,000337: 
023810,000338: 34,2240           05233                           TC       WAITLIST                              
023811,000339: 34,2241  E6,1661                                  EBANK=   AOG                                   
023812,000340: 34,2241           02652 76066                     2CADR    READACCS                              
023813,000341: 34,2243           05362                           TC       2PHSCHNG                              
023814,000342: 34,2244           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023815,000343: 34,2245           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023816,000344: 
023817,000345: 34,2246  01,2234               5P2SPT1            =        5.2SPOT                               
023818,000346: 34,2246           04655                           TC       POSTJUMP                              
023819,000347: 34,2247           77154                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023820,000348: 
023821,000349: 
023822,000350: 34,2250  E3,1706                                  EBANK=   TEPHEM                                
023823,000351: 34,2250           00004        REP11              INHINT                                         
023824,000352: 34,2251           11166                           CCS      PHASE5                                
023825,000353: 34,2252           05205                           TC       ENDOFJOB                              
023826,000354: 
023827,000355: 34,2253           11126                           CCS      LIFTTEMP                              
023828,000356: 34,2254           12260                           TCF      +4                                    
023829,000357: 34,2255           12260                           TCF      +3                                    
023830,000358: 34,2256           12260                           TCF      +2                                    
023831,000359: 34,2257           12011                           TCF      P11+7                                 
023832,000360: 
023833,000361: 34,2260           41021                           CS       TLIFTOFF                              
023834,000362: 34,2261           00006                           EXTEND                                         
023835,000363: 34,2262           62270                           BZMF     ENDREP11                              
023836,000364: 
023837,000365: 34,2263           10024                           CCS      TIME2                                 #  **TIME2 MUST BE NON-ZERO AT LIFTOFF**
023838,000366: 34,2264           12017                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023839,000367: 
023840,000368: 34,2265           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023841,000369: 34,2266           31127                           DCA      LIFTTEMP                              
023842,000370: 34,2267           12022                           TCF      REP11A-2                              
023843,000371: 
023844,000372: 34,2270           00006        ENDREP11           EXTEND                                         
023845,000373: 34,2271           32276                           DCA      REP11SA                               

Page 541

023847,000375: 34,2272           12023                           TCF      REP11A-1                              
023848,000376: 
023849,000377: 
023850,000378: 34,2273           77766 00011  REP11S             2OCT     7776600011                            
023851,000379: 34,2275           77764 00013  REP11SA            2OCT     7776400013                            
023852,000380: 
023853,000381: 
023854,000382: 34,2277           02225        P11XIT             GENADR   P11OUT                                
023855,000383: 34,2300           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023856,000384: 34,2302  E6,1704                                  EBANK=   SPOLYARG                              
023857,000385: 34,2302           02304 70066  P11SCADR           2CADR    VHHDOT                                
023858,000386: 34,2304     6214               POWDNCOD           EQUALS   THREE                                 
023859,000387: 
023860,000388: 
023861,000389: 34,2304  E6,1704                                  EBANK=   SPOLYARG                              
023862,000390:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023863,000391:                                                                                                  #                      VI INERTIAL VELOCITY MAGNITUDE
023864,000392:                                                                                                  #                      HDOT  RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023865,000393:                                                                                                  #                      H   ALTITUDE ABOVE L PAD RADIUS
023866,000394: 
023867,000395: 34,2304           06006        VHHDOT             TC       INTPRET                               
023868,000396: 34,2305           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023869,000397: 34,2306           70537                                    S11.1                                 #  HDOT FOR DISPLAY
023870,000398: 34,2307           77776                           EXIT                                           
023871,000399: 34,2310           05402                           TC       PHASCHNG                              
023872,000400: 34,2311           00035                           OCT      00035                                 
023873,000401: 
023874,000402: 34,2312  01,2250               5P3SPT1            =        5.3SPOT                               
023875,000403: 34,2312           32617                           CAF      V06N62                                #  DISPLAY IN R1   R2    R3
023876,000404: 34,2313           04636                           TC       BANKCALL                              #             VI   HDOT  H
023877,000405: 34,2314           20721                           CADR     REGODSP                               
023878,000406: 
023879,000407: 34,2315           34757        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023880,000408: 34,2316           05135                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023881,000409: 34,2317  E6,1704                                  EBANK=   SPOLYARG                              
023882,000410: 34,2317           02342 70066                     2CADR    ATERJOB                               
023883,000411: 34,2321           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023884,000412: 34,2322           74766                           MASK     BIT3                                  #  NEEDLER
023885,000413: 34,2323           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023886,000414: 34,2324           04714                           TC       IBNKCALL                              #  AND GO
023887,000415: 34,2325           42425                           CADR     NEEDLER                               #  DO IT
023888,000416: 34,2326           34770                           CA       BIT1                                  #  SET SW
023889,000417: 34,2327           55714                           TS       SATSW                                 #  FOR DISPLAY
023890,000418: 34,2330           05314                           TC       TASKOVER                              
023891,000419: 34,2331           40220        GETDOWN            STQ      SETPD                                 

Page 542

023893,000421: 34,2332           02241                                    INCORPEX                              
023894,000422: 34,2333           00001                                    0D                                    
023895,000423: 34,2334           77745                           DLOAD                                          
023896,000424: 34,2335           15336                                    HI6ZEROS                              
023897,000425: 34,2336           14007                           STODL    6D                                    
023898,000426: 34,2337           15334                                    DPHALF                                
023899,000427: 34,2340           34011                           STCALL   8D                                    
023900,000428: 34,2341           26531                                    LALOTORV   +5                         
023901,000429:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023902,000430: 
023903,000431:                                                                                                  #                                          COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023904,000432:                                                                                                  #                                                           2    3    4    5    6
023905,000433:                                                                                                  #                                          PITCH= A0+A1T+A2T +A3T +A4T +A5T +A6T
023906,000434:                                                                                                  #                                                 SCALED TO 32 REVS.                                   -14
023907,000435:                                                                                                  #                                          IF TL = TIME IN SECS FROM L.O., THEN    T = 100(TL-RPSTART)2
023908,000436:                                                                                                  #                                          WHERE    TL GE RPSTART
023909,000437:                                                                                                  #                                                   TL LE (-POLYSTOP + RPSTART)
023910,000438:                                                                                                  #                                          COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023911,000439:                                                                                                  #                                          LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023912,000440:                                                                                                  #                                          ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T      IN REV
023913,000441:                                                                                                  #                                          SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023914,000442:                                                                                                  #                                          T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
023915,000443: 
023916,000444:                                                                                                  #                                          FOR SIMPLICITY, LET   P = 2*PI*PITCH
023917,000445:                                                                                                  #                                                                R = 2*PI*ROLL
023918,000446: 
023919,000447:                                                                                                  #                                          CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023920,000448:                                                                                                  #                                          TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023921,000449:                                                                                                  #                                          YDC, AND ZDC.
023922,000450: 
023923,000451:                                                                                                  #                                           *     (    SIN(P)          0         -COS(P)    )   (XDC)
023924,000452:                                                                                                  #                                          TSMV = (-SIN(R)*COS(P)   -COS(R)   -SIN(R)*SIN(P)) = (YDC)
023925,000453:                                                                                                  #                                                 (-COS(R)*COS(P)    SIN(R)   -COS(R)*SIN(P))   (ZDC)
023926,000454: 
023927,000455:                                                                                                  #                                          XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023928,000456:                                                                                                  #                                          EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023929,000457:                                                                                                  #                                          ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023930,000458:                                                                                                  #                                          AS THE DESIRED CDU ANGLES.
023931,000459: 
023932,000460:                                                                                                  #                                          (XDC)                   (OGC)
023933,000461:                                                                                                  #                                          (YDC) ---) CALCGTA ---) (IGC)
023934,000462:                                                                                                  #                                          (ZDC)                   (MGC)
023935,000463:                                                                                                  #                                                             -
023936,000464:                                                                                                  #                                          DEFINE THE VECTOR DELTACDU.
023937,000465: 
023938,000466:                                                                                                  #                                           -         (OGC)   (CDUX)
023939,000467:                                                                                                  #                                          DELTACDU = (IGC) - (CDUY)
023940,000468:                                                                                                  #                                                     (MGC)   (CDUZ)

Page 543

023942,000470:                                                                                                  #                                                                   -          -    *    -
023943,000471:                                                                                                  #                                          COMPUTE ATTITUDE ERRORS, A, WHERE   A = TGSC*DELTACDU
023944,000472: 
023945,000473:                                                                                                  #                                           *     (1        SIN(CDUZ)            0    )   THE GIMBAL ANGLES
023946,000474:                                                                                                  #                                          TGSC = (0   COS(CDUX)*COS(CDUZ)   SIN(CDUX)) = TO SPACECRAFT AXES
023947,000475:                                                                                                  #                                                 (0  -SIN(CDUX)*COS(CDUZ)   COS(CDUX))   CONVERSION MATRIX
023948,000476: 
023949,000477:                                                                                                  #                                                               -
023950,000478:                                                                                                  #                                          THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023951,000479:                                                                                                  #                                          THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023952,000480:                                                                                                  #                                          ERROR DISPLAY ROUTINE.
023953,000481: 
023954,000482: 34,2342           30102        ATERJOB            CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023955,000483: 34,2343           74076                           MASK     DPCONFIG                              #  BITS 14,15
023956,000484: 34,2344           00006                           EXTEND                                         
023957,000485: 34,2345           12347                           BZF      +2                                    #  OK - CONTINUE
023958,000486: 34,2346           05205                           TC       ENDOFJOB                              #  SATURN STICK ON - KILL JOB
023959,000487: 34,2347           34757                           CAF      BIT10                                 #  CHECK IF S/C CONTROL
023960,000488: 34,2350           00006                           EXTEND                                         #  OF SATURN PANEL
023961,000489: 34,2351           02030                           RAND     CHAN30                                #  SWITCH IS ON
023962,000490: 34,2352           00006                           EXTEND                                         
023963,000491: 34,2353           12505                           BZF      STRSAT                                #  IT IS - GO STEER
023964,000492: 34,2354           11714                           CCS      SATSW                                 #  IT IS NOT - WAS IT ON LAST CYCLE
023965,000493: 34,2355           12360        WASIU              TCF      ATTDISP                               #  NO - CONTINUE
023966,000494: 34,2356           12510        WASINIT            TCF      ATRESET                               #  YES - REINITIALIZE NEEDLER (2ND PASS)
023967,000495: 34,2357           12510        WASCMC             TCF      ATRESET                               #  YES - REINITIALIZE NEEDLER
023968,000496: 
023969,000497: 34,2360           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023970,000498: 34,2361           60025                           AD       TIME1                                 
023971,000499: 34,2362           00006                           EXTEND                                         
023972,000500: 34,2363           62612                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023973,000501: 34,2364           54154                           TS       MPAC                                  #  MPAC=TIME1-RPSTART
023974,000502: 34,2365           55704                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALUCLATION
023975,000503: 34,2366           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023976,000504: 34,2367           00006                           EXTEND                                         
023977,000505: 34,2370           62372                           BZMF     +2                                    
023978,000506: 34,2371           02612        POSTPOLY           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023979,000507: 34,2372           30024                           CA       TIME2                                 
023980,000508: 34,2373           00006                           EXTEND                                         
023981,000509: 34,2374           62376                           BZMF     +2                                    
023982,000510: 34,2375           02612                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023983,000511: 34,2376           31661                           CAE      POLYNUM                               
023984,000512: 34,2377           54001                           TS       L                                     
023985,000513: 34,2400           32616                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023986,000514: 34,2401           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023987,000515: 
023988,000516: 34,2402           34772                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023989,000517: 34,2403           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023990,000518: 34,2404           06006                           TC       INTPRET                               
023991,000519: 34,2405           54201                           SETPD    SL                                    #  32(PITCH(32REV))=PITCH(REV)

Page 544

023993,000521: 34,2406           00001                                    0                                     
023994,000522: 34,2407           20206                                    5                                     
023995,000523: 34,2410           77606                           PUSH                                           #  LET P(RAD)=2.PI.PITCH(REV)
023996,000524: 34,2411           77650                           GOTO                                           
023997,000525: 34,2412           67672                                    ATTDISP1                              #  AROUND SETLOC
023998,000526:                                                                                                  #                                                                       *
023999,000527:                                                                                                  #                                          CONSTRUCT SM TO S/C MATRIX, TSMV
024000,000528: 
024001,000529: 33,2000                                           SETLOC   P11TWO                                
024002,000530: 33,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
024003,000531: 
024004,000532: 
024005,000533: 33,3672                                           COUNT*   $$/P11                                
024006,000534: 33,3672           57546        ATTDISP1           COS      DCOMP                                 
024007,000535: 33,3673           14017                           STODL    14D                                   #  -.5*COS(P)
024008,000536: 33,3674           77756                           SIN                                            
024009,000537: 33,3675           14013                           STODL    10D                                   #  .5*SIN(P)
024010,000538: 33,3676           15336                                    ZEROVECS                              
024011,000539: 33,3677           00015                           STORE    12D                                   #  0
024012,000540: 
024013,000541:                                                                                                  #                                          EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
024014,000542: 33,3700           41335                           SLOAD    DMP                                   
024015,000543: 33,3701           03305                                    SPOLYARG                              #  TIME1 - RPSTART ,CSECS B-14.
024016,000544: 33,3702           03301                                    SATRLRT                               
024017,000545: 33,3703           45261                           SL       DSU                                   
024018,000546: 33,3704           20217                                    14D                                   
024019,000547: 33,3705           15334                                    DPHALF                                
024020,000548: 33,3706           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
024021,000549: 33,3707           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
024022,000550: 33,3710           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
024023,000551: 33,3711           77634                           RTB                                            #  DETERMINE IF ROLLOUT
024024,000552: 33,3712           70601                                    RLTST                                 #  IS COMPLETED
024025,000553: 33,3713           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
024026,000554: 33,3714           77606                           PUSH                                           #  LET  R(RAD) = 2*PI*ROLL(REV)
024027,000555: 33,3715           72405                           DMP      SL1                                   
024028,000556: 33,3716           00017                                    14D                                   
024029,000557: 33,3717           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
024030,000558: 33,3720           77676                           DCOMP                                          
024031,000559: 33,3721           00023                           STORE    18D                                   #  -.5*COS(R)
024032,000560: 33,3722           72405                           DMP      SL1                                   
024033,000561: 33,3723           00013                                    10D                                   
024034,000562: 33,3724           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
024035,000563: 33,3725           41556                           SIN      PUSH                                  
024036,000564: 33,3726           00031                           STORE    24D                                   #  .5*SIN(R)
024037,000565: 33,3727           72405                           DMP      SL1                                   
024038,000566: 33,3730           00017                                    14D                                   
024039,000567: 33,3731           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
024040,000568: 33,3732           77676                           DCOMP                                          
024041,000569: 33,3733           72405                           DMP      SL1                                   
024042,000570: 33,3734           00013                                    10D                                   
024043,000571: 33,3735           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)

Page 545

024045,000573: 33,3736           00013                                    10D                                   
024046,000574: 
024047,000575:                                                                                                  #                                          FROM TSMV FIND THE HALF UNIT VECTORS  XDC,YDC,ZDC = INPUT TO CALCGTA
024048,000576: 33,3737           77656                           UNIT                                           
024049,000577: 33,3740           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
024050,000578: 33,3741           00021                                    16D                                   
024051,000579: 33,3742           77656                           UNIT                                           
024052,000580: 33,3743           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
024053,000581: 33,3744           00027                                    22D                                   #                           -SIN(R)*SIN(P))
024054,000582: 33,3745           77656                           UNIT                                           
024055,000583: 33,3746           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
024056,000584: 33,3747           47240                                    CALCGTA                               #                           -COS(R)*SIN(P))
024057,000585: 
024058,000586:                                                                                                  #                                          CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC,AND MGC
024059,000587:                                                                                                  #                                                                    -          -   -
024060,000588:                                                                                                  #                                          FIND DIFFERENCE VECTOR   DELTACDU = OGC-CDUX
024061,000589: 
024062,000590:                                                                                                  #                                          ENTER HERE IF ATTITUDE HOLD
024063,000591: 
024064,000592: 33,3750           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
024065,000593: 33,3751           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
024066,000594: 33,3752           45006                           PUSH     CALL                                  #         MGC      OGC
024067,000595: 33,3753           47530                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
024068,000596: 33,3754           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX ,PD4
024069,000597: 33,3755           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY ,   0
024070,000598: 33,3756           45644                                    V1STO2S                               #             DPSI     MGC-CDUZ ,   2
024071,000599: 33,3757           27306                           STOVL    BOOSTEMP                              
024072,000600: 33,3760           15336                                    ZEROVECS                              
024073,000601: 33,3761           24001                           STOVL    0                                     
024074,000602: 33,3762           01172                                    CDUSPOT                               
024075,000603: 33,3763           47034                           RTB      RTB                                   
024076,000604: 33,3764           45644                                    V1STO2S                               
024077,000605: 33,3765           70561                                    DELSTOR                               
024078,000606: 33,3766           14013                           STODL    10D                                   
024079,000607: 33,3767           01144                                    SINCDUZ                               
024080,000608: 33,3770           72405                           DMP      SL1                                   
024081,000609: 33,3771           00001                                    0                                     
024082,000610: 33,3772           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
024083,000611: 33,3773           00005                                    4                                     
024084,000612: 33,3774           77650                           GOTO                                           
024085,000613: 33,3775           70413                                    ATTDISP2                              
024086,000614: 
024087,000615: 34,2000                                           SETLOC   P11ONE                                
024088,000616: 34,2000                                           BANK                                           
024089,000617: 34,2413                                           COUNT*   $$/P11                                
024090,000618: 34,2413           14021        ATTDISP2           STODL    16D                                   #  16D,  .5(DPHI + DTHETA*SIN(CDUZ))
024091,000619: 34,2414           01152                                    COSCDUZ                               
024092,000620: 34,2415           41405                           DMP      PUSH                                  
024093,000621: 34,2416           00001                                    0                                     

Page 546

024095,000623: 34,2417           72405                           DMP      SL1                                   
024096,000624: 34,2420           01154                                    COSCDUX                               
024097,000625: 34,2421           41325                           PDDL     DMP                                   
024098,000626: 34,2422           01146                                    SINCDUX                               
024099,000627: 34,2423           00003                                    2                                     
024100,000628: 34,2424           72415                           DAD      SL1                                   
024101,000629: 34,2425           77626                           STADR                                          
024102,000630: 34,2426           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
024103,000631: 34,2427           72405                           DMP      SL1                                   #                          +DPSI*SIN(CDUX))
024104,000632: 34,2430           01146                                    SINCDUX                               
024105,000633: 34,2431           41325                           PDDL     DMP                                   
024106,000634: 34,2432           01154                                    COSCDUX                               
024107,000635: 34,2433           00003                                    2                                     
024108,000636: 34,2434           72425                           DSU      SL1                                   
024109,000637: 34,2435           77626                           STADR                                          
024110,000638: 34,2436           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024111,000639: 34,2437           77751                           TLOAD                                          #                          +DPSI*COS(CDUX))
024112,000640: 34,2440           00021                                    16D                                   
024113,000641: 34,2441           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
024114,000642: 34,2442           77776                           EXIT                                           
024115,000643: 
024116,000644: 34,2443           31714                           CA       SATSW                                 
024117,000645: 34,2444           10000                           CCS      A                                     #  CHK TAKEOVER STATUS
024118,000646: 34,2445           02466                           TC       SATOUT                                #  POS - DISPLAY ONLY
024119,000647: 34,2446           02474                           TC       AKLOAD                                #  0     STORE BIAS
024120,000648: 34,2447           06006        STEERSAT           TC       INTPRET                               #  NEG   STEER L/V
024121,000649: 34,2450           76351                           TLOAD    TAD                                   
024122,000650: 34,2451           03316                                    BIASAK                                
024123,000651: 34,2452           03077                                    AK                                    
024124,000652: 34,2453           03077                           STORE    AK                                    #  AKS = AKS - STORED BIAS
024125,000653: 34,2454           77776                           EXIT                                           
024126,000654: 34,2455           31476                           CA       AK                                    
024127,000655: 34,2456           02620                           TC       RESCALES                              
024128,000656: 34,2457           55476                           TS       AK                                    
024129,000657: 34,2460           31477                           CA       AK1                                   
024130,000658: 34,2461           02620                           TC       RESCALES                              
024131,000659: 34,2462           55477                           TS       AK1                                   
024132,000660: 34,2463           31500                           CA       AK2                                   
024133,000661: 34,2464           02620                           TC       RESCALES                              
024134,000662: 34,2465           55500                           TS       AK2                                   
024135,000663:                                                                                                  #                                          DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024136,000664: 
024137,000665: 34,2466           04636        SATOUT             TC       BANKCALL                              
024138,000666: 34,2467           42425                           CADR     NEEDLER                               
024139,000667: 34,2470           34125        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
024140,000668: 34,2471           04636                           TC       BANKCALL                              #  EXECUTION + DELAY =.56SEC APPROX
024141,000669: 34,2472           01731                           CADR     DELAYJOB                              
024142,000670: 34,2473           02342                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
024143,000671: 
024144,000672: 34,2474           41476        AKLOAD             CS       AK                                    #  STORE AKS

Page 547

024146,000674: 34,2475           55715                           TS       BIASAK                                #  INTO BIAS
024147,000675: 34,2476           41477                           CS       AK1                                   #  COMPLEMENTED
024148,000676: 34,2477           55716                           TS       BIASAK     +1                         
024149,000677: 34,2500           41500                           CS       AK2                                   
024150,000678: 34,2501           55717                           TS       BIASAK     +2                         
024151,000679: 34,2502           44770                           CS       BIT1                                  #  SET SW
024152,000680: 34,2503           55714                           TS       SATSW                                 #  TO STEER
024153,000681: 34,2504           02447                           TC       STEERSAT                              #  GO STEER
024154,000682: 34,2505           31714        STRSAT             CA       SATSW                                 #  CHECK IF NEEDLER
024155,000683: 34,2506           00006                           EXTEND                                         #  HAS BEEN INITIALIZED
024156,000684: 34,2507           62360                           BZMF     ATTDISP                               #  YES - CONTINUE
024157,000685: 34,2510           41501        ATRESET            CS       RCSFLAGS                              #  NO - SET
024158,000686: 34,2511           74766                           MASK     BIT3                                  #  INITIALIZATION SW
024159,000687: 34,2512           27501                           ADS      RCSFLAGS                              #  FOR NEEDLER
024160,000688: 34,2513           04636                           TC       BANKCALL                              #  AND GO
024161,000689: 34,2514           42425                           CADR     NEEDLER                               #  DO IT
024162,000690: 34,2515           36211                           CAF      REVCNT                                #  OCT 6
024163,000691: 34,2516           04636                           TC       BANKCALL                              #  DELAY JOB
024164,000692: 34,2517           01731                           CADR     DELAYJOB                              #  60 MS -WAIT TILL IMUERRCNTR ZEROED
024165,000693: 34,2520           11714                           CCS      SATSW                                 #  CHECK SW STATUS
024166,000694: 34,2521           02531                           TC       TAKEON                                #  POS   STEER INIT.
024167,000695: 34,2522           02523                           TC       +1                                    #  0     RETURN TO DISPLAY
024168,000696: 34,2523           34770                           CA       BIT1                                  #  NEG   RETURN TO DISPLAY
024169,000697: 34,2524           55714                           TS       SATSW                                 #  SW = DISPLAY ONLY
024170,000698: 34,2525           44760                           CS       BIT9                                  #  DISABLE
024171,000699: 34,2526           00006                           EXTEND                                         #  SIVB
024172,000700: 34,2527           03012                           WAND     CHAN12                                #  TAKEOVER
024173,000701: 34,2530           02466                           TC       SATOUT                                #  DISPLAY
024174,000702: 34,2531           34760        TAKEON             CAF      BIT9                                  #  ENABLE
024175,000703: 34,2532           00006                           EXTEND                                         #  SIVB
024176,000704: 34,2533           05012                           WOR      CHAN12                                #  TAKEOVER
024177,000705: 34,2534           34772                           CA       ZERO                                  #  INDICATE NEEDLER
024178,000706: 34,2535           55714                           TS       SATSW                                 #  WAS INITIALIZED
024179,000707: 34,2536           02466                           TC       SATOUT                                
024180,000708: 34,2537           51575        S11.1              VLOAD    ABVAL                                 
024181,000709: 34,2540           01036                                    VN                                    
024182,000710: 34,2541           27723                           STOVL    VMAGI                                 #  VI     SCALED  2(7)  IN METERS/CSEC
024183,000711: 34,2542           01030                                    RN                                    
024184,000712: 34,2543           50256                           UNIT     DOT                                   
024185,000713: 34,2544           01036                                    VN                                    
024186,000714: 34,2545           77752                           SL1                                            
024187,000715: 34,2546           17741                           STODL    HDOT                                  
024188,000716: 34,2547           05173                                    RPAD                                  
024189,000717: 34,2550           77214                           BOF      VLOAD                                 
024190,000718: 34,2551           00355                                    AMOONFLG                              
024191,000719: 34,2552           70555                                    EARTHALT                              
024192,000720: 34,2553           02026                                    RLS                                   
024193,000721: 34,2554           60446                           ABVAL    SR2                                   
024194,000722: 34,2555           77621        EARTHALT           BDSU                                           
024195,000723: 34,2556           00045                                    36D                                   

Page 548

024197,000725: 34,2557           03737                           STORE    ALTI                                  
024198,000726: 34,2560           77616                           RVQ                                            
024199,000727: 34,2561           31705        DELSTOR            CA       BOOSTEMP                              
024200,000728: 34,2562           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
024201,000729: 34,2563           20154                           MSU      MPAC                                  
024202,000730: 34,2564           50120                           INDEX    FIXLOC                                
024203,000731: 34,2565           54000                           TS       0                                     
024204,000732: 34,2566           31706                           CA       BOOSTEMP   +1                         
024205,000733: 34,2567           00006                           EXTEND                                         
024206,000734: 34,2570           20155                           MSU      MPAC       +1                         
024207,000735: 34,2571           50120                           INDEX    FIXLOC                                
024208,000736: 34,2572           54002                           TS       2                                     
024209,000737: 34,2573           31707                           CA       BOOSTEMP   +2                         
024210,000738: 34,2574           00006                           EXTEND                                         
024211,000739: 34,2575           20156                           MSU      MPAC       +2                         
024212,000740: 34,2576           50120                           INDEX    FIXLOC                                
024213,000741: 34,2577           54004                           TS       4                                     
024214,000742: 34,2600           16030                           TCF      DANZIG                                
024215,000743: 34,2601           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
024216,000744: 34,2602           00006                           EXTEND                                         #  IS COMPLETED
024217,000745: 34,2603           71701                           MP       SATRLRT    +1                         
024218,000746: 34,2604           00006                           EXTEND                                         
024219,000747: 34,2605           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS  STILL ROLLING
024220,000748: 34,2606           22007                           ZL                                             #  ROLLOUT COMPLETED
024221,000749: 34,2607           34772                           CAF      ZERO                                  #  ZERO OUT ROLL CONTRIBUTION
024222,000750: 34,2610           52155                           DXCH     MPAC                                  
024223,000751: 34,2611           06030                           TC       DANZIG                                
024224,000752: 34,2612           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
024225,000753: 34,2613           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
024226,000754: 34,2614           00001                                    0                                     
024227,000755: 34,2615           67750                                    NOPOLYM                               
024228,000756: 34,2616           01673        COEFPOLY           ADRES    POLYLOC                               
024229,000757: 34,2617           01476        V06N62             VN       0662                                  
024230,000758: 34,2620           00006        RESCALES           EXTEND                                         #  RESCALE AK S FOR
024231,000759: 34,2621           71720                           MP       SATSCALE                              #  NEW HARDWARE
024232,000760: 34,2622           20001                           DDOUBL                                         #  SCALING FOR
024233,000761: 34,2623           20001                           DDOUBL                                         #  STEERING
024234,000762: 34,2624           00002                           TC       Q                                     #  SATURN
024235,000763:                                                                                                  #  SATURN TAKEOVER FUNCTION
024236,000764:                                                                                                  #  ************************
024237,000765:                                                                                                  #  
024238,000766:                                                                                                  #  PROGRAM DESCRIPTION
024239,000767: 
024240,000768:                                                                                                  #        MOD NUMBER 1
024241,000769:                                                                                                  #        MOD BY ELIASSEN
024242,000770: 
024243,000771:                                                                                                  #  FUNCTIONAL DESCRIPTION
024244,000772: 
024245,000773:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024246,000774:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH

Page 549

024248,000776:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024249,000777:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024250,000778:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
024251,000779:                                                                                                  #        VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
024252,000780:                                                                                                  #        IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
024253,000781:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
024254,000782: 
024255,000783:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024256,000784:                                                                                                  #        OF THE RATE COMMAND.
024257,000785: 
024258,000786:                                                                                                  #  CALLING SEQUENCE
024259,000787: 
024260,000788:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
024261,000789:                                                                                                  #                        CADR    SATSTKON
024262,000790: 
024263,000791:                                                                                                  #  SUBROUTINES CALLED
024264,000792: 
024265,000793:                                                                                                  #        ENDEXT
024266,000794:                                                                                                  #        IBNKCALL
024267,000795:                                                                                                  #        STICKCHK
024268,000796:                                                                                                  #        NEEDLER
024269,000797:                                                                                                  #        T5RUPT
024270,000798:                                                                                                  #        RESUME
024271,000799: 
024272,000800:                                                                                                  #  ASTRONAUT REQUESTS
024273,000801: 
024274,000802:                                                                                                  #        ENTRY -  VERB 46 ENTER
024275,000803:                                                                                                  #                 (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024276,000804: 
024277,000805:                                                                                                  #        EXIT  -  VERB 48 ENTER  (FLASH V06N46)
024278,000806:                                                                                                  #                 VERB 21 ENTER  AXXXX ENTER WHERE  A=0 OR 1
024279,000807:                                                                                                  #                 VERB 34 ENTER
024280,000808:                                                                                                  #                 VERB 46 ENTER
024281,000809: 
024282,000810:                                                                                                  #  NORMAL EXIT MODE
024283,000811: 
024284,000812:                                                                                                  #                 VERB 46 ENTER  (SEE ASTRONAUT ABOVE)
024285,000813: 
024286,000814:                                                                                                  #  ALARM OR ABORT EXIT MODES
024287,000815: 
024288,000816:                                                                                                  #        NONE
024289,000817: 
024290,000818:                                                                                                  #  OUTPUT
024291,000819: 
024292,000820:                                                                                                  #        SATURN RATES IN  CDUXCMD, CDUYCMD, CDUZCMD
024293,000821: 
024294,000822:                                                                                                  #  ERASABLE INITIALIZATION
024295,000823: 
024296,000824:                                                                                                  #        DAPDATR1  (BITS 13,14 MUST BE SET)
024297,000825: 

Page 550

024299,000827:                                                                                                  #  DEBRIS
024300,000828: 
024301,000829:                                                                                                  #        CENTRALS
024302,000830:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
024303,000831: 
024304,000832: 26,2000                                           SETLOC   P11FOUR                               
024305,000833: 26,2000                                           BANK                                           
024306,000834: 
024307,000835: 26,2000                                           COUNT*   $$/P11                                
024308,000836: 26,2000           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
024309,000837: 26,2001           00006                           EXTEND                                         
024310,000838: 26,2002           22012                           QXCH     QRUPT                                 
024311,000839: 26,2003           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
024312,000840: 26,2004           74766                           MASK     BIT3                                  #  FOR
024313,000841: 26,2005           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
024314,000842: 26,2006           04714                           TC       IBNKCALL                              
024315,000843: 26,2007           42425                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
024316,000844: 26,2010           34760                           CAF      BIT9                                  #  SIVB
024317,000845: 26,2011           00006                           EXTEND                                         #  TAKEOVER
024318,000846: 26,2012           05012                           WOR      CHAN12                                #  ENABLE
024319,000847: 26,2013           00006                           EXTEND                                         #  SET UP T5 CYCLE
024320,000848: 26,2014           34541                           DCA      2SATSTCK                              
024321,000849: 26,2015           52113                           DXCH     T5LOC                                 
024322,000850: 26,2016           37661                           CAF      100MST5                               #  IN 100 MSECS
024323,000851: 26,2017           54030                           TS       TIME5                                 
024324,000852: 26,2020           15323                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
024325,000853: 
024326,000854:                                                                                                  #                                          THIS SECTION IS EXECUTED EVERY 100 MSECS
024327,000855: 
024328,000856: 21,2000                                           SETLOC   P11THREE                              
024329,000857: 21,2000                                           BANK                                           
024330,000858: 
024331,000859: 21,2000                                           COUNT*   $$/P11                                
024332,000860: 21,2000           22016        SATSTICK           LXCH     BANKRUPT                              
024333,000861: 21,2001           00006                           EXTEND                                         
024334,000862: 21,2002           22012                           QXCH     QRUPT                                 
024335,000863: 
024336,000864: 21,2003           34540                           CAF      2SATSTCK                              #  SET UP RUPT
024337,000865: 21,2004           54112                           TS       T5LOC                                 #  LO ORDER LOC SET
024338,000866: 21,2005           37661                           CAF      100MST5                               #  100 MSECS
024339,000867: 21,2006           54030                           TS       TIME5                                 
024340,000868: 21,2007           32031                           CAF      STIKBITS                              
024341,000869: 21,2010           00006                           EXTEND                                         
024342,000870: 21,2011           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
024343,000871: 21,2012           72031                           MASK     STIKBITS                              
024344,000872: 21,2013           04714                           TC       IBNKCALL                              #  SET RATE INDICES
024345,000873: 21,2014           43152                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
024346,000874: 
024347,000875: 21,2015           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
024348,000876: 21,2016           31710                           CA       SATRATE                               

Page 551

024350,000878: 21,2017           55476                           TS       AK                                    #                   ROLL
024351,000879: 21,2020           51657                           INDEX    PMANNDX                               
024352,000880: 21,2021           31710                           CA       SATRATE                               
024353,000881: 21,2022           55477                           TS       AK1                                   #                   PITCH
024354,000882: 21,2023           51660                           INDEX    YMANNDX                               
024355,000883: 21,2024           31710                           CA       SATRATE                               
024356,000884: 21,2025           55500                           TS       AK2                                   #                   YAW
024357,000885: 
024358,000886: 21,2026           04714                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
024359,000887: 21,2027           42425                           CADR     NEEDLER                               
024360,000888: 21,2030           15323        STICKOUT           TCF      RESUME                                #  END OF SATURN STICK CONTROL
024361,000889: 
024362,000890: 21,2031           00077        STIKBITS           OCT      00077                                 
024363,000891: 21,2032     7661               100MST5            =        OCT37766                              
024364,000892:    4000                                           SETLOC   FFTAG2                                
024365,000893:    4000                                           BANK                                           
024366,000894: 
024367,000895:    4540                                           COUNT*   $$/P11                                
024368,000896:    4540  E6,1704                                  EBANK=   SPOLYARG                              
024369,000897:    4540           02000 42066  2SATSTCK           2CADR    SATSTICK                              

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