Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

023030,000002:                                                                                                  ## Copyright:   Public domain.
023031,000003:                                                                                                  ## Filename:    P11.agc
023032,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
023033,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
023034,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
023035,000007:                                                                                                  ## Assembler:   yaYUL
023036,000008:                                                                                                  ## Reference:   pp. 524-540.
023037,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
023038,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
023039,000011:                                                                                                  ## Mod history: 08/13/04   RSB  Began transcribing.
023040,000012:                                                                                                  ##              2011-05-07 JL   Flag SBANK= workarounds for future removal.
023041,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
023042,000014:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
023043,000015:                                                                                                  ##                              numbers in 1701.pdf.
023044,000016:                                                                                                  ##              2017-01-15 RSB  Cross-diff'd comment text (not whitespace)
023045,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
023046,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
023047,000019:                                                                                                  ##                              and corrected errors found.  Matches Colossus 237
023048,000020:                                                                                                  ##                              comment-text after corrections, but not Comanche 55.
023049,000021:                                                                                                  ##              2017-06-17 MAS  Globally removed all SBANK= workarounds.
023050,000022:                                                                                                  ##
023051,000023:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
023052,000024:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
023053,000025:                                                                                                  ## document read, in part:
023054,000026:                                                                                                  ##
023055,000027:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
023056,000028:                                                                                                  ##      2021111-041.  October 28, 1968.  
023057,000029:                                                                                                  ##
023058,000030:                                                                                                  ##      This AGC program shall also be referred to as
023059,000031:                                                                                                  ##                              Colossus 1A
023060,000032:                                                                                                  ##
023061,000033:                                                                                                  ##      Prepared by
023062,000034:                                                                                                  ##                      Massachusetts Institute of Technology
023063,000035:                                                                                                  ##                      75 Cambridge Parkway
023064,000036:                                                                                                  ##                      Cambridge, Massachusetts
023065,000037:                                                                                                  ##      under NASA contract NAS 9-4065.
023066,000038:                                                                                                  ##
023067,000039:                                                                                                  ## Refer directly to the online document mentioned above for further information.
023068,000040:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
023069,000041:                                                                                                  ##
023070,000042:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
023071,000043:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
023072,000044:                                                                                                  ## source file, and then is proofed to incorporate any changes.
023073,000045: 

Page 524

023075,000047:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023076,000048:                                                                                                  #  *************************************
023077,000049: 
023078,000050:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023079,000051: 
023080,000052:                                                                                                  #        MOD NO. 1
023081,000053:                                                                                                  #        MOD BY ELIASSEN
023082,000054: 
023083,000055:                                                                                                  #  FUNCTIONAL DESCRIPTION
023084,000056: 
023085,000057:                                                                                                  #        P11 IS INITIATED BY
023086,000058: 
023087,000059:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023088,000060:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023089,000061: 
023090,000062:                                                                                                  #        PROGRAM WILL
023091,000063: 
023092,000064:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023093,000065:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023094,000066:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023095,000067:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023096,000068:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023097,000069:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023098,000070:                                                                                                  #                7. TERMINATE GYROCOMPASSING     -   -
023099,000071:                                                                                                  #                8. COMPUTE INITIAL VECTORS      RN, VN            -  -  -
023100,000072:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023101,000073:                                                                                                  #                        -        -                                 X  Y  Z
023102,000074:                                                                                                  #                        U =UNIT(-R)     LOCAL VERTICAL AT TIME OF LIFTOFF
023103,000075:                                                                                                  #                         Z
023104,000076:                                                                                                  #                        -       -       -
023105,000077:                                                                                                  #                        U =UNIT(A),     A=HOR VECTOR AT LAUNCH AZIMUTH
023106,000078:                                                                                                  #                         X
023107,000079:                                                                                                  #                        -  -   -
023108,000080:                                                                                                  #                        U =U * U
023109,000081:                                                                                                  #                         U  Z   X
023110,000082:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023111,000083:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023112,000084:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023113,000085: 
023114,000086:                                                                                                  #                        R1      V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023115,000087:                                                                                                  #                        R2      HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023116,000088:                                                                                                  #                        R3      H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023117,000089:                                                                                                  #                
023118,000090:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023119,000091: 
023120,000092:                                                                                                  #                        A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023121,000093:                                                                                                  #                           DESIRED ATTITUDE IS AS STORED AT L.O.
023122,000094:                                                                                                  #                        B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023123,000095:                                                                                                  #                           DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023124,000096:                                                                                                  #                           POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 525

023126,000098:                                                                                                  #                           THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023127,000099:                                                                                                  #                           EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023128,000100: 
023129,000101:                                                                                                  #  SUBROUTINES CALLED
023130,000102: 
023131,000103:                                                                                                  #        2PHSCHNG        BANKCALL        CALCGRA         CDUTRIG         CLEANDSP        DANZIG
023132,000104:                                                                                                  #        DELAYJOB        EARTHR          ENDOFJOB        FINDVAC         IBNKCALL
023133,000105:                                                                                                  #        INTPRET         LALOTORV        NEEDLER         NEWMODEX        PHASCHNG
023134,000106:                                                                                                  #        POSTJUMP        POWRSERS        PREREAD1        REGODSPR        S11.1
023135,000107:                                                                                                  #        SERVEXIT        TASKOVER        TCDANZIG        V1ST02S         WAITLIST
023136,000108: 
023137,000109:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023138,000110: 
023139,000111:                                                                                                  #        DSKY -
023140,000112:                                                                                                  #                MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023141,000113:                                                                                                  #                                                   R2 MINUTES
023142,000114: 
023143,000115:                                                                                                  #        DSKY -
023144,000116:                                                                                                  #                MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023145,000117:                                                                                                  #                                   R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023146,000118:                                                                                                  #                                   R3 TFF IN MINUTES/SECS
023147,000119: 
023148,000120:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023149,000121:                                                                                                  #        HIT KEY RELEASE BUTTON TO RETURN TO NORMAL NOUN 62 DISPLAY
023150,000122: 
023151,000123:                                                                                                  #  NORMAL EXIT MODE
023152,000124: 
023153,000125:                                                                                                  #        ASTRONAUT       VERB 37 ENTER 00 ENTER
023154,000126: 
023155,000127:                                                                                                  #  ALARM MODES - NONE
023156,000128: 
023157,000129:                                                                                                  #  ABORT EXIT MODES -
023158,000130: 
023159,000131:                                                                                                  #        EARLY BOOST ABORT FOLLOWED BY REENTRY   V 37 E 62 E
023160,000132:                                                                                                  #        LATE  BOOST ABORT FOLLOWED BY REENTRY   V 37 E 61 E
023161,000133: 
023162,000134:                                                                                                  #  OUTPUT
023163,000135: 
023164,000136:                                                                                                  #        TLIFTOFF (DP)   TEPHEM (TP)
023165,000137:                                                                                                  #        REFSMMAT
023166,000138:                                                                                                  #        DSKY DISPLAY
023167,000139:                                                                                                  #        FDAI DISPLAY
023168,000140: 
023169,000141:                                                                                                  #  ERASABLE INITIALIZATION
023170,000142: 
023171,000143:                                                                                                  #        AZO, AXO, -AYO
023172,000144:                                                                                                  #        LATITUDE
023173,000145:                                                                                                  #        PADLONG
023174,000146:                                                                                                  #        TEPHEM
023175,000147:                                                                                                  #        PGNCSALT

Page 526

023177,000149:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023178,000150:                                                                                                  #        RPSTART
023179,000151:                                                                                                  #        POLYSTOP
023180,000152: 
023181,000153:                                                                                                  #  FLAGS SET OR RESET
023182,000154: 
023183,000155:                                                                                                  #        SET REFSMFLG
023184,000156:                                                                                                  #        SET DVMON IDLE FLAG
023185,000157:                                                                                                  #        CLEAR ERADFLAG
023186,000158: 
023187,000159:                                                                                                  #  DEBRIS
023188,000160: 
023189,000161:                                                                                                  #        LIFTTEMP
023190,000162:                                                                                                  #        POLYNUM THRU POLYNUM +7
023191,000163:                                                                                                  #        SPOLYARG
023192,000164:                                                                                                  #        BODY1, BODY2, BODY3
023193,000165:                                                                                                  #        VMAG2, ALTI, HDOT
023194,000166:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023195,000167: 
023196,000168: 04,3447                                           COUNT    34/P11                                
023197,000169: 
023198,000170: 04,3447     4730               BITS5-6            =        SUPER011                              
023199,000171: 42,3521                                           BANK     42                                    
023200,000172: 34,2000                                           SETLOC   P11ONE                                
023201,000173: 34,2000                                           BANK                                           
023202,000174: 
023203,000175: 34,2002  E3,1706                                  EBANK=   TEPHEM                                
023204,000176: 34,2002           34744        P11                CA       EBANK3                                
023205,000177: 34,2003           54003                           TS       EBANK                                 
023206,000178: 
023207,000179: 34,2004           00006                           EXTEND                                         
023208,000180: 34,2005           32273                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023209,000181: 34,2006           52757                           DXCH     -PHASE3                               
023210,000182: 34,2007           44714                           CS       ZERO                                  
023211,000183: 34,2010           22007                           ZL                                             
023212,000184: 34,2011           55265                           TS       LIFTTEMP                              
023213,000185: 34,2012           52763                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023214,000186: 34,2013           00006        P11+7              EXTEND                                         
023215,000187: 34,2014           32275                           DCA      REP11SA                               
023216,000188: 34,2015           53337                           DXCH     TLIFTOFF                              
023217,000189: 
023218,000190: 34,2016           00006                           EXTEND                                         
023219,000191: 34,2017           30025                           DCA      TIME2                                 
023220,000192: 34,2020           53266                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023221,000193: 
023222,000194: 34,2021           34714                           CA       ZERO                                  
023223,000195: 34,2022           22007                           ZL                                             
023224,000196: 34,2023           52025                           DXCH     TIME2                                 
023225,000197: 34,2024           53337        REP11A-2           DXCH     TLIFTOFF                              
023226,000198: 34,2025           52757        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE

Page 527

023228,000200: 34,2026           00004        REP11A             INHINT                                         
023229,000201: 34,2027           00006                           EXTEND                                         
023230,000202: 34,2030           31710                           DCA      TEPHEM     +1                         
023231,000203: 34,2031           53271                           DXCH     TEPHEM1    +1                         
023232,000204: 34,2032           31706                           CA       TEPHEM                                
023233,000205: 34,2033           57267                           XCH      TEPHEM1                               
023234,000206: 
023235,000207: 34,2034           00006                           EXTEND                                         
023236,000208: 34,2035           31337                           DCA      TLIFTOFF                              
023237,000209: 34,2036           21271                           DAS      TEPHEM1    +1                         
023238,000210: 34,2037           27267                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023239,000211: 
023240,000212: 34,2040           05301                           TC       PHASCHNG                              
023241,000213: 34,2041           05023                           OCT      05023                                 
023242,000214: 34,2042           22000                           OCT      22000                                 
023243,000215: 
023244,000216: 34,2043           00004                           INHINT                                         
023245,000217: 34,2044           00006                           EXTEND                                         
023246,000218: 34,2045           31270                           DCA      TEPHEM1                               
023247,000219: 34,2046           53707                           DXCH     TEPHEM                                
023248,000220: 34,2047           31271                           CA       TEPHEM1    +2                         
023249,000221: 34,2050           57710                           XCH      TEPHEM     +2                         
023250,000222: 
023251,000223: 34,2051           32000                           CAF      EBDVCNT                               
023252,000224: 34,2052           54003                           TS       EBANK                                 
023253,000225: 34,2053  E7,1431                                  EBANK=   DVCNTR                                
023254,000226: 34,2053           04633                           TC       IBNKCALL                              
023255,000227: 34,2054           76625                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023256,000228: 
023257,000229: 34,2055           05301                           TC       PHASCHNG                              
023258,000230: 34,2056           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023259,000231: 34,2057           22000                           OCT      22000                                 
023260,000232: 
023261,000233: 34,2060           34731                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023262,000234: 34,2061           05140                           TC       WAITLIST                              #  IN .5 SEC
023263,000235: 34,2062  E6,1704                                  EBANK=   BODY3                                 
023264,000236: 34,2062           02314 70066                     2CADR    ATERTASK                              
023265,000237: 
023266,000238: 34,2064           05243                           TC       NEWMODEX                              #  DISPLAY MM 11
023267,000239: 34,2065           00013                           MM       11         B-14                       
023268,000240: 
023269,000241: 34,2066           04555                           TC       BANKCALL                              
023270,000242: 34,2067           20607                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023271,000243: 
023272,000244: 34,2070           05261                           TC       2PHSCHNG                              
023273,000245: 34,2071           40514                           OCT      40514                                 #  PROTECT ATERTASK
023274,000246: 34,2072           00073                           OCT      00073                                 
023275,000247: 34,2073           32001                           CAF      EBQPLACE                              
023276,000248: 34,2074           54003                           TS       EBANK                                 

Page 528

023278,000250: 34,2075  E5,1426                                  EBANK=   QPLACES                               
023279,000251: 34,2075           32276                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023280,000252: 34,2076           55426                           TS       QPLACES                               
023281,000253: 34,2077           22007                           ZL                                             #  STORE DP GIMBAL
023282,000254: 34,2100           30032                           CA       CDUX                                  #  ANGLES FOR ATTITUDE
023283,000255: 34,2101           53760                           DXCH     OGC                                   #  ERROR DISPLAY
023284,000256: 34,2102           22007                           ZL                                             #  AFTER L.O.
023285,000257: 34,2103           30033                           CA       CDUY                                  
023286,000258: 34,2104           53762                           DXCH     IGC                                   
023287,000259: 34,2105           22007                           ZL                                             
023288,000260: 34,2106           30034                           CA       CDUZ                                  
023289,000261: 34,2107           53764                           DXCH     MGC                                   
023290,000262: 34,2110           06006                           TC       INTPRET                               #        -
023291,000263: 34,2111           74575                           VLOAD    VSR1                                  #  SCALE OGC B-1
023292,000264: 34,2112           02760                                    OGC                                   
023293,000265: 34,2113           02760                           STORE    OGC                                   
023294,000266: 34,2114           64375                           VLOAD    MXV                                   
023295,000267: 34,2115           02467                                    THETAN                                
023296,000268: 34,2116           02672                                    XSM                                   
023297,000269: 34,2117           53372                           VSL1     VAD                                   
023298,000270: 34,2120           02650                                    ERCOMP                                
023299,000271: 34,2121           16650                           STODL    ERCOMP                                
023300,000272: 34,2122           01337                                    TLIFTOFF                              
023301,000273: 34,2123           52131                           SSP      GOTO                                  
023302,000274: 34,2124           00052                                    S2                                    
023303,000275: 34,2125           66424                           CADR     PROUT                                 #  RETURN FROM EARTHR
023304,000276: 34,2126           66373                                    EARTHR     +3                         
023305,000277: 34,2127           06006        MATRXJOB           TC       INTPRET                               
023306,000278: 34,2130           77731                           SSP                                            #  ZERO RTX2
023307,000279: 34,2131           03747                                    RTX2                                  #  FOR
023308,000280: 34,2132           00000                                    0                                     #  EARTH
023309,000281: 34,2133           65345                           DLOAD    PDDL                                  
023310,000282: 34,2134           01273                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023311,000283: 34,2135           01264                                    PADLONG                               #  LONGITUDE
023312,000284: 34,2136           55525                           PDDL     VDEF                                  
023313,000285: 34,2137           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023314,000286: 34,2140           15104                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023315,000287: 34,2141           15332                                    HI6ZEROS                              #  TIME = 0
023316,000288: 34,2142           45014                           CLEAR    CALL                                  
023317,000289: 34,2143           00662                                    ERADFLAG                              
023318,000290: 34,2144           26373                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF. COORDS
023319,000291: 
023320,000292: 34,2145           35232                           STCALL   RN1                                   #               -
023321,000293: 34,2146           77256                                    CALCGRAV                              #  RETURN WITH GRAVITY
023322,000294: 34,2147           77656                           UNIT                                           #  IN MPAC
023323,000295: 34,2150           25752                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)
023324,000296: 34,2151           01232                                    RN1                                   
023325,000297: 34,2152           74235                           VXV      VXSC                                  
023326,000298: 34,2153           01714                                    UNITW                                 #  SCALED AT 1
023327,000299: 34,2154           30300                                    -ERTHRAT                              #  V = EARTHRATE X R

Page 529

023329,000301: 34,2155           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023330,000302: 34,2156           25240                           STOVL    VN1                                   
023331,000303: 34,2157           01752                                    REFSMMAT   +12D                       
023332,000304: 34,2160           53435                           VXV      UNIT                                  
023333,000305: 34,2161           01714                                    UNITW                                 #  (REF3 X UNITW) = EAST
023334,000306: 34,2162           47206                           PUSH     VXV                                   
023335,000307: 34,2163           01752                                    REFSMMAT   +12D                       #  (EAST X REF3) = -SOUTH
023336,000308: 34,2164           65256                           UNIT     PDDL                                  
023337,000309: 34,2165           02634                                    LAUNCHAZ                              #  COS(AZ)*SOUTH
023338,000310: 34,2166           74346                           COS      VXSC                                  
023339,000311: 34,2167           77626                           STADR                                          
023340,000312: 34,2170           62041                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023341,000313: 34,2171           02634                                    LAUNCHAZ                              
023342,000314: 34,2172           74356                           SIN      VXSC                                  #  SIN(AZ)*EAST
023343,000315: 34,2173           53455                           VAD      UNIT                                  #  SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023344,000316: 34,2174           01736                                    REFSMMAT                              
023345,000317: 34,2175           01736                           STORE    REFSMMAT                              
023346,000318: 
023347,000319: 34,2176           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023348,000320: 34,2177           01752                                    REFSMMAT   +12D                       
023349,000321: 34,2200           77676                           VCOMP                                          
023350,000322: 34,2201           01744                           STORE    REFSMMAT   +6                         
023351,000323: 34,2202           45345                           DLOAD    DSU                                   
023352,000324: 34,2203           15330                                    DPHALF                                #  1/2 REV
023353,000325: 34,2204           02634                                    LAUNCHAZ                              
023354,000326: 34,2205           65215                           DAD      PDDL                                  
023355,000327: 34,2206           02401                                    AZIMUTH                               
023356,000328: 34,2207           03301                                    SATRLRT                               #  SET SATRLRT = -SATRLRT IF
023357,000329: 34,2210           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023358,000330: 34,2211           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023359,000331: 34,2212           77414                           SET      EXIT                                  
023360,000332: 34,2213           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023361,000333: 
023362,000334: 34,2214           05301                           TC       PHASCHNG                              
023363,000335: 34,2215           04023                           OCT      04023                                 
023364,000336: 
023365,000337: 34,2216           00006                           EXTEND                                         
023366,000338: 34,2217           32302                           DCA      P11SCADR                              
023367,000339: 34,2220           53223                           DXCH     AVGEXIT                               #  SET AVGEXIT
023368,000340: 
023369,000341: 34,2221           37665                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023370,000342: 34,2222           55074                           TS       1/PIPADT                              
023371,000343: 
023372,000344: 34,2223  E6,1501                                  EBANK=   RCSFLAGS                              
023373,000345: 34,2223           34752                           CA       EBANK6                                
023374,000346: 34,2224           54003                           TS       EBANK                                 
023375,000347: 
023376,000348: 34,2225           00004                           INHINT                                         
023377,000349: 34,2226           44714                           CS       ZERO                                  
023378,000350: 34,2227           55063                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF

Page 530

023380,000352: 34,2230           40025                           CS       TIME1                                 
023381,000353: 34,2231           64735                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023382,000354: 
023383,000355: 34,2232           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023384,000356: 34,2233           12236                           TCF      +3                                    #  TIME POSITIVE
023385,000357: 34,2234           12236                           TCF      +2                                    #  CANNOT GET HERE
023386,000358: 34,2235           34714                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023387,000359: 34,2236           64712                           AD       ONE                                   #  RESTORE TIME - OR MAKE POSITIVE
023388,000360: 
023389,000361: 34,2237           05140                           TC       WAITLIST                              
023390,000362: 34,2240  E6,1661                                  EBANK=   AOG                                   
023391,000363: 34,2240           02647 76066                     2CADR    READACCS                              
023392,000364: 
023393,000365: 34,2242           05261                           TC       2PHSCHNG                              
023394,000366: 34,2243           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023395,000367: 34,2244           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023396,000368: 
023397,000369: 34,2245           04574                           TC       POSTJUMP                              
023398,000370: 34,2246           77141                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023399,000371: 34,2247  E3,1706                                  EBANK=   TEPHEM                                
023400,000372: 34,2247           00004        REP11              INHINT                                         
023401,000373: 34,2250           10763                           CCS      PHASE5                                
023402,000374: 34,2251           05112                           TC       ENDOFJOB                              
023403,000375: 
023404,000376: 34,2252           11265                           CCS      LIFTTEMP                              
023405,000377: 34,2253           12257                           TCF      +4                                    
023406,000378: 34,2254           12257                           TCF      +3                                    
023407,000379: 34,2255           12257                           TCF      +2                                    
023408,000380: 34,2256           12013                           TCF      P11+7                                 
023409,000381: 
023410,000382: 34,2257           41336                           CS       TLIFTOFF                              
023411,000383: 34,2260           00006                           EXTEND                                         
023412,000384: 34,2261           62267                           BZMF     ENDREP11                              
023413,000385: 
023414,000386: 34,2262           10024                           CCS      TIME2                                 #  ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023415,000387: 34,2263           12021                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023416,000388: 
023417,000389: 34,2264           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023418,000390: 34,2265           31266                           DCA      LIFTTEMP                              
023419,000391: 34,2266           12024                           TCF      REP11A-2                              
023420,000392: 
023421,000393: 34,2267           00006        ENDREP11           EXTEND                                         
023422,000394: 34,2270           32275                           DCA      REP11SA                               
023423,000395: 34,2271           12025                           TCF      REP11A-1                              
023424,000396: 34,2272           77766 00011  REP11S             2OCT     7776600011                            

Page 531

023426,000398: 34,2274           77764 00013  REP11SA            2OCT     7776400013                            
023427,000399: 
023428,000400: 34,2276           02451        P11XIT             GENADR   P11OUT                                
023429,000401: 34,2277           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023430,000402: 
023431,000403: 34,2301  E6,1704                                  EBANK=   BODY3                                 
023432,000404: 34,2301           02303 70066  P11SCADR           2CADR    VHHDOT                                
023433,000405: 
023434,000406: 34,2303  E6,1704                                  EBANK=   BODY3                                 
023435,000407:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023436,000408:                                                                                                  #        VI      INERTIAL VELOCITY MAGNITUDE
023437,000409:                                                                                                  #        HDOT    RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023438,000410:                                                                                                  #        H       ALTITUDE ABOVE L PAD RADIUS
023439,000411: 
023440,000412: 34,2303           06006        VHHDOT             TC       INTPRET                               
023441,000413: 34,2304           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023442,000414: 34,2305           70436                                    S11.1                                 #  HDOT FOR DISPLAY
023443,000415: 34,2306           77776                           EXIT                                           
023444,000416: 34,2307           32511                           CAF      V06N62                                #  DISPLAY IN R1   R2   R3
023445,000417: 34,2310           04555                           TC       BANKCALL                              #             VI   HDOT H
023446,000418: 34,2311           20621                           CADR     REGODSPR                              #  DISPLAY INTERFACE - IMMEDIATE RETURN
023447,000419: 34,2312           04555                           TC       BANKCALL                              
023448,000420: 34,2313           77132                           CADR     SERVEXIT                              #  END OF P11SERVE CYCLE
023449,000421: 34,2314           34701        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023450,000422: 34,2315           05042                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023451,000423: 34,2316  E6,1704                                  EBANK=   BODY3                                 
023452,000424: 34,2316           02326 70066                     2CADR    ATERJOB                               
023453,000425: 
023454,000426: 34,2320           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023455,000427: 34,2321           74710                           MASK     BIT3                                  #  NEEDLER
023456,000428: 34,2322           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023457,000429: 34,2323           04633                           TC       IBNKCALL                              #  AND GO
023458,000430: 34,2324           42404                           CADR     NEEDLER                               #  DO IT
023459,000431: 34,2325           05213                           TC       TASKOVER                              
023460,000432: 
023461,000433:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023462,000434: 
023463,000435:                                                                                                  #        COMPUTE DESIRED PITCH W.R.T. LAUNCH SITE LOCAL VERTICAL.
023464,000436:                                                                                                  #        PITCH = -.0000469184028+.00137571556*T+.0231502280*T*T-.0205929365*T*T*T
023465,000437:                                                                                                  #                SCALED TO 32 REVOLUTIONS
023466,000438:                                                                                                  #        IF TL = TIME FROM LAUNCH IN SECONDS, THEN       T = 100(TL-10SEC)/(2**14)
023467,000439:                                                                                                  #        WHERE   TL GE  10 SEC
023468,000440:                                                                                                  #                TL LE 133 SEC  .
023469,000441: 
023470,000442:                                                                                                  #        COMPUTE DESIRED ROLL WHERE ROLL EQUALS COUNTER-CLOCKWISE ANGLE FROM
023471,000443:                                                                                                  #        LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023472,000444:                                                                                                  #        ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T    IN REV
023473,000445:                                                                                                  #        SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023474,000446:                                                                                                  #        T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS

Page 532

023476,000448: 
023477,000449:                                                                                                  #        FOR SIMPLICITY, LET     P = 2*PI*PITCH
023478,000450:                                                                                                  #                                R = 2*PI*ROLL
023479,000451: 
023480,000452:                                                                                                  #        CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023481,000453:                                                                                                  #        TERMS OF SM COORDINATES.  LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023482,000454:                                                                                                  #        YDC, AND ZDC.
023483,000455: 
023484,000456:                                                                                                  #         *     (    SIN(P)                 0               -COS(P)    )   (XDC)
023485,000457:                                                                                                  #        TSMV = (-SIN(R)*COS(P)          -COS(R)         -SIN(R)*SIN(P)) = (YDC)
023486,000458:                                                                                                  #               (-COS(R)*COS(P)           SIN(R)         -COS(R)*SIN(P))   (ZDC)
023487,000459: 
023488,000460:                                                                                                  #        XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023489,000461:                                                                                                  #        EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023490,000462:                                                                                                  #        ORIENTATION.  THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023491,000463:                                                                                                  #        AS THE DESIRED CDU ANGLES.
023492,000464: 
023493,000465:                                                                                                  #        (XDC)                   (OGC)
023494,000466:                                                                                                  #        (YDC) ---) CALCGTA ---) (IGC)
023495,000467:                                                                                                  #        (ZDC)                   (MGC)
023496,000468:                                                                                                  #                           -
023497,000469:                                                                                                  #        DEFINE THE VECTOR DELTACDU.
023498,000470: 
023499,000471:                                                                                                  #         -         (OGC)   (CDUX)
023500,000472:                                                                                                  #        DELTACDU = (IGC) - (CDUY)
023501,000473:                                                                                                  #                   (MGC)   (CDUZ)
023502,000474:                                                                                                  #                                 -              -    *    -
023503,000475:                                                                                                  #        COMPUTE ATTITUDE ERRORS, A, WHERE       A = TGSC*DELTACDU
023504,000476: 
023505,000477:                                                                                                  #         *     (1             SIN(CDUZ)             0    )   THE GIMBAL ANGLES
023506,000478:                                                                                                  #        TGSC = (0       COS(CDUX)*COS(CDUZ)     SIN(CDUX)) = TO SPACECRAFT AXES
023507,000479:                                                                                                  #               (0      -SIN(CDUX)*COS(CDUZ)     COS(CDUX))   CONVERSION MATRIX
023508,000480:                                                                                                  #                             -
023509,000481:                                                                                                  #        THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023510,000482:                                                                                                  #        THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023511,000483:                                                                                                  #        ERROR DISPLAY ROUTINE.
023512,000484: 
023513,000485: 34,2326           30024        ATERJOB            CAE      TIME2                                 #  CHECK IF MORE THAN
023514,000486: 34,2327           00006                           EXTEND                                         #  164 SECONDS FROM L.O.
023515,000487: 34,2330           62332                           BZMF     +2                                    
023516,000488: 34,2331           12424                           TCF      SATCLEAR                              #  YES - CLEAR ERROR COUNTER + EXIT
023517,000489: 34,2332           30102                           CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023518,000490: 34,2333           74105                           MASK     OCT60000                              #  BITS 14 + 15
023519,000491: 34,2334           00006                           EXTEND                                         
023520,000492: 34,2335           12337                           BZF      ATTDISP                               #  NO SATURN STICK ON
023521,000493: 34,2336           02420                           TC       ATERSET                               #  EXIT - SATURN STICK IN USE
023522,000494: 34,2337           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023523,000495: 34,2340           60025                           AD       TIME1                                 

Page 533

023525,000497: 34,2341           00006                           EXTEND                                         
023526,000498: 34,2342           62504                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023527,000499: 34,2343           54154                           TS       MPAC                                  #  MPAC = TIME1 - RPSTART
023528,000500: 34,2344           55707                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALCULATION
023529,000501: 34,2345           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023530,000502: 34,2346           00006                           EXTEND                                         
023531,000503: 34,2347           62351                           BZMF     +2                                    
023532,000504: 34,2350           12416                           TCF      SATOUT                                #  EXIT IF TIME1 GR THAN (RPSTART-POLYSTOP)
023533,000505: 34,2351           31661                           CAE      POLYNUM                               
023534,000506: 34,2352           54001                           TS       L                                     
023535,000507: 34,2353           32510                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023536,000508: 34,2354           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023537,000509: 
023538,000510:                                                                                                  #        THE FOLLOWING PAD LOADED COEFFICIENTS ARE
023539,000511:                                                                                                  #        USED TO COMPUTE THE PITCH POLYNOMIAL
023540,000512: 
023541,000513:                                                                                                  #        ----- SUNDISK SI COEFS -----
023542,000514:                                                                                                  #        POLYNUM         FIVE                            POLYNOMIAL DEGREE -1
023543,000515:                                                                                                  #                +1      2DEC    -.469184028     E-4     A0
023544,000516:                                                                                                  #                +3      2DEC    .137571556      E-2     A1
023545,000517:                                                                                                  #                +5      2DEC    .231502280      E-1     A2
023546,000518:                                                                                                  #                +7      2DEC    -.205929365     E-1     A3
023547,000519:                                                                                                  #                +9D     2DEC    0                       A4
023548,000520:                                                                                                  #                +11D    2DEC    0                       A5
023549,000521:                                                                                                  #                +13D    2DEC    0                       A6
023550,000522:                                                                                                  #        POLYLOC         =       POLYNUM +10D
023551,000523: 
023552,000524: 34,2355           34714                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023553,000525: 34,2356           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023554,000526: 34,2357           06006                           TC       INTPRET                               
023555,000527: 34,2360           54201                           SETPD    SL                                    #  32(PITCH(32REV)) = PITCH(REV)
023556,000528: 34,2361           00001                                    0                                     
023557,000529: 34,2362           20206                                    5                                     
023558,000530: 34,2363           77606                           PUSH                                           #  LET P(RAD) = 2*PI*PITCH(REV)
023559,000531: 
023560,000532: 34,2364           77650                           GOTO                                           
023561,000533: 34,2365           76103                                    ATTDISP1                              #  AROUND SETLOC
023562,000534: 
023563,000535:                                                                                                  #                                     *
023564,000536:                                                                                                  #        CONSTRUCT SM TO S/C MATRIX, TSMV
023565,000537: 
023566,000538: 37,2000                                           SETLOC   P11TWO                                
023567,000539: 37,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
023568,000540: 
023569,000541: 37,2103                                           COUNT    36/P11                                
023570,000542: 
023571,000543: 37,2103           57546        ATTDISP1           COS      DCOMP                                 
023572,000544: 37,2104           14017                           STODL    14D                                   #  -.5*COS(P)
023573,000545: 37,2105           77756                           SIN                                            
023574,000546: 37,2106           14013                           STODL    10D                                   #  .5*SIN(P)
023575,000547: 37,2107           15332                                    ZEROVECS                              

Page 534

023577,000549: 37,2110           00015                           STORE    12D                                   #  0
023578,000550: 
023579,000551:                                                                                                  #        EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023580,000552: 
023581,000553: 37,2111           41335                           SLOAD    DMP                                   
023582,000554: 37,2112           03310                                    SPOLYARG                              #  TIME1 - RPSTART, CSECS B-14.
023583,000555: 37,2113           03301                                    SATRLRT                               
023584,000556: 37,2114           45261                           SL       DSU                                   
023585,000557: 37,2115           20217                                    14D                                   
023586,000558: 37,2116           15330                                    DPHALF                                
023587,000559: 37,2117           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023588,000560: 37,2120           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023589,000561: 37,2121           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023590,000562: 37,2122           77634                           RTB                                            #  DETERMINE IF ROLLOUT
023591,000563: 37,2123           70473                                    RLTST                                 #  IS COMPLETED
023592,000564: 37,2124           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
023593,000565: 37,2125           77606                           PUSH                                           #  LET R(RAD) = 2*PI*ROLL(REV)
023594,000566: 37,2126           72405                           DMP      SL1                                   
023595,000567: 37,2127           00017                                    14D                                   
023596,000568: 37,2130           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
023597,000569: 37,2131           77676                           DCOMP                                          
023598,000570: 37,2132           00023                           STORE    18D                                   #  -.5*COS(R)
023599,000571: 37,2133           72405                           DMP      SL1                                   
023600,000572: 37,2134           00013                                    10D                                   
023601,000573: 37,2135           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
023602,000574: 37,2136           41556                           SIN      PUSH                                  
023603,000575: 37,2137           00031                           STORE    24D                                   #  .5*SIN(R)
023604,000576: 37,2140           72405                           DMP      SL1                                   
023605,000577: 37,2141           00017                                    14D                                   
023606,000578: 37,2142           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
023607,000579: 37,2143           77676                           DCOMP                                          
023608,000580: 37,2144           72405                           DMP      SL1                                   
023609,000581: 37,2145           00013                                    10D                                   
023610,000582: 37,2146           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)
023611,000583: 37,2147           00013                                    10D                                   
023612,000584: 
023613,000585:                                                                                                  #        FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023614,000586: 
023615,000587: 37,2150           77656                           UNIT                                           
023616,000588: 37,2151           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
023617,000589: 37,2152           00021                                    16D                                   
023618,000590: 37,2153           77656                           UNIT                                           
023619,000591: 37,2154           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023620,000592: 37,2155           00027                                    22D                                   #                        -SIN(R)*SIN(P))
023621,000593: 37,2156           77656                           UNIT                                           
023622,000594: 37,2157           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023623,000595: 37,2160           47140                                    CALCGTA                               #                        -COS(R)*SIN(P))
023624,000596: 
023625,000597:                                                                                                  #        CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC, AND MGC
023626,000598:                                                                                                  #                                 -          -   -
023627,000599:                                                                                                  #        FIND DIFFERENCE VECTOR  DELTACDU = OGC-CDUX

Page 535

023629,000601:                                                                                                  #        ENTER HERE IF ATTITUDE HOLD
023630,000602: 
023631,000603: 37,2161           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
023632,000604: 37,2162           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
023633,000605: 37,2163           45006                           PUSH     CALL                                  #         MGC      OGC
023634,000606: 37,2164           47432                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
023635,000607: 37,2165           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX , PD4
023636,000608: 37,2166           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY , 0
023637,000609: 37,2167           45547                                    V1STO2S                               #             DPSI     MGC-CDUZ , 2
023638,000610: 37,2170           27317                           STOVL    BOOSTEMP                              
023639,000611: 37,2171           15332                                    ZEROVECS                              
023640,000612: 37,2172           24001                           STOVL    0                                     
023641,000613: 37,2173           00767                                    CDUSPOT                               
023642,000614: 37,2174           47034                           RTB      RTB                                   
023643,000615: 37,2175           45547                                    V1STO2S                               
023644,000616: 37,2176           70453                                    DELSTOR                               
023645,000617: 37,2177           14013                           STODL    10D                                   
023646,000618: 37,2200           00741                                    SINCDUZ                               
023647,000619: 37,2201           72405                           DMP      SL1                                   
023648,000620: 37,2202           00001                                    0                                     
023649,000621: 37,2203           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
023650,000622: 37,2204           00005                                    4                                     
023651,000623: 37,2205           77650                           GOTO                                           
023652,000624: 37,2206           70366                                    ATTDISP2                              
023653,000625: 
023654,000626: 34,2000                                           SETLOC   P11ONE                                
023655,000627: 34,2000                                           BANK                                           
023656,000628: 34,2366                                           COUNT    34/P11                                
023657,000629: 
023658,000630: 34,2366           14021        ATTDISP2           STODL    16D                                   #  16D, .5(DPHI + DTHETA*SIN(CDUZ))
023659,000631: 34,2367           00747                                    COSCDUZ                               
023660,000632: 34,2370           41405                           DMP      PUSH                                  
023661,000633: 34,2371           00001                                    0                                     
023662,000634: 34,2372           72405                           DMP      SL1                                   
023663,000635: 34,2373           00751                                    COSCDUX                               
023664,000636: 34,2374           41325                           PDDL     DMP                                   
023665,000637: 34,2375           00743                                    SINCDUX                               
023666,000638: 34,2376           00003                                    2                                     
023667,000639: 34,2377           72415                           DAD      SL1                                   
023668,000640: 34,2400           77626                           STADR                                          
023669,000641: 34,2401           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
023670,000642: 34,2402           72405                           DMP      SL1                                   #                        +DPSI*SIN(CDUX))
023671,000643: 34,2403           00743                                    SINCDUX                               
023672,000644: 34,2404           41325                           PDDL     DMP                                   
023673,000645: 34,2405           00751                                    COSCDUX                               
023674,000646: 34,2406           00003                                    2                                     
023675,000647: 34,2407           72425                           DSU      SL1                                   
023676,000648: 34,2410           77626                           STADR                                          
023677,000649: 34,2411           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023678,000650: 34,2412           77751                           TLOAD                                          #                        +DPSI*COS(CDUX))

Page 536

023680,000652: 34,2413           00021                                    16D                                   
023681,000653: 34,2414           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
023682,000654: 34,2415           77776                           EXIT                                           
023683,000655: 
023684,000656:                                                                                                  #        DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023685,000657: 
023686,000658: 34,2416           04555        SATOUT             TC       BANKCALL                              
023687,000659: 34,2417           42404                           CADR     NEEDLER                               
023688,000660: 34,2420           34113        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
023689,000661: 34,2421           04555                           TC       BANKCALL                              #  EXECUTION + DELAY = .56SEC APPROX
023690,000662: 34,2422           01732                           CADR     DELAYJOB                              
023691,000663: 34,2423           02326                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
023692,000664: 
023693,000665: 34,2424           44705        SATCLEAR           CS       BIT6                                  
023694,000666: 34,2425           00006                           EXTEND                                         
023695,000667: 34,2426           03012                           WAND     CHAN12                                #  CLEAR IMU ERROR COUNTER
023696,000668: 34,2427           05301                           TC       PHASCHNG                              #  TURN OFF PROTECTION
023697,000669: 34,2430           00004                           OCT      00004                                 #  FOR ATTITUDE ERROR DISPLAY
023698,000670: 34,2431           34714                           CAF      ZERO                                  
023699,000671: 34,2432           55476                           TS       AK                                    #  ZERO OUT
023700,000672: 34,2433           55477                           TS       AK1                                   #  AKS FOR
023701,000673: 34,2434           55500                           TS       AK2                                   #  DOWNLINK
023702,000674: 34,2435           05112                           TC       ENDOFJOB                              
023703,000675: 
023704,000676: 34,2436           51575        S11.1              VLOAD    ABVAL                                 
023705,000677: 34,2437           01177                                    VN                                    
023706,000678: 34,2440           27723                           STOVL    VMAGI                                 #  VI    SCALED 2(7) IN METERS/CSEC
023707,000679: 34,2441           01171                                    RN                                    
023708,000680: 34,2442           45246                           ABVAL    DSU                                   
023709,000681: 34,2443           05311                                    RPAD                                  
023710,000682: 34,2444           27735                           STOVL    ALTI                                  #  H     SCALED 2(29) IN METERS
023711,000683: 34,2445           01171                                    RN                                    
023712,000684: 34,2446           50256                           UNIT     DOT                                   
023713,000685: 34,2447           01177                                    VN                                    
023714,000686: 34,2450           77752                           SL1                                            
023715,000687: 34,2451           03737                           STORE    HDOT                                  #  HDOT  SCALED 2(7) IN METERS/CSEC
023716,000688: 34,2452           77616                           RVQ                                            
023717,000689: 34,2453           31716        DELSTOR            CA       BOOSTEMP                              
023718,000690: 34,2454           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
023719,000691: 34,2455           20154                           MSU      MPAC                                  
023720,000692: 34,2456           50120                           INDEX    FIXLOC                                
023721,000693: 34,2457           54000                           TS       0                                     
023722,000694: 34,2460           31717                           CA       BOOSTEMP   +1                         
023723,000695: 34,2461           00006                           EXTEND                                         
023724,000696: 34,2462           20155                           MSU      MPAC       +1                         
023725,000697: 34,2463           50120                           INDEX    FIXLOC                                
023726,000698: 34,2464           54002                           TS       2                                     
023727,000699: 34,2465           31720                           CA       BOOSTEMP   +2                         
023728,000700: 34,2466           00006                           EXTEND                                         
023729,000701: 34,2467           20156                           MSU      MPAC       +2                         

Page 537

023731,000703: 34,2470           50120                           INDEX    FIXLOC                                
023732,000704: 34,2471           54004                           TS       4                                     
023733,000705: 34,2472           16030                           TCF      DANZIG                                
023734,000706: 34,2473           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
023735,000707: 34,2474           00006                           EXTEND                                         #  IS COMPLETED
023736,000708: 34,2475           71701                           MP       SATRLRT    +1                         
023737,000709: 34,2476           00006                           EXTEND                                         
023738,000710: 34,2477           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS STILL ROLLING
023739,000711: 34,2500           00006                           EXTEND                                         #  ROLLOUT COMPLETED
023740,000712: 34,2501           33561                           DCA      MBDYTCTL   +2                         #  ZERO OUT ROLL CONTRIBUTION
023741,000713: 34,2502           52155                           DXCH     MPAC                                  
023742,000714: 34,2503           06030                           TC       DANZIG                                
023743,000715: 34,2504           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
023744,000716: 34,2505           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
023745,000717: 34,2506           00001                                    0                                     
023746,000718: 34,2507           76161                                    NOPOLYM                               
023747,000719: 34,2510           01673        COEFPOLY           ADRES    POLYLOC                               
023748,000720: 34,2511           01476        V06N62             VN       0662                                  
023749,000721: 
023750,000722:                                                                                                  #  SATURN TAKEOVER FUNCTION
023751,000723:                                                                                                  #  ************************
023752,000724:                                                                                                  #  
023753,000725:                                                                                                  #  PROGRAM DESCRIPTION
023754,000726: 
023755,000727:                                                                                                  #        MOD NUMBER 1
023756,000728:                                                                                                  #        MOD BY ELIASSEN
023757,000729: 
023758,000730:                                                                                                  #  FUNCTIONAL DESCRIPTION
023759,000731: 
023760,000732:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023761,000733:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023762,000734:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET).
023763,000735:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023764,000736:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023765,000737:                                                                                                  #        VOLTAGES.  THE VALUE OF THE CONSTANT RATE COMMAND
023766,000738:                                                                                                  #        IS 0.5 DEG/SEC.  AN ABSENCE OF RHC ACTIVITY RE-
023767,000739:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
023768,000740: 
023769,000741:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023770,000742:                                                                                                  #        OF THE RATE COMMAND.
023771,000743: 
023772,000744:                                                                                                  #  CALLING SEQUENCE
023773,000745: 
023774,000746:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
023775,000747:                                                                                                  #                        CADR    SATSTKON
023776,000748: 
023777,000749:                                                                                                  #  SUBROUTINES CALLED
023778,000750: 
023779,000751:                                                                                                  #        ENDEXT
023780,000752:                                                                                                  #        IBNKCALL
023781,000753:                                                                                                  #        STICKCHK

Page 538

023783,000755:                                                                                                  #        NEEDLER
023784,000756:                                                                                                  #        T5RUPT
023785,000757:                                                                                                  #        RESUME
023786,000758: 
023787,000759:                                                                                                  #  ASTRONAUT REQUESTS
023788,000760: 
023789,000761:                                                                                                  #        ENTRY -  VERB 46 ENTER
023790,000762:                                                                                                  #                  (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023791,000763: 
023792,000764:                                                                                                  #        EXIT -   VERB 48 ENTER  (FLASH V06N46)
023793,000765:                                                                                                  #                  VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023794,000766:                                                                                                  #                  VERB 34 ENTER
023795,000767:                                                                                                  #                  VERB 46 ENTER
023796,000768: 
023797,000769:                                                                                                  #  NORMAL EXIT MODE
023798,000770: 
023799,000771:                                                                                                  #        VERB 46 ENTER   (SEE ASTRONAUT ABOVE)
023800,000772: 
023801,000773:                                                                                                  #  ALARM OR ABORT EXIT MODES
023802,000774: 
023803,000775:                                                                                                  #        NONE
023804,000776: 
023805,000777:                                                                                                  #  OUTPUT
023806,000778: 
023807,000779:                                                                                                  #        SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023808,000780: 
023809,000781:                                                                                                  #  ERASABLE INITIALIZATION
023810,000782: 
023811,000783:                                                                                                  #        DAPDATR1        (BITS 13, 14 MUST BE SET)
023812,000784: 
023813,000785:                                                                                                  #  DEBRIS
023814,000786: 
023815,000787:                                                                                                  #        CENTRALS
023816,000788:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
023817,000789: 
023818,000790: 43,3211                                           BANK     43                                    
023819,000791: 43,2000                                           SETLOC   EXTVERBS                              
023820,000792: 43,2000                                           BANK                                           
023821,000793: 
023822,000794: 43,3211                                           COUNT    23/STTKE                              
023823,000795: 43,3211           00006        SATSTKON           EXTEND                                         
023824,000796: 43,3212           33227                           DCA      2REDOSAT                              
023825,000797: 43,3213           00004                           INHINT                                         
023826,000798: 43,3214           53313                           DXCH     T5LOC                                 
023827,000799: 43,3215           34672                           CAF      POSMAX                                
023828,000800: 43,3216           54030                           TS       TIME5                                 
023829,000801: 43,3217           40102                           CS       FLAGWRD6                              #  TURN ON BITS 15,14 OF
023830,000802: 43,3220           74105                           MASK     RELTAB11                              #  FLAGWRD6
023831,000803: 43,3221           26102                           ADS      FLAGWRD6                              #        SATSTICK CONTROL OF T5
023832,000804: 43,3222           04633                           TC       IBNKCALL                              #  ZERO JET CHANNELS IN 14 MS AND THEN

Page 539

023834,000806: 43,3223           42616                           CADR     ZEROJET                               #  LEAVE THE T6 CLOCK DISABLED
023835,000807: 43,3224           00003                           RELINT                                         
023836,000808: 43,3225           02121                           TC       GOPIN                                 #  EXIT THUS BECAUSE WE CAME VIA V46
023837,000809: 
023838,000810: 43,3226  E6,1704                                  EBANK=   BODY3                                 
023839,000811: 43,3226           02765 46106  2REDOSAT           2CADR    REDOSAT                               
023840,000812: 
023841,000813: 32,2017                                           BANK     32                                    
023842,000814: 23,2000                                           SETLOC   P11FOUR                               
023843,000815: 23,2000                                           BANK                                           
023844,000816: 
023845,000817: 23,2765           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
023846,000818: 23,2766           00006                           EXTEND                                         
023847,000819: 23,2767           22012                           QXCH     QRUPT                                 
023848,000820: 23,2770           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
023849,000821: 23,2771           74710                           MASK     BIT3                                  #  FOR
023850,000822: 23,2772           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
023851,000823: 23,2773           04633                           TC       IBNKCALL                              
023852,000824: 23,2774           42404                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
023853,000825: 23,2775           34702                           CAF      BIT9                                  #  SIVB
023854,000826: 23,2776           00006                           EXTEND                                         #  TAKEOVER
023855,000827: 23,2777           05012                           WOR      CHAN12                                #  ENABLE
023856,000828: 23,3000           00006                           EXTEND                                         #  SET UP T5 CYCLE
023857,000829: 23,3001           33046                           DCA      2SATSTCK                              
023858,000830: 23,3002           53313                           DXCH     T5LOC                                 
023859,000831: 23,3003           33044                           CAF      100MST5                               #  IN 100 MSECS
023860,000832: 23,3004           54030                           TS       TIME5                                 
023861,000833: 23,3005           15222                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
023862,000834: 
023863,000835:                                                                                                  #        THIS SECTION IS EXECUTED EVERY 100 MSECS
023864,000836: 
023865,000837: 23,3006           22016        SATSTICK           LXCH     BANKRUPT                              
023866,000838: 23,3007           00006                           EXTEND                                         
023867,000839: 23,3010           22012                           QXCH     QRUPT                                 
023868,000840: 
023869,000841: 23,3011           33045                           CAF      2SATSTCK                              #  SET UP RUPT
023870,000842: 23,3012           55312                           TS       T5LOC                                 #  LO ORDER LOC SET
023871,000843: 23,3013           33044                           CAF      100MST5                               #  100 MSECS
023872,000844: 23,3014           54030                           TS       TIME5                                 
023873,000845: 23,3015           33043                           CAF      STIKBITS                              
023874,000846: 23,3016           00006                           EXTEND                                         
023875,000847: 23,3017           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
023876,000848: 23,3020           73043                           MASK     STIKBITS                              
023877,000849: 23,3021           04633                           TC       IBNKCALL                              #  SET RATE INDICES
023878,000850: 23,3022           43114                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
023879,000851: 
023880,000852: 23,3023           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
023881,000853: 23,3024           33037                           CA       SATRATE                               
023882,000854: 23,3025           55476                           TS       AK                                    #        ROLL

Page 540

023884,000856: 23,3026           51657                           INDEX    PMANNDX                               
023885,000857: 23,3027           33037                           CA       SATRATE                               
023886,000858: 23,3030           55477                           TS       AK1                                   #        PITCH
023887,000859: 23,3031           51660                           INDEX    YMANNDX                               
023888,000860: 23,3032           33037                           CA       SATRATE                               
023889,000861: 23,3033           55500                           TS       AK2                                   #        YAW
023890,000862: 
023891,000863: 23,3034           04633                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
023892,000864: 23,3035           42404                           CADR     NEEDLER                               
023893,000865: 23,3036           15222                           TCF      RESUME                                #  END OF SATURN STICK CONTROL
023894,000866: 23,3037           00000        SATRATE            DEC      0          B-14                       #  IN DETENT - ZERO RATE
023895,000867: 23,3040           00476                           DEC      +318       B-14                       #  POS RATE .5D/S R, .3D/S P AND Y
023896,000868: 23,3041           77301                           DEC      -318       B-14                       #  NEG RATE       DITTO
023897,000869: 23,3042           00000                           DEC      0          B-14                       #  POS NEG BITS ON       ASSUME IN DETENT
023898,000870: 
023899,000871: 23,3043           00077        STIKBITS           OCT      00077                                 
023900,000872: 23,3044           37766        100MST5            DEC      16374      B-14                       
023901,000873: 23,3045  E6,1704                                  EBANK=   BODY3                                 
023902,000874: 23,3045           03006 46106  2SATSTCK           2CADR    SATSTICK                              
023903,000875: 

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