Source Code

These source-code files are part of a reconstructed copy of Comanche 44, the initial release (though not the final mission release) of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 44, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 51 (separately previously reconstructed from an Apollo-era listing of Comanche 55, flown on Apollo 11). Comanche 51 source code was then modified by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed Comanche 44 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code match those on the Comanche 55 printout, although the source code would likely have different page numbers in a contemporary Comanche 44 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the explanatory annotations, there is also a step-by-step commentary about the reconstruction process.

Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

023057,000002:                                                                                                  ## Copyright:   Public domain.
023058,000003:                                                                                                  ## Filename:    P11.agc
023059,000004:                                                                                                  ## Purpose:     A section of Comanche revision 044.
023060,000005:                                                                                                  ##              It is part of the reconstructed source code for the
023061,000006:                                                                                                  ##              original release of the flight software for the Command
023062,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
023063,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
023064,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
023065,000010:                                                                                                  ##              exactly match those specified for Comanche 44 in NASA drawing
023066,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
023067,000012:                                                                                                  ##              reconstruction is correct.
023068,000013:                                                                                                  ## Assembler:   yaYUL
023069,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
023070,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
023071,000016:                                                                                                  ## Mod history: 2020-12-03 MAS  Created from Comanche 51.
023072,000017:                                                                                                  ##              2020-12-03 MAS  Moved a chunk of code back to REP11A from
023073,000018:                                                                                                  ##                              MATRXJOB.
023074,000019:                                                                                                  ##              2020-12-11 RSB  Added justifying annotations for the steps
023075,000020:                                                                                                  ##                              of Mike's reconstruction.
023076,000021: 

Page 533

023078,000023: 
023079,000024:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023080,000025:                                                                                                  #  *************************************
023081,000026: 
023082,000027:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023083,000028: 
023084,000029:                                                                                                  #        MOD NO. 1
023085,000030:                                                                                                  #        MOD BY ELIASSEN
023086,000031: 
023087,000032:                                                                                                  #  FUNCTIONAL DESCRIPTION
023088,000033: 
023089,000034:                                                                                                  #        P11 IS INITIATED BY
023090,000035: 
023091,000036:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023092,000037:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023093,000038: 
023094,000039:                                                                                                  #        PROGRAM WILL
023095,000040:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023096,000041:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023097,000042:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023098,000043:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023099,000044:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023100,000045:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023101,000046:                                                                                                  #                7. TERMINATE GYROCOMPASSING     -   -
023102,000047:                                                                                                  #                8. COMPUTE INITIAL VECTORS      RN, VN            -  -  -
023103,000048:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023104,000049:                                                                                                  #                        -        -                                 X  Y  Z
023105,000050:                                                                                                  #                        U =UNIT(-R)     LOCAL VERTICAL AT TIME OF LIFTOFF
023106,000051:                                                                                                  #                         Z     
023107,000052:                                                                                                  #                        -       -       -
023108,000053:                                                                                                  #                        U =UNIT(A),     A=HOR VECTOR AT LAUNCH AZIMUTH
023109,000054:                                                                                                  #                         X
023110,000055:                                                                                                  #                        -  -   -
023111,000056:                                                                                                  #                        U =U * U
023112,000057:                                                                                                  #                         U  Z   X
023113,000058:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023114,000059:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023115,000060:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023116,000061: 
023117,000062:                                                                                                  #                        R1      V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023118,000063:                                                                                                  #                        R2      HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023119,000064:                                                                                                  #                        R3      H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023120,000065:                                                                                                  #                
023121,000066:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023122,000067: 
023123,000068:                                                                                                  #                        A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023124,000069:                                                                                                  #                           DESIRED ATTITUDE IS AS STORED AT L.O.
023125,000070:                                                                                                  #                        B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023126,000071:                                                                                                  #                           DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023127,000072:                                                                                                  #                           POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 534

023129,000074:                                                                                                  #                           THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023130,000075:                                                                                                  #                           EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023131,000076: 
023132,000077:                                                                                                  #  SUBROUTINES CALLED
023133,000078: 
023134,000079:                                                                                                  #        2PHSCHNG        BANKCALL        CALCGRA         CDUTRIG         CLEANDSP        DANZIG
023135,000080:                                                                                                  #        DELAYJOB        EARTHR          ENDOFJOB        FINDVAC         IBNKCALL
023136,000081:                                                                                                  #        INTPRET         LALOTORV        NEEDLER         NEWMODEX        PHASCHNG
023137,000082:                                                                                                  #        POSTJUMP        POWRSERS        PREREAD1        REGODSPR        S11.1
023138,000083:                                                                                                  #        SERVEXIT        TASKOVER        TCDANZIG        V1ST02S         WAITLIST
023139,000084: 
023140,000085:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023141,000086: 
023142,000087:                                                                                                  #        DSKY -
023143,000088:                                                                                                  #                MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023144,000089:                                                                                                  #                                                   R2 MINUTES
023145,000090: 
023146,000091:                                                                                                  #        DSKY -
023147,000092:                                                                                                  #                MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023148,000093:                                                                                                  #                                   R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023149,000094:                                                                                                  #                                   R3 TFF IN MINUTES/SECS
023150,000095: 
023151,000096:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023152,000097:                                                                                                  #  HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023153,000098:                                                                                                  #  NORMAL EXIT MODE
023154,000099: 
023155,000100:                                                                                                  #        ASTRONAUT       VERB 37 ENTER 00 ENTER
023156,000101: 
023157,000102:                                                                                                  #  ALARM MODES - NONE
023158,000103: 
023159,000104:                                                                                                  #  ABORT EXIT MODES -
023160,000105: 
023161,000106:                                                                                                  #  OUTPUT
023162,000107: 
023163,000108:                                                                                                  #        TLIFTOFF (DP)   TEPHEM (TP)
023164,000109:                                                                                                  #        REFSMMAT
023165,000110:                                                                                                  #        DSKY DISPLAY
023166,000111:                                                                                                  #        FDAI DISPLAY
023167,000112: 
023168,000113:                                                                                                  #  ERASABLE INITIALIZATION
023169,000114: 
023170,000115:                                                                                                  #        AZO, AXO, -AYO
023171,000116:                                                                                                  #        LATITUDE
023172,000117:                                                                                                  #        PADLONG
023173,000118:                                                                                                  #        TEPHEM
023174,000119:                                                                                                  #        PGNCSALT
023175,000120:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023176,000121:                                                                                                  #        RPSTART
023177,000122:                                                                                                  #        POLYSTOP
023178,000123:                                                                                                  #  FLAGS SET OR RESET

Page 535

023180,000125:                                                                                                  #        SET REFSMFLG
023181,000126:                                                                                                  #        SET DVMON IDLE FLAG
023182,000127:                                                                                                  #        CLEAR ERADFLAG
023183,000128: 
023184,000129:                                                                                                  #  DEBRIS
023185,000130: 
023186,000131:                                                                                                  #        LIFTTEMP
023187,000132:                                                                                                  #        POLYNUM THRU POLYNUM +7
023188,000133:                                                                                                  #        SPOLYARG
023189,000134:                                                                                                  #        BODY1, BODY2, BODY3
023190,000135:                                                                                                  #        VMAG2, ALTI, HDOT
023191,000136:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023192,000137: 
023193,000138: 04,3300                                           COUNT    34/P11                                
023194,000139: 
023195,000140: 04,3300     5035               BITS5-6            =        SUPER011                              
023196,000141: 42,3606                                           BANK     42                                    
023197,000142: 34,2000                                           SETLOC   P11ONE                                
023198,000143: 34,2000                                           BANK                                           
023199,000144: 
023200,000145: 34,2002  E3,1706                                  EBANK=   TEPHEM                                
023201,000146: 34,2002           35051        P11                CA       EBANK3                                
023202,000147: 34,2003           54003                           TS       EBANK                                 
023203,000148: 
023204,000149: 34,2004           00006                           EXTEND                                         
023205,000150: 34,2005           32277                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023206,000151: 34,2006           52757                           DXCH     -PHASE3                               
023207,000152: 34,2007           45021                           CS       ZERO                                  
023208,000153: 34,2010           22007                           ZL                                             
023209,000154: 34,2011           55265                           TS       LIFTTEMP                              
023210,000155: 34,2012           52763                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023211,000156: 34,2013           00006        P11+7              EXTEND                                         
023212,000157: 34,2014           32301                           DCA      REP11SA                               
023213,000158: 34,2015           53337                           DXCH     TLIFTOFF                              
023214,000159: 
023215,000160: 34,2016           00006                           EXTEND                                         
023216,000161: 34,2017           30025                           DCA      TIME2                                 
023217,000162: 34,2020           53266                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023218,000163: 
023219,000164: 34,2021           35021                           CA       ZERO                                  
023220,000165: 34,2022           22007                           ZL                                             
023221,000166: 34,2023           52025                           DXCH     TIME2                                 
023222,000167: 34,2024           53337        REP11A-2           DXCH     TLIFTOFF                              
023223,000168: 34,2025           52757        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE
023224,000169: 
023225,000170: 34,2026           00004        REP11A             INHINT                                         
023226,000171: 34,2027           00006                           EXTEND                                         
023227,000172: 34,2030           31710                           DCA      TEPHEM     +1                         
023228,000173: 34,2031           53271                           DXCH     TEPHEM1    +1                         
023229,000174: 34,2032           31706                           CA       TEPHEM                                

Page 536

023231,000176: 34,2033           57267                           XCH      TEPHEM1                               
023232,000177: 
023233,000178: 34,2034           00006                           EXTEND                                         
023234,000179: 34,2035           31337                           DCA      TLIFTOFF                              
023235,000180: 34,2036           21271                           DAS      TEPHEM1    +1                         
023236,000181: 34,2037           27267                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023237,000182: 
023238,000183: 34,2040           05412                           TC       PHASCHNG                              
023239,000184: 34,2041           05023                           OCT      05023                                 
023240,000185: 34,2042           22000                           OCT      22000                                 
023241,000186: 
023242,000187: 34,2043           00004                           INHINT                                         
023243,000188: 34,2044           00006                           EXTEND                                         
023244,000189: 34,2045           31270                           DCA      TEPHEM1                               
023245,000190: 34,2046           53707                           DXCH     TEPHEM                                
023246,000191: 34,2047           31271                           CA       TEPHEM1    +2                         
023247,000192: 34,2050           57710                           XCH      TEPHEM     +2                         
023248,000193: 
023249,000194: 34,2051           32000                           CAF      EBDVCNT                               
023250,000195: 34,2052           54003                           TS       EBANK                                 
023251,000196: 34,2053  E7,1431                                  EBANK=   DVCNTR                                
023252,000197: 34,2053           04740                           TC       IBNKCALL                              
023253,000198: 34,2054           76721                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023254,000199: 
023255,000200: 34,2055           05412                           TC       PHASCHNG                              
023256,000201: 34,2056           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023257,000202: 34,2057           22000                           OCT      22000                                 
023258,000203: 
023259,000204: 34,2060           35036                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023260,000205: 34,2061           05245                           TC       WAITLIST                              #  IN .5 SEC
023261,000206: 34,2062  E6,1704                                  EBANK=   BODY3                                 
023262,000207: 34,2062           02320 70066                     2CADR    ATERTASK                              
023263,000208: 
023264,000209: 34,2064           05354                           TC       NEWMODEX                              #  DISPLAY MM 11
023265,000210: 34,2065           00013                           MM       11         B-14                       
023266,000211: 
023267,000212: 34,2066           05546                           TC       UPFLAG                                
023268,000213: 34,2067           00022                           ADRES    NODOP01                               
023269,000214: 
023270,000215: 34,2070           36214                           CA       POWDNCOD                              #  SWITCH TO POWERED FLIGHT DOWNLIST
023271,000216: 34,2071           54332                           TS       DNLSTCOD                              
023272,000217: 
023273,000218: 34,2072           04662                           TC       BANKCALL                              
023274,000219: 34,2073           20703                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023275,000220: 
023276,000221: 34,2074           05372                           TC       2PHSCHNG                              
023277,000222: 34,2075           40514                           OCT      40514                                 #  PROTECT ATERTASK
023278,000223: 34,2076           00073                           OCT      00073                                 
023279,000224: 34,2077           32001                           CAF      EBQPLACE                              

Page 537

023281,000226: 34,2100           54003                           TS       EBANK                                 
023282,000227: 
023283,000228: 34,2101  E5,1426                                  EBANK=   QPLACES                               
023284,000229: 34,2101           32302                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023285,000230: 34,2102           55426                           TS       QPLACES                               

Reconstruction: In Comanche 51, the following block of code (down to the terminating annotation) and the TC INTPRET at the label MATRXJOB are swapped. For justification, refer to Programmed Guidance Equations for Colossus 2, p. BOOS-1. The relevant change bar in that document is associated with the pseudocode "(OGC, IGC, MGC) = CDU". It's difficult, though not impossible, to recognize that this pseudocode refers to the block of code below, although it is certainly not clear from the pseudocode that the block of code persists across versions but is merely moved to a different location. Consulting Colossus 249 (Apollo 9) to Comanche 55 (Apollo 11), the positioning swap is evident.

023297,000242: 34,2103           22007                           ZL                                             #  STORE DP GIMBAL
023298,000243: 34,2104           30032                           CA       CDUX                                  #  ANGLES FOR ATTITUDE
023299,000244: 34,2105           53760                           DXCH     OGC                                   #  ERROR DISPLAY
023300,000245: 34,2106           22007                           ZL                                             #  AFTER L.O.
023301,000246: 34,2107           30033                           CA       CDUY                                  
023302,000247: 34,2110           53762                           DXCH     IGC                                   
023303,000248: 34,2111           22007                           ZL                                             
023304,000249: 34,2112           30034                           CA       CDUZ                                  
023305,000250: 34,2113           53764                           DXCH     MGC                                   
023306,000251: 34,2114           06006                           TC       INTPRET                               #        -
023307,000252: 34,2115           74575                           VLOAD    VSR1                                  #  SCALE OGC B-1
023308,000253: 34,2116           02760                                    OGC                                   
023309,000254: 34,2117           02760                           STORE    OGC                                   

Reconstruction: Termination of swapped block of code (see above).

023311,000256: 34,2120           64375                           VLOAD    MXV                                   
023312,000257: 34,2121           02467                                    THETAN                                
023313,000258: 34,2122           02672                                    XSM                                   
023314,000259: 34,2123           53372                           VSL1     VAD                                   
023315,000260: 34,2124           02650                                    ERCOMP                                
023316,000261: 34,2125           16650                           STODL    ERCOMP                                
023317,000262: 34,2126           01337                                    TLIFTOFF                              
023318,000263: 34,2127           52131                           SSP      GOTO                                  
023319,000264: 34,2130           00052                                    S2                                    
023320,000265: 34,2131           66424                           CADR     PROUT                                 #  RETURN FROM EARTHR
023321,000266: 34,2132           66373                                    EARTHR     +3                         

Reconstruction: Instruction with which code block is swapped (see above).

023323,000268: 34,2133           06006        MATRXJOB           TC       INTPRET                               
023324,000269: 34,2134           77731                           SSP                                            #  ZERO RTX2
023325,000270: 34,2135           03747                                    RTX2                                  #  FOR
023326,000271: 34,2136           00000                                    0                                     #  EARTH
023327,000272: 34,2137           65345                           DLOAD    PDDL                                  
023328,000273: 34,2140           01273                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023329,000274: 34,2141           01264                                    PADLONG                               #  LONGITUDE
023330,000275: 34,2142           55525                           PDDL     VDEF                                  
023331,000276: 34,2143           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023332,000277: 34,2144           15104                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023333,000278: 34,2145           15335                                    HI6ZEROS                              #  TIME = 0
023334,000279: 34,2146           45014                           CLEAR    CALL                                  
023335,000280: 34,2147           00662                                    ERADFLAG                              
023336,000281: 34,2150           26441                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF.COORDS
023337,000282: 
023338,000283: 34,2151           35232                           STCALL   RN1                                   #               -   
023339,000284: 34,2152           70334                                    GETDOWN                               #  RETURN WITH VECTOR FOR DOWN DIRECTION
023340,000285: 34,2153           53476                           VCOMP    UNIT                                  
023341,000286: 34,2154           25752                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)
023342,000287: 34,2155           01232                                    RN1                                   
023343,000288: 34,2156           74235                           VXV      VXSC                                  

Page 538

023345,000290: 34,2157           01714                                    UNITW                                 #  SCALED AT 1
023346,000291: 34,2160           30304                                    -ERTHRAT                              #  V = EARTHRATE X R
023347,000292: 34,2161           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023348,000293: 34,2162           25240                           STOVL    VN1                                   
023349,000294: 34,2163           01752                                    REFSMMAT   +12D                       
023350,000295: 34,2164           53435                           VXV      UNIT                                  
023351,000296: 34,2165           01714                                    UNITW                                 #  (REF3 X UNITW) = EAST
023352,000297: 34,2166           47206                           PUSH     VXV                                   
023353,000298: 34,2167           01752                                    REFSMMAT   +12D                       #  (EAST X REF3) = -SOUTH
023354,000299: 34,2170           65256                           UNIT     PDDL                                  
023355,000300: 34,2171           02634                                    LAUNCHAZ                              #  COS(AZ)*SOUTH
023356,000301: 34,2172           74346                           COS      VXSC                                  
023357,000302: 34,2173           77626                           STADR                                          
023358,000303: 34,2174           62041                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023359,000304: 34,2175           02634                                    LAUNCHAZ                              
023360,000305: 34,2176           74356                           SIN      VXSC                                  #  SIN(AZ)*EAST
023361,000306: 34,2177           53455                           VAD      UNIT                                  #  SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023362,000307: 34,2200           01736                                    REFSMMAT                              
023363,000308: 34,2201           01736                           STORE    REFSMMAT                              
023364,000309: 
023365,000310: 34,2202           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023366,000311: 34,2203           01752                                    REFSMMAT   +12D                       
023367,000312: 34,2204           77676                           VCOMP                                          
023368,000313: 34,2205           01744                           STORE    REFSMMAT   +6                         
023369,000314: 34,2206           45345                           DLOAD    DSU                                   
023370,000315: 34,2207           15333                                    DPHALF                                #  1/2 REV
023371,000316: 34,2210           02634                                    LAUNCHAZ                              
023372,000317: 34,2211           65215                           DAD      PDDL                                  
023373,000318: 
023374,000319: 34,2212           02401                                    AZIMUTH                               
023375,000320: 34,2213           03301                                    SATRLRT                               #  SET SATRLRT = -SATRLRT IF
023376,000321: 34,2214           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023377,000322: 34,2215           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023378,000323: 34,2216           77414                           SET      EXIT                                  
023379,000324: 34,2217           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023380,000325: 
023381,000326: 34,2220           05412                           TC       PHASCHNG                              
023382,000327: 34,2221           04023                           OCT      04023                                 
023383,000328: 
023384,000329: 34,2222           00006                           EXTEND                                         
023385,000330: 34,2223           32306                           DCA      P11SCADR                              
023386,000331: 34,2224           53223                           DXCH     AVGEXIT                               #  SET AVGEXIT
023387,000332: 
023388,000333: 34,2225           37665                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023389,000334: 34,2226           55074                           TS       1/PIPADT                              
023390,000335: 
023391,000336: 34,2227  E6,1501                                  EBANK=   RCSFLAGS                              
023392,000337: 34,2227           35057                           CA       EBANK6                                
023393,000338: 34,2230           54003                           TS       EBANK                                 
023394,000339: 
023395,000340: 34,2231           00004                           INHINT                                         

Page 539

023397,000342: 34,2232           45021                           CS       ZERO                                  
023398,000343: 34,2233           55063                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF
023399,000344: 
023400,000345: 34,2234           40025                           CS       TIME1                                 
023401,000346: 34,2235           65042                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023402,000347: 
023403,000348: 34,2236           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023404,000349: 34,2237           12242                           TCF      +3                                    #  TIME POSITIVE
023405,000350: 34,2240           12242                           TCF      +2                                    #  CANNOT GET HERE
023406,000351: 34,2241           35021                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023407,000352: 34,2242           65017                           AD       ONE                                   #  RESTORE TIME  -  OR MAKE POSITIVE
023408,000353: 
023409,000354: 34,2243           05245                           TC       WAITLIST                              
023410,000355: 34,2244  E6,1661                                  EBANK=   AOG                                   
023411,000356: 34,2244           02743 76066                     2CADR    READACCS                              
023412,000357: 
023413,000358: 34,2246           05372                           TC       2PHSCHNG                              
023414,000359: 34,2247           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023415,000360: 34,2250           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023416,000361: 
023417,000362: 34,2251           04701                           TC       POSTJUMP                              
023418,000363: 34,2252           77235                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023419,000364: 
023420,000365: 
023421,000366: 34,2253  E3,1706                                  EBANK=   TEPHEM                                
023422,000367: 34,2253           00004        REP11              INHINT                                         
023423,000368: 34,2254           10763                           CCS      PHASE5                                
023424,000369: 34,2255           05217                           TC       ENDOFJOB                              
023425,000370: 
023426,000371: 34,2256           11265                           CCS      LIFTTEMP                              
023427,000372: 34,2257           12263                           TCF      +4                                    
023428,000373: 34,2260           12263                           TCF      +3                                    
023429,000374: 34,2261           12263                           TCF      +2                                    
023430,000375: 34,2262           12013                           TCF      P11+7                                 
023431,000376: 
023432,000377: 34,2263           41336                           CS       TLIFTOFF                              
023433,000378: 34,2264           00006                           EXTEND                                         
023434,000379: 34,2265           62273                           BZMF     ENDREP11                              
023435,000380: 
023436,000381: 34,2266           10024                           CCS      TIME2                                 #  ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023437,000382: 34,2267           12021                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023438,000383: 
023439,000384: 34,2270           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023440,000385: 34,2271           31266                           DCA      LIFTTEMP                              
023441,000386: 34,2272           12024                           TCF      REP11A-2                              
023442,000387: 
023443,000388: 34,2273           00006        ENDREP11           EXTEND                                         
023444,000389: 34,2274           32301                           DCA      REP11SA                               
023445,000390: 34,2275           12025                           TCF      REP11A-1                              

Page 540

023447,000392: 34,2276           77766 00011  REP11S             2OCT     7776600011                            
023448,000393: 
023449,000394: 34,2300           77764 00013  REP11SA            2OCT     7776400013                            
023450,000395: 
023451,000396: 34,2302           02451        P11XIT             GENADR   P11OUT                                
023452,000397: 34,2303           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023453,000398: 
023454,000399: 34,2305  E6,1704                                  EBANK=   BODY3                                 
023455,000400: 34,2305           02307 70066  P11SCADR           2CADR    VHHDOT                                
023456,000401: 
023457,000402: 34,2307     6214               POWDNCOD           EQUALS   THREE                                 
023458,000403: 
023459,000404: 34,2307  E6,1704                                  EBANK=   BODY3                                 
023460,000405:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023461,000406:                                                                                                  #        VI      INERTIAL VELOCITY MAGNITUDE
023462,000407:                                                                                                  #        HDOT    RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023463,000408:                                                                                                  #        H       ALTITUDE ABOVE L PAD RADIUS
023464,000409: 
023465,000410: 34,2307           06006        VHHDOT             TC       INTPRET                               
023466,000411: 34,2310           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023467,000412: 34,2311           70542                                    S11.1                                 #  HDOT FOR DISPLAY
023468,000413: 34,2312           77776                           EXIT                                           
023469,000414: 34,2313           05412                           TC       PHASCHNG                              
023470,000415: 34,2314           00035                           OCT      00035                                 
023471,000416: 
023472,000417: 34,2315           32622                           CAF      V06N62                                #  DISPLAY IN R1 R2   R3
023473,000418: 34,2316           04662                           TC       BANKCALL                              #             VI HDOT H
023474,000419: 34,2317           20707                           CADR     REGODSP                               
023475,000420: 
023476,000421: 34,2320           35006        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023477,000422: 34,2321           05147                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023478,000423: 34,2322  E6,1704                                  EBANK=   BODY3                                 
023479,000424: 34,2322           02345 70066                     2CADR    ATERJOB                               
023480,000425: 
023481,000426: 34,2324           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023482,000427: 34,2325           75015                           MASK     BIT3                                  #  NEEDLER
023483,000428: 34,2326           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023484,000429: 34,2327           04740                           TC       IBNKCALL                              #  AND GO
023485,000430: 34,2330           42420                           CADR     NEEDLER                               #  DO IT
023486,000431: 34,2331           35017                           CA       BIT1                                  #  SET SW
023487,000432: 34,2332           55725                           TS       SATSW                                 #  FOR DISPLAY
023488,000433: 34,2333           05324                           TC       TASKOVER                              
023489,000434: 34,2334           40220        GETDOWN            STQ      SETPD                                 
023490,000435: 34,2335           02242                                    INCORPEX                              
023491,000436: 34,2336           00001                                    0D                                    
023492,000437: 34,2337           77745                           DLOAD                                          
023493,000438: 34,2340           15335                                    HI6ZEROS                              

Page 541

023495,000440: 34,2341           14007                           STODL    6D                                    
023496,000441: 34,2342           15333                                    DPHALF                                
023497,000442: 34,2343           34011                           STCALL   8D                                    
023498,000443: 34,2344           26446                                    LALOTORV   +5                         
023499,000444:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023500,000445: 
023501,000446:                                                                                                  #        COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023502,000447:                                                                                                  #                          2    3    4    5    6
023503,000448:                                                                                                  #        PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023504,000449:                                                                                                  #                SCALED TO 32 REVS.                                   -14
023505,000450:                                                                                                  #        IF TL = TIME IN SECS FROM L.O., THEN    T = 100(TL-RPSTART)2
023506,000451:                                                                                                  #        WHERE   TL GE RPSTART
023507,000452:                                                                                                  #                TL LE (-POLYSTOP + RPSTART)
023508,000453:                                                                                                  #        COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023509,000454:                                                                                                  #        LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023510,000455:                                                                                                  #        ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T    IN REV
023511,000456:                                                                                                  #        SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023512,000457:                                                                                                  #        T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023513,000458: 
023514,000459:                                                                                                  #        FOR SIMPLICITY, LET     P = 2*PI*PITCH
023515,000460:                                                                                                  #                                R = 2*PI*ROLL
023516,000461: 
023517,000462:                                                                                                  #        CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023518,000463:                                                                                                  #        TERMS OF SM COORDINATES.  LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023519,000464:                                                                                                  #        YDC, AND ZDC.
023520,000465: 
023521,000466:                                                                                                  #         *     (    SIN(P)                 0               -COS(P)    )   (XDC)
023522,000467:                                                                                                  #        TSMV = (-SIN(R)*COS(P)          -COS(R)         -SIN(R)*SIN(P)) = (YDC)
023523,000468:                                                                                                  #               (-COS(R)*COS(P)           SIN(R)         -COS(R)*SIN(P))   (ZDC)
023524,000469: 
023525,000470:                                                                                                  #        XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023526,000471:                                                                                                  #        EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023527,000472:                                                                                                  #        ORIENTATION.  THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023528,000473:                                                                                                  #        AS THE DESIRED CDU ANGLES.
023529,000474: 
023530,000475:                                                                                                  #        (XDC)                   (OGC)
023531,000476:                                                                                                  #        (YDC) ---) CALCGTA ---) (IGC)
023532,000477:                                                                                                  #        (ZDC)                   (MGC)
023533,000478:                                                                                                  #                           -
023534,000479:                                                                                                  #        DEFINE THE VECTOR DELTACDU.
023535,000480: 
023536,000481:                                                                                                  #         -         (OGC)   (CDUX)
023537,000482:                                                                                                  #        DELTACDU = (IGC) - (CDUY)
023538,000483:                                                                                                  #                   (MGC)   (CDUZ)
023539,000484:                                                                                                  #                                 -              -    *    -
023540,000485:                                                                                                  #        COMPUTE ATTITUDE ERRORS, A, WHERE       A = TGSC*DELTACDU
023541,000486: 
023542,000487:                                                                                                  #         *     (1             SIN(CDUZ)             0    )   THE GIMBAL ANGLES

Page 542

023544,000489:                                                                                                  #        TGSC = (0       COS(CDUX)*COS(CDUZ)     SIN(CDUX)) = TO SPACECRAFT AXES
023545,000490:                                                                                                  #               (0      -SIN(CDUX)*COS(CDUZ)     COS(CDUX))   CONVERSION MATRIX
023546,000491:                                                                                                  #                             -
023547,000492:                                                                                                  #        THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023548,000493:                                                                                                  #        THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023549,000494:                                                                                                  #        ERROR DISPLAY ROUTINE.
023550,000495: 
023551,000496: 34,2345           30102        ATERJOB            CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023552,000497: 34,2346           74105                           MASK     OCT60000                              #  BITS 14, 15
023553,000498: 34,2347           00006                           EXTEND                                         
023554,000499: 34,2350           12352                           BZF      +2                                    #  OK - CONTINUE
023555,000500: 34,2351           05217                           TC       ENDOFJOB                              #  SATURN STICK ON - KILL JOB
023556,000501: 34,2352           35006                           CAF      BIT10                                 #  CHECK IF S/C CONTROL
023557,000502: 34,2353           00006                           EXTEND                                         #  OF SATURN PANEL
023558,000503: 34,2354           02030                           RAND     CHAN30                                #  SWITCH IS ON
023559,000504: 34,2355           00006                           EXTEND                                         
023560,000505: 34,2356           12510                           BZF      STRSAT                                #  IT IS - GO STEER
023561,000506: 34,2357           11725                           CCS      SATSW                                 #  IT IS NOT - WAS IT ON LAST CYCLE
023562,000507: 34,2360           02363                           TC       ATTDISP                               #  NO - CONTINUE
023563,000508: 34,2361           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023564,000509: 34,2362           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023565,000510: 34,2363           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023566,000511: 34,2364           60025                           AD       TIME1                                 
023567,000512: 34,2365           00006                           EXTEND                                         
023568,000513: 34,2366           62615                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023569,000514: 34,2367           54154                           TS       MPAC                                  #  MPAC = TIME1 - RPSTART
023570,000515: 34,2370           55707                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALUCLATION
023571,000516: 34,2371           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023572,000517: 34,2372           00006                           EXTEND                                         
023573,000518: 34,2373           62375                           BZMF     +2                                    
023574,000519: 34,2374           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023575,000520: 34,2375           30024                           CA       TIME2                                 
023576,000521: 34,2376           00006                           EXTEND                                         
023577,000522: 34,2377           62401                           BZMF     +2                                    
023578,000523: 34,2400           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD      
023579,000524: 34,2401           31661                           CAE      POLYNUM                               
023580,000525: 34,2402           54001                           TS       L                                     
023581,000526: 34,2403           32621                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023582,000527: 34,2404           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023583,000528: 34,2405           35021                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023584,000529: 34,2406           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023585,000530: 34,2407           06006                           TC       INTPRET                               
023586,000531: 34,2410           54201                           SETPD    SL                                    #  32(PITCH(32REV)) = PITCH(REV)
023587,000532: 34,2411           00001                                    0                                     
023588,000533: 34,2412           20206                                    5                                     
023589,000534: 34,2413           77606                           PUSH                                           #  LET P(RAD) = 2.PI.PITCH(REV)
023590,000535: 34,2414           77650                           GOTO                                           
023591,000536: 34,2415           76154                                    ATTDISP1                              #  AROUND SETLOC

Page 543

023593,000538:                                                                                                  #                                     *
023594,000539:                                                                                                  #        CONSTRUCT SM TO S/C MATRIX, TSMV
023595,000540: 
023596,000541: 37,2000                                           SETLOC   P11TWO                                
023597,000542: 37,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
023598,000543: 
023599,000544: 37,2154                                           COUNT    36/P11                                
023600,000545: 
023601,000546: 37,2154           57546        ATTDISP1           COS      DCOMP                                 
023602,000547: 37,2155           14017                           STODL    14D                                   #  -.5*COS(P)
023603,000548: 37,2156           77756                           SIN                                            
023604,000549: 37,2157           14013                           STODL    10D                                   #  .5*SIN(P)
023605,000550: 37,2160           15335                                    ZEROVECS                              
023606,000551: 37,2161           00015                           STORE    12D                                   #  0
023607,000552: 
023608,000553:                                                                                                  #        EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023609,000554: 37,2162           41335                           SLOAD    DMP                                   
023610,000555: 37,2163           03310                                    SPOLYARG                              #  TIME1 - RPSTART, CSECS B-14.
023611,000556: 37,2164           03301                                    SATRLRT                               
023612,000557: 37,2165           45261                           SL       DSU                                   
023613,000558: 37,2166           20217                                    14D                                   
023614,000559: 37,2167           15333                                    DPHALF                                
023615,000560: 37,2170           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023616,000561: 37,2171           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023617,000562: 37,2172           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023618,000563: 37,2173           77634                           RTB                                            #  DETERMINE IF ROLLOUT
023619,000564: 37,2174           70604                                    RLTST                                 #  IS COMPLETED
023620,000565: 37,2175           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
023621,000566: 37,2176           77606                           PUSH                                           #  LET R(RAD) = 2*PI*ROLL(REV)
023622,000567: 37,2177           72405                           DMP      SL1                                   
023623,000568: 37,2200           00017                                    14D                                   
023624,000569: 37,2201           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
023625,000570: 37,2202           77676                           DCOMP                                          
023626,000571: 37,2203           00023                           STORE    18D                                   #  -.5*COS(R)
023627,000572: 37,2204           72405                           DMP      SL1                                   
023628,000573: 37,2205           00013                                    10D                                   
023629,000574: 37,2206           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
023630,000575: 37,2207           41556                           SIN      PUSH                                  
023631,000576: 37,2210           00031                           STORE    24D                                   #  .5*SIN(R)
023632,000577: 37,2211           72405                           DMP      SL1                                   
023633,000578: 37,2212           00017                                    14D                                   
023634,000579: 37,2213           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
023635,000580: 37,2214           77676                           DCOMP                                          
023636,000581: 37,2215           72405                           DMP      SL1                                   
023637,000582: 37,2216           00013                                    10D                                   
023638,000583: 37,2217           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)
023639,000584: 37,2220           00013                                    10D                                   
023640,000585: 
023641,000586:                                                                                                  #        FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA

Page 544

023643,000588: 37,2221           77656                           UNIT                                           
023644,000589: 37,2222           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
023645,000590: 37,2223           00021                                    16D                                   
023646,000591: 37,2224           77656                           UNIT                                           
023647,000592: 37,2225           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023648,000593: 37,2226           00027                                    22D                                   #                        -SIN(R)*SIN(P))
023649,000594: 37,2227           77656                           UNIT                                           
023650,000595: 37,2230           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023651,000596: 37,2231           47205                                    CALCGTA                               #                        -COS(R)*SIN(P))
023652,000597: 
023653,000598:                                                                                                  #        CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC, AND MGC
023654,000599:                                                                                                  #                                 -          -   -
023655,000600:                                                                                                  #        FIND DIFFERENCE VECTOR  DELTACDU = OGC-CDUX
023656,000601:                                                                                                  #   
023657,000602:                                                                                                  #        ENTER HERE IF ATTITUDE HOLD
023658,000603: 
023659,000604: 37,2232           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
023660,000605: 37,2233           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
023661,000606: 37,2234           45006                           PUSH     CALL                                  #         MGC      OGC
023662,000607: 37,2235           47477                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
023663,000608: 37,2236           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX , PD4
023664,000609: 37,2237           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY , 0
023665,000610: 37,2240           45552                                    V1STO2S                               #             DPSI     MGC-CDUZ , 2
023666,000611: 37,2241           27317                           STOVL    BOOSTEMP                              
023667,000612: 37,2242           15335                                    ZEROVECS                              
023668,000613: 37,2243           24001                           STOVL    0                                     
023669,000614: 37,2244           00767                                    CDUSPOT                               
023670,000615: 37,2245           47034                           RTB      RTB                                   
023671,000616: 37,2246           45552                                    V1STO2S                               
023672,000617: 37,2247           70564                                    DELSTOR                               
023673,000618: 37,2250           14013                           STODL    10D                                   
023674,000619: 37,2251           00741                                    SINCDUZ                               
023675,000620: 37,2252           72405                           DMP      SL1                                   
023676,000621: 37,2253           00001                                    0                                     
023677,000622: 37,2254           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
023678,000623: 37,2255           00005                                    4                                     
023679,000624: 37,2256           77650                           GOTO                                           
023680,000625: 37,2257           70416                                    ATTDISP2                              
023681,000626: 
023682,000627: 34,2000                                           SETLOC   P11ONE                                
023683,000628: 34,2000                                           BANK                                           
023684,000629: 34,2416                                           COUNT    34/P11                                
023685,000630: 
023686,000631: 34,2416           14021        ATTDISP2           STODL    16D                                   #  16D, .5(DPHI + DTHETA*SIN(CDUZ))
023687,000632: 34,2417           00747                                    COSCDUZ                               
023688,000633: 34,2420           41405                           DMP      PUSH                                  
023689,000634: 34,2421           00001                                    0                                     
023690,000635: 34,2422           72405                           DMP      SL1                                   
023691,000636: 34,2423           00751                                    COSCDUX                               
023692,000637: 34,2424           41325                           PDDL     DMP                                   

Page 545

023694,000639: 34,2425           00743                                    SINCDUX                               
023695,000640: 34,2426           00003                                    2                                     
023696,000641: 34,2427           72415                           DAD      SL1                                   
023697,000642: 34,2430           77626                           STADR                                          
023698,000643: 34,2431           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
023699,000644: 34,2432           72405                           DMP      SL1                                   #                        +DPSI*SIN(CDUX))
023700,000645: 34,2433           00743                                    SINCDUX                               
023701,000646: 34,2434           41325                           PDDL     DMP                                   
023702,000647: 34,2435           00751                                    COSCDUX                               
023703,000648: 34,2436           00003                                    2                                     
023704,000649: 34,2437           72425                           DSU      SL1                                   
023705,000650: 34,2440           77626                           STADR                                          
023706,000651: 34,2441           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023707,000652: 34,2442           77751                           TLOAD                                          #                        +DPSI*COS(CDUX))
023708,000653: 34,2443           00021                                    16D                                   
023709,000654: 34,2444           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
023710,000655: 34,2445           77776                           EXIT                                           
023711,000656: 
023712,000657: 34,2446           31725                           CA       SATSW                                 
023713,000658: 34,2447           10000                           CCS      A                                     #  CHK TAKEOVER STATUS
023714,000659: 34,2450           02471                           TC       SATOUT                                #  POS - DISPLAY ONLY
023715,000660: 34,2451           02477                           TC       AKLOAD                                #  0     STORE BIAS
023716,000661: 34,2452           06006        STEERSAT           TC       INTPRET                               #  NEG   STEER L/V
023717,000662: 34,2453           76351                           TLOAD    TAD                                   
023718,000663: 34,2454           03327                                    BIASAK                                
023719,000664: 34,2455           03077                                    AK                                    
023720,000665: 34,2456           03077                           STORE    AK                                    #  AKS = AKS - STORED BIAS
023721,000666: 34,2457           77776                           EXIT                                           
023722,000667: 34,2460           31476                           CA       AK                                    
023723,000668: 34,2461           02623                           TC       RESCALES                              
023724,000669: 34,2462           55476                           TS       AK                                    
023725,000670: 34,2463           31477                           CA       AK1                                   
023726,000671: 34,2464           02623                           TC       RESCALES                              
023727,000672: 34,2465           55477                           TS       AK1                                   
023728,000673: 34,2466           31500                           CA       AK2                                   
023729,000674: 34,2467           02623                           TC       RESCALES                              
023730,000675: 34,2470           55500                           TS       AK2                                   
023731,000676:                                                                                                  #        DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023732,000677: 
023733,000678: 34,2471           04662        SATOUT             TC       BANKCALL                              
023734,000679: 34,2472           42420                           CADR     NEEDLER                               
023735,000680: 34,2473           34113        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
023736,000681: 34,2474           04662                           TC       BANKCALL                              #  EXECUTION + DELAY = .56SEC APPROX
023737,000682: 34,2475           01732                           CADR     DELAYJOB                              
023738,000683: 34,2476           02345                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
023739,000684: 
023740,000685: 34,2477           41476        AKLOAD             CS       AK                                    #  STORE AKS
023741,000686: 34,2500           55726                           TS       BIASAK                                #  INTO BIAS
023742,000687: 34,2501           41477                           CS       AK1                                   #  COMPLEMENTED
023743,000688: 34,2502           55727                           TS       BIASAK     +1                         

Page 546

023745,000690: 34,2503           41500                           CS       AK2                                   
023746,000691: 34,2504           55730                           TS       BIASAK     +2                         
023747,000692: 34,2505           45017                           CS       BIT1                                  #  SET SW
023748,000693: 34,2506           55725                           TS       SATSW                                 #  TO STEER
023749,000694: 34,2507           02452                           TC       STEERSAT                              #  GO STEER
023750,000695: 34,2510           31725        STRSAT             CA       SATSW                                 #  CHECK IF NEEDLER
023751,000696: 34,2511           00006                           EXTEND                                         #  HAS BEEN INITIALIZED
023752,000697: 34,2512           62363                           BZMF     ATTDISP                               #  YES - CONTINUE
023753,000698: 34,2513           41501        ATRESET            CS       RCSFLAGS                              #  NO - SET
023754,000699: 34,2514           75015                           MASK     BIT3                                  #  INITIALIZATION SW
023755,000700: 34,2515           27501                           ADS      RCSFLAGS                              #  FOR NEEDLER
023756,000701: 34,2516           04662                           TC       BANKCALL                              #  AND GO
023757,000702: 34,2517           42420                           CADR     NEEDLER                               #  DO IT
023758,000703: 34,2520           36211                           CAF      REVCNT                                #  OCT 6
023759,000704: 34,2521           04662                           TC       BANKCALL                              #  DELAY JOB
023760,000705: 34,2522           01732                           CADR     DELAYJOB                              #  60 MS -WAIT TILL IMUERRCNTR ZEROED
023761,000706: 34,2523           11725                           CCS      SATSW                                 #  CHECK SW STATUS
023762,000707: 34,2524           02534                           TC       TAKEON                                #  POS   STEER INIT.
023763,000708: 34,2525           02526                           TC       +1                                    #  0     RETURN TO DISPLAY
023764,000709: 34,2526           35017                           CA       BIT1                                  #  NEG   RETURN TO DISPLAY
023765,000710: 34,2527           55725                           TS       SATSW                                 #  SW = DISPLAY ONLY
023766,000711: 34,2530           45007                           CS       BIT9                                  #  DISABLE
023767,000712: 34,2531           00006                           EXTEND                                         #  SIVB
023768,000713: 34,2532           03012                           WAND     CHAN12                                #  TAKEOVER
023769,000714: 34,2533           02471                           TC       SATOUT                                #  DISPLAY
023770,000715: 34,2534           35007        TAKEON             CAF      BIT9                                  #  ENABLE
023771,000716: 34,2535           00006                           EXTEND                                         #  SIVB
023772,000717: 34,2536           05012                           WOR      CHAN12                                #  TAKEOVER
023773,000718: 34,2537           35021                           CA       ZERO                                  #  INDICATE NEEDLER
023774,000719: 34,2540           55725                           TS       SATSW                                 #  WAS INITIALIZED
023775,000720: 34,2541           02471                           TC       SATOUT                                
023776,000721: 34,2542           51575        S11.1              VLOAD    ABVAL                                 
023777,000722: 34,2543           01177                                    VN                                    
023778,000723: 34,2544           27723                           STOVL    VMAGI                                 #  VI    SCALED 2(7) IN METERS/CSEC
023779,000724: 34,2545           01171                                    RN                                    
023780,000725: 34,2546           50256                           UNIT     DOT                                   
023781,000726: 34,2547           01177                                    VN                                    
023782,000727: 34,2550           77752                           SL1                                            
023783,000728: 34,2551           17737                           STODL    HDOT                                  
023784,000729: 34,2552           05152                                    RPAD                                  
023785,000730: 34,2553           77214                           BOF      VLOAD                                 
023786,000731: 34,2554           00355                                    AMOONFLG                              
023787,000732: 34,2555           70560                                    EARTHALT                              
023788,000733: 34,2556           02026                                    RLS                                   
023789,000734: 34,2557           60446                           ABVAL    SR2                                   
023790,000735: 34,2560           77621        EARTHALT           BDSU                                           
023791,000736: 34,2561           00045                                    36D                                   
023792,000737: 34,2562           03735                           STORE    ALTI                                  
023793,000738: 34,2563           77616                           RVQ                                            
023794,000739: 34,2564           31716        DELSTOR            CA       BOOSTEMP                              

Page 547

023796,000741: 34,2565           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
023797,000742: 34,2566           20154                           MSU      MPAC                                  
023798,000743: 34,2567           50120                           INDEX    FIXLOC                                
023799,000744: 34,2570           54000                           TS       0                                     
023800,000745: 34,2571           31717                           CA       BOOSTEMP   +1                         
023801,000746: 34,2572           00006                           EXTEND                                         
023802,000747: 34,2573           20155                           MSU      MPAC       +1                         
023803,000748: 34,2574           50120                           INDEX    FIXLOC                                
023804,000749: 34,2575           54002                           TS       2                                     
023805,000750: 34,2576           31720                           CA       BOOSTEMP   +2                         
023806,000751: 34,2577           00006                           EXTEND                                         
023807,000752: 34,2600           20156                           MSU      MPAC       +2                         
023808,000753: 34,2601           50120                           INDEX    FIXLOC                                
023809,000754: 34,2602           54004                           TS       4                                     
023810,000755: 34,2603           16030                           TCF      DANZIG                                
023811,000756: 34,2604           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
023812,000757: 34,2605           00006                           EXTEND                                         #  IS COMPLETED
023813,000758: 34,2606           71701                           MP       SATRLRT    +1                         
023814,000759: 34,2607           00006                           EXTEND                                         
023815,000760: 34,2610           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS STILL ROLLING
023816,000761: 34,2611           00006                           EXTEND                                         #  ROLLOUT COMPLETED
023817,000762: 34,2612           33672                           DCA      MBDYTCTL   +2                         #  ZERO OUT ROLL CONTRIBUTION
023818,000763: 34,2613           52155                           DXCH     MPAC                                  
023819,000764: 34,2614           06030                           TC       DANZIG                                
023820,000765: 34,2615           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
023821,000766: 34,2616           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
023822,000767: 34,2617           00001                                    0                                     
023823,000768: 34,2620           76232                                    NOPOLYM                               
023824,000769: 34,2621           01673        COEFPOLY           ADRES    POLYLOC                               
023825,000770: 34,2622           01476        V06N62             VN       0662                                  
023826,000771: 34,2623           00006        RESCALES           EXTEND                                         #  RESCALE AK S FOR
023827,000772: 34,2624           71731                           MP       SATSCALE                              #  NEW HARDWARE
023828,000773: 34,2625           20001                           DDOUBL                                         #  SCALING FOR
023829,000774: 34,2626           20001                           DDOUBL                                         #  STEERING
023830,000775: 34,2627           00002                           TC       Q                                     #  SATURN
023831,000776: 
023832,000777:                                                                                                  #  SATURN TAKEOVER FUNCTION
023833,000778:                                                                                                  #  ************************
023834,000779:                                                                                                  #  
023835,000780:                                                                                                  #  PROGRAM DESCRIPTION
023836,000781: 
023837,000782:                                                                                                  #        MOD NUMBER 1
023838,000783:                                                                                                  #        MOD BY ELIASSEN
023839,000784: 
023840,000785:                                                                                                  #  FUNCTIONAL DESCRIPTION
023841,000786: 
023842,000787:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023843,000788:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023844,000789:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023845,000790:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023846,000791:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC

Page 548

023848,000793:                                                                                                  #        VOLTAGES.  THE VALUE OF THE CONSTANT RATE COMMAND
023849,000794:                                                                                                  #        IS 0.5 DEG/SEC.  AN ABSENCE OF RHC ACTIVITY RE-
023850,000795:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
023851,000796: 
023852,000797:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023853,000798:                                                                                                  #        OF THE RATE COMMAND.
023854,000799: 
023855,000800:                                                                                                  #  CALLING SEQUENCE
023856,000801: 
023857,000802:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
023858,000803:                                                                                                  #                        CADR    SATSTKON
023859,000804: 
023860,000805:                                                                                                  #  SUBROUTINES CALLED
023861,000806: 
023862,000807:                                                                                                  #        ENDEXT
023863,000808:                                                                                                  #        IBNKCALL
023864,000809:                                                                                                  #        STICKCHK
023865,000810:                                                                                                  #        NEEDLER
023866,000811:                                                                                                  #        T5RUPT
023867,000812:                                                                                                  #        RESUME
023868,000813: 
023869,000814:                                                                                                  #  ASTRONAUT REQUESTS
023870,000815: 
023871,000816:                                                                                                  #        ENTRY -  VERB 46 ENTER
023872,000817:                                                                                                  #                 (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023873,000818: 
023874,000819:                                                                                                  #        EXIT -   VERB 48 ENTER  (FLASH V06N46)
023875,000820:                                                                                                  #                 VERB 21 ENTER  AXXXX ENTER WHERE A=0 OR 1
023876,000821:                                                                                                  #                 VERB 34 ENTER
023877,000822:                                                                                                  #                 VERB 46 ENTER
023878,000823: 
023879,000824:                                                                                                  #  NORMAL EXIT MODE
023880,000825: 
023881,000826:                                                                                                  #        VERB 46 ENTER   (SEE ASTRONAUT ABOVE)
023882,000827: 
023883,000828:                                                                                                  #  ALARM OR ABORT EXIT MODES
023884,000829: 
023885,000830:                                                                                                  #        NONE
023886,000831: 
023887,000832:                                                                                                  #  OUTPUT
023888,000833: 
023889,000834:                                                                                                  #        SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023890,000835: 
023891,000836:                                                                                                  #  ERASABLE INITIALIZATION
023892,000837: 
023893,000838:                                                                                                  #        DAPDATR1        (BITS 13, 14 MUST BE SET)
023894,000839: 
023895,000840:                                                                                                  #  DEBRIS
023896,000841: 
023897,000842:                                                                                                  #        CENTRALS

Page 549

023899,000844:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
023900,000845: 
023901,000846: 43,3215                                           BANK     43                                    
023902,000847: 43,2000                                           SETLOC   EXTVERBS                              
023903,000848: 43,2000                                           BANK                                           
023904,000849: 
023905,000850: 43,3215                                           COUNT    23/STTKE                              
023906,000851: 43,3215           00006        SATSTKON           EXTEND                                         
023907,000852: 43,3216           33233                           DCA      2REDOSAT                              
023908,000853: 43,3217           00004                           INHINT                                         
023909,000854: 43,3220           53313                           DXCH     T5LOC                                 
023910,000855: 43,3221           34777                           CAF      POSMAX                                
023911,000856: 43,3222           54030                           TS       TIME5                                 
023912,000857: 43,3223           40102                           CS       FLAGWRD6                              #  TURN ON BITS 15,14 OF
023913,000858: 43,3224           74105                           MASK     RELTAB11                              #  FLAGWRD6
023914,000859: 43,3225           26102                           ADS      FLAGWRD6                              #        SATSTICK CONTROL OF T5
023915,000860: 43,3226           04740                           TC       IBNKCALL                              #  ZERO JET CHANNELS IN 14 MS AND THEN
023916,000861: 43,3227           42632                           CADR     ZEROJET                               #  LEAVE THE T6 CLOCK DISABLED
023917,000862: 43,3230           00003                           RELINT                                         
023918,000863: 43,3231           02121                           TC       GOPIN                                 #  EXIT THUS BECAUSE WE CAME VIA V46
023919,000864: 
023920,000865: 43,3232  E6,1704                                  EBANK=   BODY3                                 
023921,000866: 43,3232           02765 46106  2REDOSAT           2CADR    REDOSAT                               
023922,000867: 
023923,000868: 
023924,000869: 43,3234  30,2000                                  SBANK=   LOWSUPER                              
023925,000870: 32,2017                                           BANK     32                                    
023926,000871: 23,2000                                           SETLOC   P11FOUR                               
023927,000872: 23,2000                                           BANK                                           
023928,000873: 
023929,000874: 23,2765           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
023930,000875: 23,2766           00006                           EXTEND                                         
023931,000876: 23,2767           22012                           QXCH     QRUPT                                 
023932,000877: 23,2770           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
023933,000878: 23,2771           75015                           MASK     BIT3                                  #  FOR
023934,000879: 23,2772           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
023935,000880: 23,2773           04740                           TC       IBNKCALL                              
023936,000881: 23,2774           42420                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
023937,000882: 23,2775           35007                           CAF      BIT9                                  #  SIVB
023938,000883: 23,2776           00006                           EXTEND                                         #  TAKEOVER
023939,000884: 23,2777           05012                           WOR      CHAN12                                #  ENABLE
023940,000885: 23,3000           00006                           EXTEND                                         #  SET UP T5 CYCLE
023941,000886: 23,3001           33042                           DCA      2SATSTCK                              
023942,000887: 23,3002           53313                           DXCH     T5LOC                                 
023943,000888: 23,3003           33040                           CAF      100MST5                               #  IN 100 MSECS
023944,000889: 23,3004           54030                           TS       TIME5                                 
023945,000890: 23,3005           15333                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
023946,000891: 
023947,000892:                                                                                                  #        THIS SECTION IS EXECUTED EVERY 100 MSECS

Page 550

023949,000894: 23,3006           22016        SATSTICK           LXCH     BANKRUPT                              
023950,000895: 23,3007           00006                           EXTEND                                         
023951,000896: 23,3010           22012                           QXCH     QRUPT                                 
023952,000897: 
023953,000898: 23,3011           33041                           CAF      2SATSTCK                              #  SET UP RUPT
023954,000899: 23,3012           55312                           TS       T5LOC                                 #  LO ORDER LOC SET
023955,000900: 23,3013           33040                           CAF      100MST5                               #  100 MSECS
023956,000901: 23,3014           54030                           TS       TIME5                                 
023957,000902: 23,3015           33037                           CAF      STIKBITS                              
023958,000903: 23,3016           00006                           EXTEND                                         
023959,000904: 23,3017           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
023960,000905: 23,3020           73037                           MASK     STIKBITS                              
023961,000906: 23,3021           04740                           TC       IBNKCALL                              #  SET RATE INDICES
023962,000907: 23,3022           43130                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
023963,000908: 
023964,000909: 23,3023           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
023965,000910: 23,3024           31721                           CA       SATRATE                               
023966,000911: 23,3025           55476                           TS       AK                                    #        ROLL
023967,000912: 23,3026           51657                           INDEX    PMANNDX                               
023968,000913: 23,3027           31721                           CA       SATRATE                               
023969,000914: 23,3030           55477                           TS       AK1                                   #        PITCH
023970,000915: 23,3031           51660                           INDEX    YMANNDX                               
023971,000916: 23,3032           31721                           CA       SATRATE                               
023972,000917: 23,3033           55500                           TS       AK2                                   #        YAW
023973,000918: 
023974,000919: 23,3034           04740                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
023975,000920: 23,3035           42420                           CADR     NEEDLER                               
023976,000921: 23,3036           15333                           TCF      RESUME                                #  END OF SATURN STICK CONTROL
023977,000922: 
023978,000923: 23,3037           00077        STIKBITS           OCT      00077                                 
023979,000924: 23,3040           37766        100MST5            DEC      16374      B-14                       
023980,000925: 23,3041  E6,1704                                  EBANK=   BODY3                                 
023981,000926: 23,3041           03006 46066  2SATSTCK           2CADR    SATSTICK                              

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