ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original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. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
023042,000002: ## Copyright: Public domain.
023043,000003: ## Filename: P11.agc
023044,000004: ## Purpose: Part of the source code for Colossus, build 249.
023045,000005: ## It is part of the source code for the Command Module's (CM)
023046,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
023047,000007: ## Assembler: yaYUL
023048,000008: ## Reference: pp. 524-540.
023049,000009: ## Contact: Ron Burkey <info@sandroid.org>.
023050,000010: ## Website: www.ibiblio.org/apollo.
023051,000011: ## Mod history: 08/13/04 RSB Began transcribing.
023052,000012: ## 2011-05-07 JL Flag SBANK= workarounds for future removal.
023053,000013: ## 2017-01-06 RSB Page numbers now agree with those on the
023054,000014: ## original hardcopy, as opposed to the PDF page
023055,000015: ## numbers in 1701.pdf.
023056,000016: ## 2017-01-15 RSB Cross-diff'd comment text (not whitespace)
023057,000017: ## vs the already-proofed corresponding Colossus
023058,000018: ## 237 and Comanche 55 source-code files
023059,000019: ## and corrected errors found. Matches Colossus 237
023060,000020: ## comment-text after corrections, but not Comanche 55.
023061,000021: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
023062,000022: ##
023063,000023: ## The contents of the "Colossus249" files, in general, are transcribed
023064,000024: ## from a scanned copy of the program listing. Notations on this
023065,000025: ## document read, in part:
023066,000026: ##
023067,000027: ## Assemble revision 249 of AGC program Colossus by NASA
023068,000028: ## 2021111-041. October 28, 1968.
023069,000029: ##
023070,000030: ## This AGC program shall also be referred to as
023071,000031: ## Colossus 1A
023072,000032: ##
023073,000033: ## Prepared by
023074,000034: ## Massachusetts Institute of Technology
023075,000035: ## 75 Cambridge Parkway
023076,000036: ## Cambridge, Massachusetts
023077,000037: ## under NASA contract NAS 9-4065.
023078,000038: ##
023079,000039: ## Refer directly to the online document mentioned above for further information.
023080,000040: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
023081,000041: ##
023082,000042: ## In some cases, where the source code for Luminary 131 overlaps that of
023083,000043: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
023084,000044: ## source file, and then is proofed to incorporate any changes.
023085,000045:
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Page 524 |
023087,000047: # EARTH ORBIT INSERTION MONITOR PROGRAM
023088,000048: # *************************************
023089,000049:
023090,000050: # PROGRAM DESCRIPTION -P11-
023091,000051:
023092,000052: # MOD NO. 1
023093,000053: # MOD BY ELIASSEN
023094,000054:
023095,000055: # FUNCTIONAL DESCRIPTION
023096,000056:
023097,000057: # P11 IS INITIATED BY
023098,000058:
023099,000059: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023100,000060: # B) BACKUP THRU VERB 75 ENTER
023101,000061:
023102,000062: # PROGRAM WILL
023103,000063:
023104,000064: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023105,000065: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023106,000066: # 3. INITIATE SERVICER AT PREREAD1
023107,000067: # 4. CHANGE MAJOR MODE TO 11
023108,000068: # 5. CLEAR DSKY IN CASE OF V 75
023109,000069: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023110,000070: # 7. TERMINATE GYROCOMPASSING - -
023111,000071: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
023112,000072: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
023113,000073: # - - X Y Z
023114,000074: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
023115,000075: # Z
023116,000076: # - - -
023117,000077: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
023118,000078: # X
023119,000079: # - - -
023120,000080: # U =U * U
023121,000081: # U Z X
023122,000082: # 10. SET REFSMMAT KNOWN FLAG
023123,000083: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023124,000084: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023125,000085:
023126,000086: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
023127,000087: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023128,000088: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
023129,000089: #
023130,000090: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023131,000091:
023132,000092: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023133,000093: # DESIRED ATTITUDE IS AS STORED AT L.O.
023134,000094: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023135,000095: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023136,000096: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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Page 525 |
023138,000098: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023139,000099: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023140,000100:
023141,000101: # SUBROUTINES CALLED
023142,000102:
023143,000103: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
023144,000104: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
023145,000105: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
023146,000106: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
023147,000107: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
023148,000108:
023149,000109: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023150,000110:
023151,000111: # DSKY -
023152,000112: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023153,000113: # R2 MINUTES
023154,000114:
023155,000115: # DSKY -
023156,000116: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023157,000117: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023158,000118: # R3 TFF IN MINUTES/SECS
023159,000119:
023160,000120: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023161,000121: # HIT KEY RELEASE BUTTON TO RETURN TO NORMAL NOUN 62 DISPLAY
023162,000122:
023163,000123: # NORMAL EXIT MODE
023164,000124:
023165,000125: # ASTRONAUT VERB 37 ENTER 00 ENTER
023166,000126:
023167,000127: # ALARM MODES - NONE
023168,000128:
023169,000129: # ABORT EXIT MODES -
023170,000130:
023171,000131: # EARLY BOOST ABORT FOLLOWED BY REENTRY V 37 E 62 E
023172,000132: # LATE BOOST ABORT FOLLOWED BY REENTRY V 37 E 61 E
023173,000133:
023174,000134: # OUTPUT
023175,000135:
023176,000136: # TLIFTOFF (DP) TEPHEM (TP)
023177,000137: # REFSMMAT
023178,000138: # DSKY DISPLAY
023179,000139: # FDAI DISPLAY
023180,000140:
023181,000141: # ERASABLE INITIALIZATION
023182,000142:
023183,000143: # AZO, AXO, -AYO
023184,000144: # LATITUDE
023185,000145: # PADLONG
023186,000146: # TEPHEM
023187,000147: # PGNCSALT
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023189,000149: # POLYNUM THRU POLYNUM +14D)
023190,000150: # RPSTART
023191,000151: # POLYSTOP
023192,000152:
023193,000153: # FLAGS SET OR RESET
023194,000154:
023195,000155: # SET REFSMFLG
023196,000156: # SET DVMON IDLE FLAG
023197,000157: # CLEAR ERADFLAG
023198,000158:
023199,000159: # DEBRIS
023200,000160:
023201,000161: # LIFTTEMP
023202,000162: # POLYNUM THRU POLYNUM +7
023203,000163: # SPOLYARG
023204,000164: # BODY1, BODY2, BODY3
023205,000165: # VMAG2, ALTI, HDOT
023206,000166: # CENTRALS, CORE SET AND VAC AREAS
023207,000167:
023208,000168: 04,3447 COUNT 34/P11
023209,000169:
023210,000170: 04,3447 4730 BITS5-6 = SUPER011
023211,000171: 42,3521 BANK 42
023212,000172: 34,2000 SETLOC P11ONE
023213,000173: 34,2000 BANK
023214,000174:
023215,000175: 34,2002 E3,1706 EBANK= TEPHEM
023216,000176: 34,2002 34744 P11 CA EBANK3
023217,000177: 34,2003 54003 TS EBANK
023218,000178:
023219,000179: 34,2004 00006 EXTEND
023220,000180: 34,2005 32273 DCA REP11S # DIRECT RESTARTS TO REP11
023221,000181: 34,2006 52757 DXCH -PHASE3
023222,000182: 34,2007 44714 CS ZERO
023223,000183: 34,2010 22007 ZL
023224,000184: 34,2011 55265 TS LIFTTEMP
023225,000185: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
023226,000186: 34,2013 00006 P11+7 EXTEND
023227,000187: 34,2014 32275 DCA REP11SA
023228,000188: 34,2015 53337 DXCH TLIFTOFF
023229,000189:
023230,000190: 34,2016 00006 EXTEND
023231,000191: 34,2017 30025 DCA TIME2
023232,000192: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
023233,000193:
023234,000194: 34,2021 34714 CA ZERO
023235,000195: 34,2022 22007 ZL
023236,000196: 34,2023 52025 DXCH TIME2
023237,000197: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
023238,000198: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
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023240,000200: 34,2026 00004 REP11A INHINT
023241,000201: 34,2027 00006 EXTEND
023242,000202: 34,2030 31710 DCA TEPHEM +1
023243,000203: 34,2031 53271 DXCH TEPHEM1 +1
023244,000204: 34,2032 31706 CA TEPHEM
023245,000205: 34,2033 57267 XCH TEPHEM1
023246,000206:
023247,000207: 34,2034 00006 EXTEND
023248,000208: 34,2035 31337 DCA TLIFTOFF
023249,000209: 34,2036 21271 DAS TEPHEM1 +1
023250,000210: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
023251,000211:
023252,000212: 34,2040 05301 TC PHASCHNG
023253,000213: 34,2041 05023 OCT 05023
023254,000214: 34,2042 22000 OCT 22000
023255,000215:
023256,000216: 34,2043 00004 INHINT
023257,000217: 34,2044 00006 EXTEND
023258,000218: 34,2045 31270 DCA TEPHEM1
023259,000219: 34,2046 53707 DXCH TEPHEM
023260,000220: 34,2047 31271 CA TEPHEM1 +2
023261,000221: 34,2050 57710 XCH TEPHEM +2
023262,000222:
023263,000223: 34,2051 32000 CAF EBDVCNT
023264,000224: 34,2052 54003 TS EBANK
023265,000225: 34,2053 E7,1431 EBANK= DVCNTR
023266,000226: 34,2053 04633 TC IBNKCALL
023267,000227: 34,2054 76625 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
023268,000228:
023269,000229: 34,2055 05301 TC PHASCHNG
023270,000230: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
023271,000231: 34,2057 22000 OCT 22000
023272,000232:
023273,000233: 34,2060 34731 CAF .5SEC # START ATT ERROR DISPLAY
023274,000234: 34,2061 05140 TC WAITLIST # IN .5 SEC
023275,000235: 34,2062 E6,1704 EBANK= BODY3
023276,000236: 34,2062 02314 70066 2CADR ATERTASK
023277,000237:
023278,000238: 34,2064 05243 TC NEWMODEX # DISPLAY MM 11
023279,000239: 34,2065 00013 MM 11 B-14
023280,000240:
023281,000241: 34,2066 04555 TC BANKCALL
023282,000242: 34,2067 20607 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
023283,000243:
023284,000244: 34,2070 05261 TC 2PHSCHNG
023285,000245: 34,2071 40514 OCT 40514 # PROTECT ATERTASK
023286,000246: 34,2072 00073 OCT 00073
023287,000247: 34,2073 32001 CAF EBQPLACE
023288,000248: 34,2074 54003 TS EBANK
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023290,000250: 34,2075 E5,1426 EBANK= QPLACES
023291,000251: 34,2075 32276 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023292,000252: 34,2076 55426 TS QPLACES
023293,000253: 34,2077 22007 ZL # STORE DP GIMBAL
023294,000254: 34,2100 30032 CA CDUX # ANGLES FOR ATTITUDE
023295,000255: 34,2101 53760 DXCH OGC # ERROR DISPLAY
023296,000256: 34,2102 22007 ZL # AFTER L.O.
023297,000257: 34,2103 30033 CA CDUY
023298,000258: 34,2104 53762 DXCH IGC
023299,000259: 34,2105 22007 ZL
023300,000260: 34,2106 30034 CA CDUZ
023301,000261: 34,2107 53764 DXCH MGC
023302,000262: 34,2110 06006 TC INTPRET # -
023303,000263: 34,2111 74575 VLOAD VSR1 # SCALE OGC B-1
023304,000264: 34,2112 02760 OGC
023305,000265: 34,2113 02760 STORE OGC
023306,000266: 34,2114 64375 VLOAD MXV
023307,000267: 34,2115 02467 THETAN
023308,000268: 34,2116 02672 XSM
023309,000269: 34,2117 53372 VSL1 VAD
023310,000270: 34,2120 02650 ERCOMP
023311,000271: 34,2121 16650 STODL ERCOMP
023312,000272: 34,2122 01337 TLIFTOFF
023313,000273: 34,2123 52131 SSP GOTO
023314,000274: 34,2124 00052 S2
023315,000275: 34,2125 66424 CADR PROUT # RETURN FROM EARTHR
023316,000276: 34,2126 66373 EARTHR +3
023317,000277: 34,2127 06006 MATRXJOB TC INTPRET
023318,000278: 34,2130 77731 SSP # ZERO RTX2
023319,000279: 34,2131 03747 RTX2 # FOR
023320,000280: 34,2132 00000 0 # EARTH
023321,000281: 34,2133 65345 DLOAD PDDL
023322,000282: 34,2134 01273 PGNCSALT # ALTITUDE OF PGNCS
023323,000283: 34,2135 01264 PADLONG # LONGITUDE
023324,000284: 34,2136 55525 PDDL VDEF
023325,000285: 34,2137 02403 LATITUDE # GEODETIC LATITUDE
023326,000286: 34,2140 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023327,000287: 34,2141 15332 HI6ZEROS # TIME = 0
023328,000288: 34,2142 45014 CLEAR CALL
023329,000289: 34,2143 00662 ERADFLAG
023330,000290: 34,2144 26373 LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS
023331,000291:
023332,000292: 34,2145 35232 STCALL RN1 # -
023333,000293: 34,2146 77256 CALCGRAV # RETURN WITH GRAVITY
023334,000294: 34,2147 77656 UNIT # IN MPAC
023335,000295: 34,2150 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
023336,000296: 34,2151 01232 RN1
023337,000297: 34,2152 74235 VXV VXSC
023338,000298: 34,2153 01714 UNITW # SCALED AT 1
023339,000299: 34,2154 30300 -ERTHRAT # V = EARTHRATE X R
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023341,000301: 34,2155 77712 VSL4 # SCALE TO 2(7) M/CS
023342,000302: 34,2156 25240 STOVL VN1
023343,000303: 34,2157 01752 REFSMMAT +12D
023344,000304: 34,2160 53435 VXV UNIT
023345,000305: 34,2161 01714 UNITW # (REF3 X UNITW) = EAST
023346,000306: 34,2162 47206 PUSH VXV
023347,000307: 34,2163 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023348,000308: 34,2164 65256 UNIT PDDL
023349,000309: 34,2165 02634 LAUNCHAZ # COS(AZ)*SOUTH
023350,000310: 34,2166 74346 COS VXSC
023351,000311: 34,2167 77626 STADR
023352,000312: 34,2170 62041 STODL REFSMMAT # TEMPORARY STORAGE
023353,000313: 34,2171 02634 LAUNCHAZ
023354,000314: 34,2172 74356 SIN VXSC # SIN(AZ)*EAST
023355,000315: 34,2173 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023356,000316: 34,2174 01736 REFSMMAT
023357,000317: 34,2175 01736 STORE REFSMMAT
023358,000318:
023359,000319: 34,2176 53435 VXV UNIT # (REF1 X REF3) = -REF3
023360,000320: 34,2177 01752 REFSMMAT +12D
023361,000321: 34,2200 77676 VCOMP
023362,000322: 34,2201 01744 STORE REFSMMAT +6
023363,000323: 34,2202 45345 DLOAD DSU
023364,000324: 34,2203 15330 DPHALF # 1/2 REV
023365,000325: 34,2204 02634 LAUNCHAZ
023366,000326: 34,2205 65215 DAD PDDL
023367,000327: 34,2206 02401 AZIMUTH
023368,000328: 34,2207 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023369,000329: 34,2210 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023370,000330: 34,2211 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023371,000331: 34,2212 77414 SET EXIT
023372,000332: 34,2213 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023373,000333:
023374,000334: 34,2214 05301 TC PHASCHNG
023375,000335: 34,2215 04023 OCT 04023
023376,000336:
023377,000337: 34,2216 00006 EXTEND
023378,000338: 34,2217 32302 DCA P11SCADR
023379,000339: 34,2220 53223 DXCH AVGEXIT # SET AVGEXIT
023380,000340:
023381,000341: 34,2221 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
023382,000342: 34,2222 55074 TS 1/PIPADT
023383,000343:
023384,000344: 34,2223 E6,1501 EBANK= RCSFLAGS
023385,000345: 34,2223 34752 CA EBANK6
023386,000346: 34,2224 54003 TS EBANK
023387,000347:
023388,000348: 34,2225 00004 INHINT
023389,000349: 34,2226 44714 CS ZERO
023390,000350: 34,2227 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
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023392,000352: 34,2230 40025 CS TIME1
023393,000353: 34,2231 64735 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023394,000354:
023395,000355: 34,2232 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023396,000356: 34,2233 12236 TCF +3 # TIME POSITIVE
023397,000357: 34,2234 12236 TCF +2 # CANNOT GET HERE
023398,000358: 34,2235 34714 CA ZERO # TIME NEGATIVE - SET TO 1
023399,000359: 34,2236 64712 AD ONE # RESTORE TIME - OR MAKE POSITIVE
023400,000360:
023401,000361: 34,2237 05140 TC WAITLIST
023402,000362: 34,2240 E6,1661 EBANK= AOG
023403,000363: 34,2240 02647 76066 2CADR READACCS
023404,000364:
023405,000365: 34,2242 05261 TC 2PHSCHNG
023406,000366: 34,2243 00003 OCT 00003 # TURN OFF GROUP 3
023407,000367: 34,2244 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023408,000368:
023409,000369: 34,2245 04574 TC POSTJUMP
023410,000370: 34,2246 77141 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023411,000371: 34,2247 E3,1706 EBANK= TEPHEM
023412,000372: 34,2247 00004 REP11 INHINT
023413,000373: 34,2250 10763 CCS PHASE5
023414,000374: 34,2251 05112 TC ENDOFJOB
023415,000375:
023416,000376: 34,2252 11265 CCS LIFTTEMP
023417,000377: 34,2253 12257 TCF +4
023418,000378: 34,2254 12257 TCF +3
023419,000379: 34,2255 12257 TCF +2
023420,000380: 34,2256 12013 TCF P11+7
023421,000381:
023422,000382: 34,2257 41336 CS TLIFTOFF
023423,000383: 34,2260 00006 EXTEND
023424,000384: 34,2261 62267 BZMF ENDREP11
023425,000385:
023426,000386: 34,2262 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023427,000387: 34,2263 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023428,000388:
023429,000389: 34,2264 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023430,000390: 34,2265 31266 DCA LIFTTEMP
023431,000391: 34,2266 12024 TCF REP11A-2
023432,000392:
023433,000393: 34,2267 00006 ENDREP11 EXTEND
023434,000394: 34,2270 32275 DCA REP11SA
023435,000395: 34,2271 12025 TCF REP11A-1
023436,000396: 34,2272 77766 00011 REP11S 2OCT 7776600011
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023438,000398: 34,2274 77764 00013 REP11SA 2OCT 7776400013
023439,000399:
023440,000400: 34,2276 02451 P11XIT GENADR P11OUT
023441,000401: 34,2277 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023442,000402:
023443,000403: 34,2301 E6,1704 EBANK= BODY3
023444,000404: 34,2301 02303 70066 P11SCADR 2CADR VHHDOT
023445,000405:
023446,000406: 34,2303 E6,1704 EBANK= BODY3
023447,000407: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023448,000408: # VI INERTIAL VELOCITY MAGNITUDE
023449,000409: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023450,000410: # H ALTITUDE ABOVE L PAD RADIUS
023451,000411:
023452,000412: 34,2303 06006 VHHDOT TC INTPRET
023453,000413: 34,2304 77624 CALL # LOAD VMAGI, ALTI,
023454,000414: 34,2305 70436 S11.1 # HDOT FOR DISPLAY
023455,000415: 34,2306 77776 EXIT
023456,000416: 34,2307 32511 CAF V06N62 # DISPLAY IN R1 R2 R3
023457,000417: 34,2310 04555 TC BANKCALL # VI HDOT H
023458,000418: 34,2311 20621 CADR REGODSPR # DISPLAY INTERFACE - IMMEDIATE RETURN
023459,000419: 34,2312 04555 TC BANKCALL
023460,000420: 34,2313 77132 CADR SERVEXIT # END OF P11SERVE CYCLE
023461,000421: 34,2314 34701 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023462,000422: 34,2315 05042 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023463,000423: 34,2316 E6,1704 EBANK= BODY3
023464,000424: 34,2316 02326 70066 2CADR ATERJOB
023465,000425:
023466,000426: 34,2320 41501 CS RCSFLAGS # SET BIT3 FOR
023467,000427: 34,2321 74710 MASK BIT3 # NEEDLER
023468,000428: 34,2322 27501 ADS RCSFLAGS # INITIALIZATION PASS
023469,000429: 34,2323 04633 TC IBNKCALL # AND GO
023470,000430: 34,2324 42404 CADR NEEDLER # DO IT
023471,000431: 34,2325 05213 TC TASKOVER
023472,000432:
023473,000433: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023474,000434:
023475,000435: # COMPUTE DESIRED PITCH W.R.T. LAUNCH SITE LOCAL VERTICAL.
023476,000436: # PITCH = -.0000469184028+.00137571556*T+.0231502280*T*T-.0205929365*T*T*T
023477,000437: # SCALED TO 32 REVOLUTIONS
023478,000438: # IF TL = TIME FROM LAUNCH IN SECONDS, THEN T = 100(TL-10SEC)/(2**14)
023479,000439: # WHERE TL GE 10 SEC
023480,000440: # TL LE 133 SEC .
023481,000441:
023482,000442: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS COUNTER-CLOCKWISE ANGLE FROM
023483,000443: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023484,000444: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
023485,000445: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023486,000446: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
|
|
Page 532 |
023488,000448:
023489,000449: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023490,000450: # R = 2*PI*ROLL
023491,000451:
023492,000452: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023493,000453: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023494,000454: # YDC, AND ZDC.
023495,000455:
023496,000456: # * ( SIN(P) 0 -COS(P) ) (XDC)
023497,000457: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023498,000458: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023499,000459:
023500,000460: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023501,000461: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023502,000462: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023503,000463: # AS THE DESIRED CDU ANGLES.
023504,000464:
023505,000465: # (XDC) (OGC)
023506,000466: # (YDC) ---) CALCGTA ---) (IGC)
023507,000467: # (ZDC) (MGC)
023508,000468: # -
023509,000469: # DEFINE THE VECTOR DELTACDU.
023510,000470:
023511,000471: # - (OGC) (CDUX)
023512,000472: # DELTACDU = (IGC) - (CDUY)
023513,000473: # (MGC) (CDUZ)
023514,000474: # - - * -
023515,000475: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023516,000476:
023517,000477: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
023518,000478: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023519,000479: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023520,000480: # -
023521,000481: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023522,000482: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023523,000483: # ERROR DISPLAY ROUTINE.
023524,000484:
023525,000485: 34,2326 30024 ATERJOB CAE TIME2 # CHECK IF MORE THAN
023526,000486: 34,2327 00006 EXTEND # 164 SECONDS FROM L.O.
023527,000487: 34,2330 62332 BZMF +2
023528,000488: 34,2331 12424 TCF SATCLEAR # YES - CLEAR ERROR COUNTER + EXIT
023529,000489: 34,2332 30102 CAE FLAGWRD6 # CHECK FLAGWRD6
023530,000490: 34,2333 74105 MASK OCT60000 # BITS 14 + 15
023531,000491: 34,2334 00006 EXTEND
023532,000492: 34,2335 12337 BZF ATTDISP # NO SATURN STICK ON
023533,000493: 34,2336 02420 TC ATERSET # EXIT - SATURN STICK IN USE
023534,000494: 34,2337 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023535,000495: 34,2340 60025 AD TIME1
|
|
Page 533 |
023537,000497: 34,2341 00006 EXTEND
023538,000498: 34,2342 62504 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023539,000499: 34,2343 54154 TS MPAC # MPAC = TIME1 - RPSTART
023540,000500: 34,2344 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
023541,000501: 34,2345 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023542,000502: 34,2346 00006 EXTEND
023543,000503: 34,2347 62351 BZMF +2
023544,000504: 34,2350 12416 TCF SATOUT # EXIT IF TIME1 GR THAN (RPSTART-POLYSTOP)
023545,000505: 34,2351 31661 CAE POLYNUM
023546,000506: 34,2352 54001 TS L
023547,000507: 34,2353 32510 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023548,000508: 34,2354 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023549,000509:
023550,000510: # THE FOLLOWING PAD LOADED COEFFICIENTS ARE
023551,000511: # USED TO COMPUTE THE PITCH POLYNOMIAL
023552,000512:
023553,000513: # ----- SUNDISK SI COEFS -----
023554,000514: # POLYNUM FIVE POLYNOMIAL DEGREE -1
023555,000515: # +1 2DEC -.469184028 E-4 A0
023556,000516: # +3 2DEC .137571556 E-2 A1
023557,000517: # +5 2DEC .231502280 E-1 A2
023558,000518: # +7 2DEC -.205929365 E-1 A3
023559,000519: # +9D 2DEC 0 A4
023560,000520: # +11D 2DEC 0 A5
023561,000521: # +13D 2DEC 0 A6
023562,000522: # POLYLOC = POLYNUM +10D
023563,000523:
023564,000524: 34,2355 34714 CA ZERO # RETURN WITH PITCH(32REV)
023565,000525: 34,2356 54163 TS MODE # STORED IN MPAC, MPAC +1
023566,000526: 34,2357 06006 TC INTPRET
023567,000527: 34,2360 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023568,000528: 34,2361 00001 0
023569,000529: 34,2362 20206 5
023570,000530: 34,2363 77606 PUSH # LET P(RAD) = 2*PI*PITCH(REV)
023571,000531:
023572,000532: 34,2364 77650 GOTO
023573,000533: 34,2365 76103 ATTDISP1 # AROUND SETLOC
023574,000534:
023575,000535: # *
023576,000536: # CONSTRUCT SM TO S/C MATRIX, TSMV
023577,000537:
023578,000538: 37,2000 SETLOC P11TWO
023579,000539: 37,2000 BANK # 36 IN COL., 34 IN DISK
023580,000540:
023581,000541: 37,2103 COUNT 36/P11
023582,000542:
023583,000543: 37,2103 57546 ATTDISP1 COS DCOMP
023584,000544: 37,2104 14017 STODL 14D # -.5*COS(P)
023585,000545: 37,2105 77756 SIN
023586,000546: 37,2106 14013 STODL 10D # .5*SIN(P)
023587,000547: 37,2107 15332 ZEROVECS
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|
Page 534 |
023589,000549: 37,2110 00015 STORE 12D # 0
023590,000550:
023591,000551: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023592,000552:
023593,000553: 37,2111 41335 SLOAD DMP
023594,000554: 37,2112 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
023595,000555: 37,2113 03301 SATRLRT
023596,000556: 37,2114 45261 SL DSU
023597,000557: 37,2115 20217 14D
023598,000558: 37,2116 15330 DPHALF
023599,000559: 37,2117 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023600,000560: 37,2120 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023601,000561: 37,2121 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023602,000562: 37,2122 77634 RTB # DETERMINE IF ROLLOUT
023603,000563: 37,2123 70473 RLTST # IS COMPLETED
023604,000564: 37,2124 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023605,000565: 37,2125 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023606,000566: 37,2126 72405 DMP SL1
023607,000567: 37,2127 00017 14D
023608,000568: 37,2130 14027 STODL 22D # -.5*COS(R)*COS(P)
023609,000569: 37,2131 77676 DCOMP
023610,000570: 37,2132 00023 STORE 18D # -.5*COS(R)
023611,000571: 37,2133 72405 DMP SL1
023612,000572: 37,2134 00013 10D
023613,000573: 37,2135 14033 STODL 26D # -.5*COS(R)*SIN(P)
023614,000574: 37,2136 41556 SIN PUSH
023615,000575: 37,2137 00031 STORE 24D # .5*SIN(R)
023616,000576: 37,2140 72405 DMP SL1
023617,000577: 37,2141 00017 14D
023618,000578: 37,2142 14021 STODL 16D # -.5*SIN(R)*COS(P)
023619,000579: 37,2143 77676 DCOMP
023620,000580: 37,2144 72405 DMP SL1
023621,000581: 37,2145 00013 10D
023622,000582: 37,2146 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023623,000583: 37,2147 00013 10D
023624,000584:
023625,000585: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023626,000586:
023627,000587: 37,2150 77656 UNIT
023628,000588: 37,2151 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023629,000589: 37,2152 00021 16D
023630,000590: 37,2153 77656 UNIT
023631,000591: 37,2154 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023632,000592: 37,2155 00027 22D # -SIN(R)*SIN(P))
023633,000593: 37,2156 77656 UNIT
023634,000594: 37,2157 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023635,000595: 37,2160 47140 CALCGTA # -COS(R)*SIN(P))
023636,000596:
023637,000597: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023638,000598: # - - -
023639,000599: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
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|
Page 535 |
023641,000601: # ENTER HERE IF ATTITUDE HOLD
023642,000602:
023643,000603: 37,2161 41575 NOPOLYM VLOAD PUSH # OGC IGC
023644,000604: 37,2162 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023645,000605: 37,2163 45006 PUSH CALL # MGC OGC
023646,000606: 37,2164 47432 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023647,000607: 37,2165 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023648,000608: 37,2166 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023649,000609: 37,2167 45547 V1STO2S # DPSI MGC-CDUZ , 2
023650,000610: 37,2170 27317 STOVL BOOSTEMP
023651,000611: 37,2171 15332 ZEROVECS
023652,000612: 37,2172 24001 STOVL 0
023653,000613: 37,2173 00767 CDUSPOT
023654,000614: 37,2174 47034 RTB RTB
023655,000615: 37,2175 45547 V1STO2S
023656,000616: 37,2176 70453 DELSTOR
023657,000617: 37,2177 14013 STODL 10D
023658,000618: 37,2200 00741 SINCDUZ
023659,000619: 37,2201 72405 DMP SL1
023660,000620: 37,2202 00001 0
023661,000621: 37,2203 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023662,000622: 37,2204 00005 4
023663,000623: 37,2205 77650 GOTO
023664,000624: 37,2206 70366 ATTDISP2
023665,000625:
023666,000626: 34,2000 SETLOC P11ONE
023667,000627: 34,2000 BANK
023668,000628: 34,2366 COUNT 34/P11
023669,000629:
023670,000630: 34,2366 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023671,000631: 34,2367 00747 COSCDUZ
023672,000632: 34,2370 41405 DMP PUSH
023673,000633: 34,2371 00001 0
023674,000634: 34,2372 72405 DMP SL1
023675,000635: 34,2373 00751 COSCDUX
023676,000636: 34,2374 41325 PDDL DMP
023677,000637: 34,2375 00743 SINCDUX
023678,000638: 34,2376 00003 2
023679,000639: 34,2377 72415 DAD SL1
023680,000640: 34,2400 77626 STADR
023681,000641: 34,2401 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023682,000642: 34,2402 72405 DMP SL1 # +DPSI*SIN(CDUX))
023683,000643: 34,2403 00743 SINCDUX
023684,000644: 34,2404 41325 PDDL DMP
023685,000645: 34,2405 00751 COSCDUX
023686,000646: 34,2406 00003 2
023687,000647: 34,2407 72425 DSU SL1
023688,000648: 34,2410 77626 STADR
023689,000649: 34,2411 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023690,000650: 34,2412 77751 TLOAD # +DPSI*COS(CDUX))
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|
Page 536 |
023692,000652: 34,2413 00021 16D
023693,000653: 34,2414 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023694,000654: 34,2415 77776 EXIT
023695,000655:
023696,000656: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023697,000657:
023698,000658: 34,2416 04555 SATOUT TC BANKCALL
023699,000659: 34,2417 42404 CADR NEEDLER
023700,000660: 34,2420 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023701,000661: 34,2421 04555 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
023702,000662: 34,2422 01732 CADR DELAYJOB
023703,000663: 34,2423 02326 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023704,000664:
023705,000665: 34,2424 44705 SATCLEAR CS BIT6
023706,000666: 34,2425 00006 EXTEND
023707,000667: 34,2426 03012 WAND CHAN12 # CLEAR IMU ERROR COUNTER
023708,000668: 34,2427 05301 TC PHASCHNG # TURN OFF PROTECTION
023709,000669: 34,2430 00004 OCT 00004 # FOR ATTITUDE ERROR DISPLAY
023710,000670: 34,2431 34714 CAF ZERO
023711,000671: 34,2432 55476 TS AK # ZERO OUT
023712,000672: 34,2433 55477 TS AK1 # AKS FOR
023713,000673: 34,2434 55500 TS AK2 # DOWNLINK
023714,000674: 34,2435 05112 TC ENDOFJOB
023715,000675:
023716,000676: 34,2436 51575 S11.1 VLOAD ABVAL
023717,000677: 34,2437 01177 VN
023718,000678: 34,2440 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023719,000679: 34,2441 01171 RN
023720,000680: 34,2442 45246 ABVAL DSU
023721,000681: 34,2443 05311 RPAD
023722,000682: 34,2444 27735 STOVL ALTI # H SCALED 2(29) IN METERS
023723,000683: 34,2445 01171 RN
023724,000684: 34,2446 50256 UNIT DOT
023725,000685: 34,2447 01177 VN
023726,000686: 34,2450 77752 SL1
023727,000687: 34,2451 03737 STORE HDOT # HDOT SCALED 2(7) IN METERS/CSEC
023728,000688: 34,2452 77616 RVQ
023729,000689: 34,2453 31716 DELSTOR CA BOOSTEMP
023730,000690: 34,2454 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023731,000691: 34,2455 20154 MSU MPAC
023732,000692: 34,2456 50120 INDEX FIXLOC
023733,000693: 34,2457 54000 TS 0
023734,000694: 34,2460 31717 CA BOOSTEMP +1
023735,000695: 34,2461 00006 EXTEND
023736,000696: 34,2462 20155 MSU MPAC +1
023737,000697: 34,2463 50120 INDEX FIXLOC
023738,000698: 34,2464 54002 TS 2
023739,000699: 34,2465 31720 CA BOOSTEMP +2
023740,000700: 34,2466 00006 EXTEND
023741,000701: 34,2467 20156 MSU MPAC +2
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|
Page 537 |
023743,000703: 34,2470 50120 INDEX FIXLOC
023744,000704: 34,2471 54004 TS 4
023745,000705: 34,2472 16030 TCF DANZIG
023746,000706: 34,2473 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023747,000707: 34,2474 00006 EXTEND # IS COMPLETED
023748,000708: 34,2475 71701 MP SATRLRT +1
023749,000709: 34,2476 00006 EXTEND
023750,000710: 34,2477 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023751,000711: 34,2500 00006 EXTEND # ROLLOUT COMPLETED
023752,000712: 34,2501 33561 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023753,000713: 34,2502 52155 DXCH MPAC
023754,000714: 34,2503 06030 TC DANZIG
023755,000715: 34,2504 06006 NOPOLY TC INTPRET # COMES HERE IF
023756,000716: 34,2505 52001 SETPD GOTO # ATTITUDE HOLD
023757,000717: 34,2506 00001 0
023758,000718: 34,2507 76161 NOPOLYM
023759,000719: 34,2510 01673 COEFPOLY ADRES POLYLOC
023760,000720: 34,2511 01476 V06N62 VN 0662
023761,000721:
023762,000722: # SATURN TAKEOVER FUNCTION
023763,000723: # ************************
023764,000724: #
023765,000725: # PROGRAM DESCRIPTION
023766,000726:
023767,000727: # MOD NUMBER 1
023768,000728: # MOD BY ELIASSEN
023769,000729:
023770,000730: # FUNCTIONAL DESCRIPTION
023771,000731:
023772,000732: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023773,000733: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023774,000734: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET).
023775,000735: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023776,000736: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023777,000737: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023778,000738: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023779,000739: # SULTS IN A ZERO RATE COMMAND.
023780,000740:
023781,000741: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023782,000742: # OF THE RATE COMMAND.
023783,000743:
023784,000744: # CALLING SEQUENCE
023785,000745:
023786,000746: # DAPFIG +9D TC POSTJUMP
023787,000747: # CADR SATSTKON
023788,000748:
023789,000749: # SUBROUTINES CALLED
023790,000750:
023791,000751: # ENDEXT
023792,000752: # IBNKCALL
023793,000753: # STICKCHK
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|
Page 538 |
023795,000755: # NEEDLER
023796,000756: # T5RUPT
023797,000757: # RESUME
023798,000758:
023799,000759: # ASTRONAUT REQUESTS
023800,000760:
023801,000761: # ENTRY - VERB 46 ENTER
023802,000762: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023803,000763:
023804,000764: # EXIT - VERB 48 ENTER (FLASH V06N46)
023805,000765: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023806,000766: # VERB 34 ENTER
023807,000767: # VERB 46 ENTER
023808,000768:
023809,000769: # NORMAL EXIT MODE
023810,000770:
023811,000771: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
023812,000772:
023813,000773: # ALARM OR ABORT EXIT MODES
023814,000774:
023815,000775: # NONE
023816,000776:
023817,000777: # OUTPUT
023818,000778:
023819,000779: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023820,000780:
023821,000781: # ERASABLE INITIALIZATION
023822,000782:
023823,000783: # DAPDATR1 (BITS 13, 14 MUST BE SET)
023824,000784:
023825,000785: # DEBRIS
023826,000786:
023827,000787: # CENTRALS
023828,000788: # CDUXCMD, CDUYCMD, CDUZCMD
023829,000789:
023830,000790: 43,3211 BANK 43
023831,000791: 43,2000 SETLOC EXTVERBS
023832,000792: 43,2000 BANK
023833,000793:
023834,000794: 43,3211 COUNT 23/STTKE
023835,000795: 43,3211 00006 SATSTKON EXTEND
023836,000796: 43,3212 33227 DCA 2REDOSAT
023837,000797: 43,3213 00004 INHINT
023838,000798: 43,3214 53313 DXCH T5LOC
023839,000799: 43,3215 34672 CAF POSMAX
023840,000800: 43,3216 54030 TS TIME5
023841,000801: 43,3217 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
023842,000802: 43,3220 74105 MASK RELTAB11 # FLAGWRD6
023843,000803: 43,3221 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
023844,000804: 43,3222 04633 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
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|
Page 539 |
023846,000806: 43,3223 42616 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
023847,000807: 43,3224 00003 RELINT
023848,000808: 43,3225 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
023849,000809:
023850,000810: 43,3226 E6,1704 EBANK= BODY3
023851,000811: 43,3226 02765 46106 2REDOSAT 2CADR REDOSAT
023852,000812:
023853,000813: 32,2017 BANK 32
023854,000814: 23,2000 SETLOC P11FOUR
023855,000815: 23,2000 BANK
023856,000816:
023857,000817: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
023858,000818: 23,2766 00006 EXTEND
023859,000819: 23,2767 22012 QXCH QRUPT
023860,000820: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
023861,000821: 23,2771 74710 MASK BIT3 # FOR
023862,000822: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
023863,000823: 23,2773 04633 TC IBNKCALL
023864,000824: 23,2774 42404 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
023865,000825: 23,2775 34702 CAF BIT9 # SIVB
023866,000826: 23,2776 00006 EXTEND # TAKEOVER
023867,000827: 23,2777 05012 WOR CHAN12 # ENABLE
023868,000828: 23,3000 00006 EXTEND # SET UP T5 CYCLE
023869,000829: 23,3001 33046 DCA 2SATSTCK
023870,000830: 23,3002 53313 DXCH T5LOC
023871,000831: 23,3003 33044 CAF 100MST5 # IN 100 MSECS
023872,000832: 23,3004 54030 TS TIME5
023873,000833: 23,3005 15222 TCF RESUME # END OF SATURN STICK INITIALIZATION
023874,000834:
023875,000835: # THIS SECTION IS EXECUTED EVERY 100 MSECS
023876,000836:
023877,000837: 23,3006 22016 SATSTICK LXCH BANKRUPT
023878,000838: 23,3007 00006 EXTEND
023879,000839: 23,3010 22012 QXCH QRUPT
023880,000840:
023881,000841: 23,3011 33045 CAF 2SATSTCK # SET UP RUPT
023882,000842: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
023883,000843: 23,3013 33044 CAF 100MST5 # 100 MSECS
023884,000844: 23,3014 54030 TS TIME5
023885,000845: 23,3015 33043 CAF STIKBITS
023886,000846: 23,3016 00006 EXTEND
023887,000847: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
023888,000848: 23,3020 73043 MASK STIKBITS
023889,000849: 23,3021 04633 TC IBNKCALL # SET RATE INDICES
023890,000850: 23,3022 43114 CADR STICKCHK # FOR PITCH YAW AND ROLL
023891,000851:
023892,000852: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
023893,000853: 23,3024 33037 CA SATRATE
023894,000854: 23,3025 55476 TS AK # ROLL
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Page 540 |
023896,000856: 23,3026 51657 INDEX PMANNDX
023897,000857: 23,3027 33037 CA SATRATE
023898,000858: 23,3030 55477 TS AK1 # PITCH
023899,000859: 23,3031 51660 INDEX YMANNDX
023900,000860: 23,3032 33037 CA SATRATE
023901,000861: 23,3033 55500 TS AK2 # YAW
023902,000862:
023903,000863: 23,3034 04633 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
023904,000864: 23,3035 42404 CADR NEEDLER
023905,000865: 23,3036 15222 TCF RESUME # END OF SATURN STICK CONTROL
023906,000866: 23,3037 00000 SATRATE DEC 0 B-14 # IN DETENT - ZERO RATE
023907,000867: 23,3040 00476 DEC +318 B-14 # POS RATE .5D/S R, .3D/S P AND Y
023908,000868: 23,3041 77301 DEC -318 B-14 # NEG RATE DITTO
023909,000869: 23,3042 00000 DEC 0 B-14 # POS NEG BITS ON ASSUME IN DETENT
023910,000870:
023911,000871: 23,3043 00077 STIKBITS OCT 00077
023912,000872: 23,3044 37766 100MST5 DEC 16374 B-14
023913,000873: 23,3045 E6,1704 EBANK= BODY3
023914,000874: 23,3045 03006 46106 2SATSTCK 2CADR SATSTICK
023915,000875:
End of include-file P11.agc. Parent file is MAIN.agc