Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

023371,000002:                                                                                                  ## Copyright:   Public domain.
023372,000003:                                                                                                  ## Filename:    P11.agc
023373,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
023374,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
023375,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
023376,000007:                                                                                                  ## Assembler:   yaYUL
023377,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
023378,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
023379,000010:                                                                                                  ## Pages:       533-550
023380,000011:                                                                                                  ## Mod history: 2009-05-13 HG   Started adapting from the Colossus249/ file 
023381,000012:                                                                                                  ##                              of the same name, using Comanche055 page 
023382,000013:                                                                                                  ##                              images 0533.jpg - 0550.jpg. 
023383,000014:                                                                                                  ##              2009-05-20 RSB  Corrections: ERTHALT -> EARTHALT, 
023384,000015:                                                                                                  ##                              STATSW -> SATSW.
023385,000016:                                                                                                  ##              2009-05-23 RSB  At end of RESCALES, corrected TC 0 to TC Q.
023386,000017:                                                                                                  ##                              Added an SBANK= prior to a 2CADR.
023387,000018:                                                                                                  ##              2010-08-24 JL   Fixed page numbers. Added missing comment character on p537.
023388,000019:                                                                                                  ##              2011-05-08 JL   Flagged SBANK= workaround for future removal.
023389,000020:                                                                                                  ##              2011-05-17 JL   Removed all SBANK= workarounds.
023390,000021:                                                                                                  ##              2016-12-10 RSB  Proofed comments with octopus/ProoferComments
023391,000022:                                                                                                  ##                              and fixed the errors found.
023392,000023:                                                                                                  ##              2017-01-15 RSB  Corrected comment-text errors observed while
023393,000024:                                                                                                  ##                              diff'ing vs Colossus 249.
023394,000025: 
023395,000026:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
023396,000027:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
023397,000028:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
023398,000029:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
023399,000030:                                                                                                  ## consequent reduction in image quality as well) are available online at
023400,000031:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
023401,000032:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
023402,000033:                                                                                                  ## (much) higher-quality images which Paul actually created.
023403,000034:                                                                                                  ##
023404,000035:                                                                                                  ## Notations on the hardcopy document read, in part:
023405,000036:                                                                                                  ##
023406,000037:                                                                                                  ##    Assemble revision 055 of AGC program Comanche by NASA
023407,000038:                                                                                                  ##    2021113-051.  10:28 APR. 1, 1969  
023408,000039:                                                                                                  ##
023409,000040:                                                                                                  ##    This AGC program shall also be referred to as
023410,000041:                                                                                                  ##            Colossus 2A
023411,000042: 

Page 533

023413,000044: 
023414,000045:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
023415,000046:                                                                                                  #  *************************************
023416,000047: 
023417,000048:                                                                                                  #  PROGRAM DESCRIPTION -P11-
023418,000049: 
023419,000050:                                                                                                  #        MOD NO. 1
023420,000051:                                                                                                  #        MOD BY ELIASSEN
023421,000052: 
023422,000053:                                                                                                  #  FUNCTIONAL DESCRIPTION
023423,000054: 
023424,000055:                                                                                                  #        P11 IS INITIATED BY
023425,000056: 
023426,000057:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
023427,000058:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
023428,000059: 
023429,000060:                                                                                                  #        PROGRAM WILL
023430,000061:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
023431,000062:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
023432,000063:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
023433,000064:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
023434,000065:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
023435,000066:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
023436,000067:                                                                                                  #                7. TERMINATE GYROCOMPASSING     -   -
023437,000068:                                                                                                  #                8. COMPUTE INITIAL VECTORS      RN, VN            -  -  -
023438,000069:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
023439,000070:                                                                                                  #                        -        -                                 X  Y  Z
023440,000071:                                                                                                  #                        U =UNIT(-R)     LOCAL VERTICAL AT TIME OF LIFTOFF
023441,000072:                                                                                                  #                         Z     
023442,000073:                                                                                                  #                        -       -       -
023443,000074:                                                                                                  #                        U =UNIT(A),     A=HOR VECTOR AT LAUNCH AZIMUTH
023444,000075:                                                                                                  #                         X
023445,000076:                                                                                                  #                        -  -   -
023446,000077:                                                                                                  #                        U =U * U
023447,000078:                                                                                                  #                         U  Z   X
023448,000079:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
023449,000080:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
023450,000081:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
023451,000082: 
023452,000083:                                                                                                  #                        R1      V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
023453,000084:                                                                                                  #                        R2      HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
023454,000085:                                                                                                  #                        R3      H    - VEHICLE ALTITUDE ABOVE PAD IN NM
023455,000086:                                                                                                  #                
023456,000087:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
023457,000088: 
023458,000089:                                                                                                  #                        A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
023459,000090:                                                                                                  #                           DESIRED ATTITUDE IS AS STORED AT L.O.
023460,000091:                                                                                                  #                        B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
023461,000092:                                                                                                  #                           DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
023462,000093:                                                                                                  #                           POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 534

023464,000095:                                                                                                  #                           THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
023465,000096:                                                                                                  #                           EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
023466,000097: 
023467,000098:                                                                                                  #  SUBROUTINES CALLED
023468,000099: 
023469,000100:                                                                                                  #        2PHSCHNG        BANKCALL        CALCGRA         CDUTRIG         CLEANDSP        DANZIG
023470,000101:                                                                                                  #        DELAYJOB        EARTHR          ENDOFJOB        FINDVAC         IBNKCALL
023471,000102:                                                                                                  #        INTPRET         LALOTORV        NEEDLER         NEWMODEX        PHASCHNG
023472,000103:                                                                                                  #        POSTJUMP        POWRSERS        PREREAD1        REGODSPR        S11.1
023473,000104:                                                                                                  #        SERVEXIT        TASKOVER        TCDANZIG        V1ST02S         WAITLIST
023474,000105: 
023475,000106:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
023476,000107: 
023477,000108:                                                                                                  #        DSKY -
023478,000109:                                                                                                  #                MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
023479,000110:                                                                                                  #                                                   R2 MINUTES
023480,000111: 
023481,000112:                                                                                                  #        DSKY -
023482,000113:                                                                                                  #                MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
023483,000114:                                                                                                  #                                   R2 PERIGEE ALTITUDE IN NAUTICAL MILES
023484,000115:                                                                                                  #                                   R3 TFF IN MINUTES/SECS
023485,000116: 
023486,000117:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
023487,000118:                                                                                                  #  HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
023488,000119:                                                                                                  #  NORMAL EXIT MODE
023489,000120: 
023490,000121:                                                                                                  #        ASTRONAUT       VERB 37 ENTER 00 ENTER
023491,000122: 
023492,000123:                                                                                                  #  ALARM MODES - NONE
023493,000124: 
023494,000125:                                                                                                  #  ABORT EXIT MODES -
023495,000126: 
023496,000127:                                                                                                  #  OUTPUT
023497,000128: 
023498,000129:                                                                                                  #        TLIFTOFF (DP)   TEPHEM (TP)
023499,000130:                                                                                                  #        REFSMMAT
023500,000131:                                                                                                  #        DSKY DISPLAY
023501,000132:                                                                                                  #        FDAI DISPLAY
023502,000133: 
023503,000134:                                                                                                  #  ERASABLE INITIALIZATION
023504,000135: 
023505,000136:                                                                                                  #        AZO, AXO, -AYO
023506,000137:                                                                                                  #        LATITUDE
023507,000138:                                                                                                  #        PADLONG
023508,000139:                                                                                                  #        TEPHEM
023509,000140:                                                                                                  #        PGNCSALT
023510,000141:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
023511,000142:                                                                                                  #        RPSTART
023512,000143:                                                                                                  #        POLYSTOP
023513,000144:                                                                                                  #  FLAGS SET OR RESET

Page 535

023515,000146:                                                                                                  #        SET REFSMFLG
023516,000147:                                                                                                  #        SET DVMON IDLE FLAG
023517,000148:                                                                                                  #        CLEAR ERADFLAG
023518,000149: 
023519,000150:                                                                                                  #  DEBRIS
023520,000151: 
023521,000152:                                                                                                  #        LIFTTEMP
023522,000153:                                                                                                  #        POLYNUM THRU POLYNUM +7
023523,000154:                                                                                                  #        SPOLYARG
023524,000155:                                                                                                  #        BODY1, BODY2, BODY3
023525,000156:                                                                                                  #        VMAG2, ALTI, HDOT
023526,000157:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
023527,000158: 
023528,000159: 04,3303                                           COUNT    34/P11                                
023529,000160: 
023530,000161: 04,3303     5035               BITS5-6            =        SUPER011                              
023531,000162: 42,3606                                           BANK     42                                    
023532,000163: 34,2000                                           SETLOC   P11ONE                                
023533,000164: 34,2000                                           BANK                                           
023534,000165: 
023535,000166: 34,2002  E3,1706                                  EBANK=   TEPHEM                                
023536,000167: 34,2002           35051        P11                CA       EBANK3                                
023537,000168: 34,2003           54003                           TS       EBANK                                 
023538,000169: 
023539,000170: 34,2004           00006                           EXTEND                                         
023540,000171: 34,2005           32277                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
023541,000172: 34,2006           52757                           DXCH     -PHASE3                               
023542,000173: 34,2007           45021                           CS       ZERO                                  
023543,000174: 34,2010           22007                           ZL                                             
023544,000175: 34,2011           55265                           TS       LIFTTEMP                              
023545,000176: 34,2012           52763                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
023546,000177: 34,2013           00006        P11+7              EXTEND                                         
023547,000178: 34,2014           32301                           DCA      REP11SA                               
023548,000179: 34,2015           53337                           DXCH     TLIFTOFF                              
023549,000180: 
023550,000181: 34,2016           00006                           EXTEND                                         
023551,000182: 34,2017           30025                           DCA      TIME2                                 
023552,000183: 34,2020           53266                           DXCH     LIFTTEMP                              #  FOR RESTARTS
023553,000184: 
023554,000185: 34,2021           35021                           CA       ZERO                                  
023555,000186: 34,2022           22007                           ZL                                             
023556,000187: 34,2023           52025                           DXCH     TIME2                                 
023557,000188: 34,2024           53337        REP11A-2           DXCH     TLIFTOFF                              
023558,000189: 34,2025           52757        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE
023559,000190: 
023560,000191: 34,2026           00004        REP11A             INHINT                                         
023561,000192: 34,2027           00006                           EXTEND                                         
023562,000193: 34,2030           31710                           DCA      TEPHEM     +1                         
023563,000194: 34,2031           53271                           DXCH     TEPHEM1    +1                         
023564,000195: 34,2032           31706                           CA       TEPHEM                                

Page 536

023566,000197: 34,2033           57267                           XCH      TEPHEM1                               
023567,000198: 
023568,000199: 34,2034           00006                           EXTEND                                         
023569,000200: 34,2035           31337                           DCA      TLIFTOFF                              
023570,000201: 34,2036           21271                           DAS      TEPHEM1    +1                         
023571,000202: 34,2037           27267                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
023572,000203: 
023573,000204: 34,2040           05412                           TC       PHASCHNG                              
023574,000205: 34,2041           05023                           OCT      05023                                 
023575,000206: 34,2042           22000                           OCT      22000                                 
023576,000207: 
023577,000208: 34,2043           00004                           INHINT                                         
023578,000209: 34,2044           00006                           EXTEND                                         
023579,000210: 34,2045           31270                           DCA      TEPHEM1                               
023580,000211: 34,2046           53707                           DXCH     TEPHEM                                
023581,000212: 34,2047           31271                           CA       TEPHEM1    +2                         
023582,000213: 34,2050           57710                           XCH      TEPHEM     +2                         
023583,000214: 
023584,000215: 34,2051           32000                           CAF      EBDVCNT                               
023585,000216: 34,2052           54003                           TS       EBANK                                 
023586,000217: 34,2053  E7,1431                                  EBANK=   DVCNTR                                
023587,000218: 34,2053           04740                           TC       IBNKCALL                              
023588,000219: 34,2054           76722                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
023589,000220: 
023590,000221: 34,2055           05412                           TC       PHASCHNG                              
023591,000222: 34,2056           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
023592,000223: 34,2057           22000                           OCT      22000                                 
023593,000224: 
023594,000225: 34,2060           35036                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
023595,000226: 34,2061           05245                           TC       WAITLIST                              #  IN .5 SEC
023596,000227: 34,2062  E6,1704                                  EBANK=   BODY3                                 
023597,000228: 34,2062           02320 70066                     2CADR    ATERTASK                              
023598,000229: 
023599,000230: 34,2064           05354                           TC       NEWMODEX                              #  DISPLAY MM 11
023600,000231: 34,2065           00013                           MM       11         B-14                       
023601,000232: 
023602,000233: 34,2066           05546                           TC       UPFLAG                                
023603,000234: 34,2067           00022                           ADRES    NODOP01                               
023604,000235: 
023605,000236: 34,2070           36214                           CA       POWDNCOD                              #  SWITCH TO POWERED FLIGHT DOWNLIST
023606,000237: 34,2071           54332                           TS       DNLSTCOD                              
023607,000238: 
023608,000239: 34,2072           04662                           TC       BANKCALL                              
023609,000240: 34,2073           20703                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
023610,000241: 
023611,000242: 34,2074           05372                           TC       2PHSCHNG                              
023612,000243: 34,2075           40514                           OCT      40514                                 #  PROTECT ATERTASK
023613,000244: 34,2076           00073                           OCT      00073                                 
023614,000245: 34,2077           32001                           CAF      EBQPLACE                              

Page 537

023616,000247: 34,2100           54003                           TS       EBANK                                 
023617,000248: 
023618,000249: 34,2101  E5,1426                                  EBANK=   QPLACES                               
023619,000250: 34,2101           32302                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
023620,000251: 34,2102           55426                           TS       QPLACES                               
023621,000252: 34,2103           06006                           TC       INTPRET                               
023622,000253: 34,2104           64375                           VLOAD    MXV                                   
023623,000254: 34,2105           02467                                    THETAN                                
023624,000255: 34,2106           02672                                    XSM                                   
023625,000256: 34,2107           53372                           VSL1     VAD                                   
023626,000257: 34,2110           02650                                    ERCOMP                                
023627,000258: 34,2111           16650                           STODL    ERCOMP                                
023628,000259: 34,2112           01337                                    TLIFTOFF                              
023629,000260: 34,2113           52131                           SSP      GOTO                                  
023630,000261: 34,2114           00052                                    S2                                    
023631,000262: 34,2115           66424                           CADR     PROUT                                 #  RETURN FROM EARTHR
023632,000263: 34,2116           66373                                    EARTHR     +3                         
023633,000264: 34,2117           22007        MATRXJOB           ZL                                             #  STORE DP GIMBAL ANGLES FOR ATTITUDE
023634,000265: 34,2120           30032                           CA       CDUX                                  #        ERROR DISPLAY AFTER LIFTOFF
023635,000266: 34,2121           53760                           DXCH     OGC                                   
023636,000267: 34,2122           22007                           ZL                                             
023637,000268: 34,2123           30033                           CA       CDUY                                  
023638,000269: 34,2124           53762                           DXCH     IGC                                   
023639,000270: 34,2125           22007                           ZL                                             
023640,000271: 34,2126           30034                           CA       CDUZ                                  
023641,000272: 34,2127           53764                           DXCH     MGC                                   
023642,000273: 34,2130           06006                           TC       INTPRET                               #        -
023643,000274: 34,2131           74575                           VLOAD    VSR1                                  #  SCALE OGC B-1
023644,000275: 34,2132           02760                                    OGC                                   
023645,000276: 34,2133           02760                           STORE    OGC                                   
023646,000277: 34,2134           77731                           SSP                                            #  ZERO RTX2
023647,000278: 34,2135           03747                                    RTX2                                  #  FOR
023648,000279: 34,2136           00000                                    0                                     #  EARTH
023649,000280: 34,2137           65345                           DLOAD    PDDL                                  
023650,000281: 34,2140           01273                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023651,000282: 34,2141           01264                                    PADLONG                               #  LONGITUDE
023652,000283: 34,2142           55525                           PDDL     VDEF                                  
023653,000284: 34,2143           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023654,000285: 34,2144           15104                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023655,000286: 34,2145           15335                                    HI6ZEROS                              #  TIME = 0
023656,000287: 34,2146           45014                           CLEAR    CALL                                  
023657,000288: 34,2147           00662                                    ERADFLAG                              
023658,000289: 34,2150           26441                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF.COORDS
023659,000290: 
023660,000291: 34,2151           35232                           STCALL   RN1                                   #               -   
023661,000292: 34,2152           70334                                    GETDOWN                               #  RETURN WITH VECTOR FOR DOWN DIRECTION
023662,000293: 34,2153           53476                           VCOMP    UNIT                                  
023663,000294: 34,2154           25752                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)
023664,000295: 34,2155           01232                                    RN1                                   
023665,000296: 34,2156           74235                           VXV      VXSC                                  

Page 538

023667,000298: 34,2157           01714                                    UNITW                                 #  SCALED AT 1
023668,000299: 34,2160           30304                                    -ERTHRAT                              #  V = EARTHRATE X R
023669,000300: 34,2161           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023670,000301: 34,2162           25240                           STOVL    VN1                                   
023671,000302: 34,2163           01752                                    REFSMMAT   +12D                       
023672,000303: 34,2164           53435                           VXV      UNIT                                  
023673,000304: 34,2165           01714                                    UNITW                                 #  (REF3 X UNITW) = EAST
023674,000305: 34,2166           47206                           PUSH     VXV                                   
023675,000306: 34,2167           01752                                    REFSMMAT   +12D                       #  (EAST X REF3) = -SOUTH
023676,000307: 34,2170           65256                           UNIT     PDDL                                  
023677,000308: 34,2171           02634                                    LAUNCHAZ                              #  COS(AZ)*SOUTH
023678,000309: 34,2172           74346                           COS      VXSC                                  
023679,000310: 34,2173           77626                           STADR                                          
023680,000311: 34,2174           62041                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023681,000312: 34,2175           02634                                    LAUNCHAZ                              
023682,000313: 34,2176           74356                           SIN      VXSC                                  #  SIN(AZ)*EAST
023683,000314: 34,2177           53455                           VAD      UNIT                                  #  SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023684,000315: 34,2200           01736                                    REFSMMAT                              
023685,000316: 34,2201           01736                           STORE    REFSMMAT                              
023686,000317: 
023687,000318: 34,2202           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023688,000319: 34,2203           01752                                    REFSMMAT   +12D                       
023689,000320: 34,2204           77676                           VCOMP                                          
023690,000321: 34,2205           01744                           STORE    REFSMMAT   +6                         
023691,000322: 34,2206           45345                           DLOAD    DSU                                   
023692,000323: 34,2207           15333                                    DPHALF                                #  1/2 REV
023693,000324: 34,2210           02634                                    LAUNCHAZ                              
023694,000325: 34,2211           65215                           DAD      PDDL                                  
023695,000326: 
023696,000327: 34,2212           02401                                    AZIMUTH                               
023697,000328: 34,2213           03301                                    SATRLRT                               #  SET SATRLRT = -SATRLRT IF
023698,000329: 34,2214           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023699,000330: 34,2215           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023700,000331: 34,2216           77414                           SET      EXIT                                  
023701,000332: 34,2217           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023702,000333: 
023703,000334: 34,2220           05412                           TC       PHASCHNG                              
023704,000335: 34,2221           04023                           OCT      04023                                 
023705,000336: 
023706,000337: 34,2222           00006                           EXTEND                                         
023707,000338: 34,2223           32306                           DCA      P11SCADR                              
023708,000339: 34,2224           53223                           DXCH     AVGEXIT                               #  SET AVGEXIT
023709,000340: 
023710,000341: 34,2225           37665                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023711,000342: 34,2226           55074                           TS       1/PIPADT                              
023712,000343: 
023713,000344: 34,2227  E6,1501                                  EBANK=   RCSFLAGS                              
023714,000345: 34,2227           35057                           CA       EBANK6                                
023715,000346: 34,2230           54003                           TS       EBANK                                 
023716,000347: 
023717,000348: 34,2231           00004                           INHINT                                         

Page 539

023719,000350: 34,2232           45021                           CS       ZERO                                  
023720,000351: 34,2233           55063                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF
023721,000352: 
023722,000353: 34,2234           40025                           CS       TIME1                                 
023723,000354: 34,2235           65042                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023724,000355: 
023725,000356: 34,2236           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023726,000357: 34,2237           12242                           TCF      +3                                    #  TIME POSITIVE
023727,000358: 34,2240           12242                           TCF      +2                                    #  CANNOT GET HERE
023728,000359: 34,2241           35021                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023729,000360: 34,2242           65017                           AD       ONE                                   #  RESTORE TIME  -  OR MAKE POSITIVE
023730,000361: 
023731,000362: 34,2243           05245                           TC       WAITLIST                              
023732,000363: 34,2244  E6,1661                                  EBANK=   AOG                                   
023733,000364: 34,2244           02744 76066                     2CADR    READACCS                              
023734,000365: 
023735,000366: 34,2246           05372                           TC       2PHSCHNG                              
023736,000367: 34,2247           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023737,000368: 34,2250           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023738,000369: 
023739,000370: 34,2251           04701                           TC       POSTJUMP                              
023740,000371: 34,2252           77236                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023741,000372: 
023742,000373: 
023743,000374: 34,2253  E3,1706                                  EBANK=   TEPHEM                                
023744,000375: 34,2253           00004        REP11              INHINT                                         
023745,000376: 34,2254           10763                           CCS      PHASE5                                
023746,000377: 34,2255           05217                           TC       ENDOFJOB                              
023747,000378: 
023748,000379: 34,2256           11265                           CCS      LIFTTEMP                              
023749,000380: 34,2257           12263                           TCF      +4                                    
023750,000381: 34,2260           12263                           TCF      +3                                    
023751,000382: 34,2261           12263                           TCF      +2                                    
023752,000383: 34,2262           12013                           TCF      P11+7                                 
023753,000384: 
023754,000385: 34,2263           41336                           CS       TLIFTOFF                              
023755,000386: 34,2264           00006                           EXTEND                                         
023756,000387: 34,2265           62273                           BZMF     ENDREP11                              
023757,000388: 
023758,000389: 34,2266           10024                           CCS      TIME2                                 #  ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023759,000390: 34,2267           12021                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023760,000391: 
023761,000392: 34,2270           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023762,000393: 34,2271           31266                           DCA      LIFTTEMP                              
023763,000394: 34,2272           12024                           TCF      REP11A-2                              
023764,000395: 
023765,000396: 34,2273           00006        ENDREP11           EXTEND                                         
023766,000397: 34,2274           32301                           DCA      REP11SA                               
023767,000398: 34,2275           12025                           TCF      REP11A-1                              

Page 540

023769,000400: 34,2276           77766 00011  REP11S             2OCT     7776600011                            
023770,000401: 
023771,000402: 34,2300           77764 00013  REP11SA            2OCT     7776400013                            
023772,000403: 
023773,000404: 34,2302           02451        P11XIT             GENADR   P11OUT                                
023774,000405: 34,2303           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023775,000406: 
023776,000407: 34,2305  E6,1704                                  EBANK=   BODY3                                 
023777,000408: 34,2305           02307 70066  P11SCADR           2CADR    VHHDOT                                
023778,000409: 
023779,000410: 34,2307     6214               POWDNCOD           EQUALS   THREE                                 
023780,000411: 
023781,000412: 34,2307  E6,1704                                  EBANK=   BODY3                                 
023782,000413:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023783,000414:                                                                                                  #        VI      INERTIAL VELOCITY MAGNITUDE
023784,000415:                                                                                                  #        HDOT    RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023785,000416:                                                                                                  #        H       ALTITUDE ABOVE L PAD RADIUS
023786,000417: 
023787,000418: 34,2307           06006        VHHDOT             TC       INTPRET                               
023788,000419: 34,2310           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023789,000420: 34,2311           70542                                    S11.1                                 #  HDOT FOR DISPLAY
023790,000421: 34,2312           77776                           EXIT                                           
023791,000422: 34,2313           05412                           TC       PHASCHNG                              
023792,000423: 34,2314           00035                           OCT      00035                                 
023793,000424: 
023794,000425: 34,2315           32622                           CAF      V06N62                                #  DISPLAY IN R1 R2   R3
023795,000426: 34,2316           04662                           TC       BANKCALL                              #             VI HDOT H
023796,000427: 34,2317           20707                           CADR     REGODSP                               
023797,000428: 
023798,000429: 34,2320           35006        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023799,000430: 34,2321           05147                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023800,000431: 34,2322  E6,1704                                  EBANK=   BODY3                                 
023801,000432: 34,2322           02345 70066                     2CADR    ATERJOB                               
023802,000433: 
023803,000434: 34,2324           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023804,000435: 34,2325           75015                           MASK     BIT3                                  #  NEEDLER
023805,000436: 34,2326           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023806,000437: 34,2327           04740                           TC       IBNKCALL                              #  AND GO
023807,000438: 34,2330           42420                           CADR     NEEDLER                               #  DO IT
023808,000439: 34,2331           35017                           CA       BIT1                                  #  SET SW
023809,000440: 34,2332           55725                           TS       SATSW                                 #  FOR DISPLAY
023810,000441: 34,2333           05324                           TC       TASKOVER                              
023811,000442: 34,2334           40220        GETDOWN            STQ      SETPD                                 
023812,000443: 34,2335           02242                                    INCORPEX                              
023813,000444: 34,2336           00001                                    0D                                    
023814,000445: 34,2337           77745                           DLOAD                                          
023815,000446: 34,2340           15335                                    HI6ZEROS                              

Page 541

023817,000448: 34,2341           14007                           STODL    6D                                    
023818,000449: 34,2342           15333                                    DPHALF                                
023819,000450: 34,2343           34011                           STCALL   8D                                    
023820,000451: 34,2344           26446                                    LALOTORV   +5                         
023821,000452:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023822,000453: 
023823,000454:                                                                                                  #        COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023824,000455:                                                                                                  #                          2    3    4    5    6
023825,000456:                                                                                                  #        PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023826,000457:                                                                                                  #                SCALED TO 32 REVS.                                   -14
023827,000458:                                                                                                  #        IF TL = TIME IN SECS FROM L.O., THEN    T = 100(TL-RPSTART)2
023828,000459:                                                                                                  #        WHERE   TL GE RPSTART
023829,000460:                                                                                                  #                TL LE (-POLYSTOP + RPSTART)
023830,000461:                                                                                                  #        COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023831,000462:                                                                                                  #        LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023832,000463:                                                                                                  #        ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T    IN REV
023833,000464:                                                                                                  #        SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023834,000465:                                                                                                  #        T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023835,000466: 
023836,000467:                                                                                                  #        FOR SIMPLICITY, LET     P = 2*PI*PITCH
023837,000468:                                                                                                  #                                R = 2*PI*ROLL
023838,000469: 
023839,000470:                                                                                                  #        CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023840,000471:                                                                                                  #        TERMS OF SM COORDINATES.  LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023841,000472:                                                                                                  #        YDC, AND ZDC.
023842,000473: 
023843,000474:                                                                                                  #         *     (    SIN(P)                 0               -COS(P)    )   (XDC)
023844,000475:                                                                                                  #        TSMV = (-SIN(R)*COS(P)          -COS(R)         -SIN(R)*SIN(P)) = (YDC)
023845,000476:                                                                                                  #               (-COS(R)*COS(P)           SIN(R)         -COS(R)*SIN(P))   (ZDC)
023846,000477: 
023847,000478:                                                                                                  #        XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023848,000479:                                                                                                  #        EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023849,000480:                                                                                                  #        ORIENTATION.  THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023850,000481:                                                                                                  #        AS THE DESIRED CDU ANGLES.
023851,000482: 
023852,000483:                                                                                                  #        (XDC)                   (OGC)
023853,000484:                                                                                                  #        (YDC) ---) CALCGTA ---) (IGC)
023854,000485:                                                                                                  #        (ZDC)                   (MGC)
023855,000486:                                                                                                  #                           -
023856,000487:                                                                                                  #        DEFINE THE VECTOR DELTACDU.
023857,000488: 
023858,000489:                                                                                                  #         -         (OGC)   (CDUX)
023859,000490:                                                                                                  #        DELTACDU = (IGC) - (CDUY)
023860,000491:                                                                                                  #                   (MGC)   (CDUZ)
023861,000492:                                                                                                  #                                 -              -    *    -
023862,000493:                                                                                                  #        COMPUTE ATTITUDE ERRORS, A, WHERE       A = TGSC*DELTACDU
023863,000494: 
023864,000495:                                                                                                  #         *     (1             SIN(CDUZ)             0    )   THE GIMBAL ANGLES

Page 542

023866,000497:                                                                                                  #        TGSC = (0       COS(CDUX)*COS(CDUZ)     SIN(CDUX)) = TO SPACECRAFT AXES
023867,000498:                                                                                                  #               (0      -SIN(CDUX)*COS(CDUZ)     COS(CDUX))   CONVERSION MATRIX
023868,000499:                                                                                                  #                             -
023869,000500:                                                                                                  #        THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023870,000501:                                                                                                  #        THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023871,000502:                                                                                                  #        ERROR DISPLAY ROUTINE.
023872,000503: 
023873,000504: 34,2345           30102        ATERJOB            CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023874,000505: 34,2346           74105                           MASK     OCT60000                              #  BITS 14, 15
023875,000506: 34,2347           00006                           EXTEND                                         
023876,000507: 34,2350           12352                           BZF      +2                                    #  OK - CONTINUE
023877,000508: 34,2351           05217                           TC       ENDOFJOB                              #  SATURN STICK ON - KILL JOB
023878,000509: 34,2352           35006                           CAF      BIT10                                 #  CHECK IF S/C CONTROL
023879,000510: 34,2353           00006                           EXTEND                                         #  OF SATURN PANEL
023880,000511: 34,2354           02030                           RAND     CHAN30                                #  SWITCH IS ON
023881,000512: 34,2355           00006                           EXTEND                                         
023882,000513: 34,2356           12510                           BZF      STRSAT                                #  IT IS - GO STEER
023883,000514: 34,2357           11725                           CCS      SATSW                                 #  IT IS NOT - WAS IT ON LAST CYCLE
023884,000515: 34,2360           02363                           TC       ATTDISP                               #  NO - CONTINUE
023885,000516: 34,2361           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023886,000517: 34,2362           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023887,000518: 34,2363           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023888,000519: 34,2364           60025                           AD       TIME1                                 
023889,000520: 34,2365           00006                           EXTEND                                         
023890,000521: 34,2366           62615                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023891,000522: 34,2367           54154                           TS       MPAC                                  #  MPAC = TIME1 - RPSTART
023892,000523: 34,2370           55707                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALUCLATION
023893,000524: 34,2371           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023894,000525: 34,2372           00006                           EXTEND                                         
023895,000526: 34,2373           62375                           BZMF     +2                                    
023896,000527: 34,2374           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023897,000528: 34,2375           30024                           CA       TIME2                                 
023898,000529: 34,2376           00006                           EXTEND                                         
023899,000530: 34,2377           62401                           BZMF     +2                                    
023900,000531: 34,2400           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD      
023901,000532: 34,2401           31661                           CAE      POLYNUM                               
023902,000533: 34,2402           54001                           TS       L                                     
023903,000534: 34,2403           32621                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023904,000535: 34,2404           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023905,000536: 34,2405           35021                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023906,000537: 34,2406           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023907,000538: 34,2407           06006                           TC       INTPRET                               
023908,000539: 34,2410           54201                           SETPD    SL                                    #  32(PITCH(32REV)) = PITCH(REV)
023909,000540: 34,2411           00001                                    0                                     
023910,000541: 34,2412           20206                                    5                                     
023911,000542: 34,2413           77606                           PUSH                                           #  LET P(RAD) = 2.PI.PITCH(REV)
023912,000543: 34,2414           77650                           GOTO                                           
023913,000544: 34,2415           76155                                    ATTDISP1                              #  AROUND SETLOC

Page 543

023915,000546:                                                                                                  #                                     *
023916,000547:                                                                                                  #        CONSTRUCT SM TO S/C MATRIX, TSMV
023917,000548: 
023918,000549: 37,2000                                           SETLOC   P11TWO                                
023919,000550: 37,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
023920,000551: 
023921,000552: 37,2155                                           COUNT    36/P11                                
023922,000553: 
023923,000554: 37,2155           57546        ATTDISP1           COS      DCOMP                                 
023924,000555: 37,2156           14017                           STODL    14D                                   #  -.5*COS(P)
023925,000556: 37,2157           77756                           SIN                                            
023926,000557: 37,2160           14013                           STODL    10D                                   #  .5*SIN(P)
023927,000558: 37,2161           15335                                    ZEROVECS                              
023928,000559: 37,2162           00015                           STORE    12D                                   #  0
023929,000560: 
023930,000561:                                                                                                  #        EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023931,000562: 37,2163           41335                           SLOAD    DMP                                   
023932,000563: 37,2164           03310                                    SPOLYARG                              #  TIME1 - RPSTART, CSECS B-14.
023933,000564: 37,2165           03301                                    SATRLRT                               
023934,000565: 37,2166           45261                           SL       DSU                                   
023935,000566: 37,2167           20217                                    14D                                   
023936,000567: 37,2170           15333                                    DPHALF                                
023937,000568: 37,2171           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023938,000569: 37,2172           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023939,000570: 37,2173           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023940,000571: 37,2174           77634                           RTB                                            #  DETERMINE IF ROLLOUT
023941,000572: 37,2175           70604                                    RLTST                                 #  IS COMPLETED
023942,000573: 37,2176           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
023943,000574: 37,2177           77606                           PUSH                                           #  LET R(RAD) = 2*PI*ROLL(REV)
023944,000575: 37,2200           72405                           DMP      SL1                                   
023945,000576: 37,2201           00017                                    14D                                   
023946,000577: 37,2202           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
023947,000578: 37,2203           77676                           DCOMP                                          
023948,000579: 37,2204           00023                           STORE    18D                                   #  -.5*COS(R)
023949,000580: 37,2205           72405                           DMP      SL1                                   
023950,000581: 37,2206           00013                                    10D                                   
023951,000582: 37,2207           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
023952,000583: 37,2210           41556                           SIN      PUSH                                  
023953,000584: 37,2211           00031                           STORE    24D                                   #  .5*SIN(R)
023954,000585: 37,2212           72405                           DMP      SL1                                   
023955,000586: 37,2213           00017                                    14D                                   
023956,000587: 37,2214           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
023957,000588: 37,2215           77676                           DCOMP                                          
023958,000589: 37,2216           72405                           DMP      SL1                                   
023959,000590: 37,2217           00013                                    10D                                   
023960,000591: 37,2220           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)
023961,000592: 37,2221           00013                                    10D                                   
023962,000593: 
023963,000594:                                                                                                  #        FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA

Page 544

023965,000596: 37,2222           77656                           UNIT                                           
023966,000597: 37,2223           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
023967,000598: 37,2224           00021                                    16D                                   
023968,000599: 37,2225           77656                           UNIT                                           
023969,000600: 37,2226           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023970,000601: 37,2227           00027                                    22D                                   #                        -SIN(R)*SIN(P))
023971,000602: 37,2230           77656                           UNIT                                           
023972,000603: 37,2231           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023973,000604: 37,2232           47205                                    CALCGTA                               #                        -COS(R)*SIN(P))
023974,000605: 
023975,000606:                                                                                                  #        CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC, AND MGC
023976,000607:                                                                                                  #                                 -          -   -
023977,000608:                                                                                                  #        FIND DIFFERENCE VECTOR  DELTACDU = OGC-CDUX
023978,000609:                                                                                                  #   
023979,000610:                                                                                                  #        ENTER HERE IF ATTITUDE HOLD
023980,000611: 
023981,000612: 37,2233           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
023982,000613: 37,2234           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
023983,000614: 37,2235           45006                           PUSH     CALL                                  #         MGC      OGC
023984,000615: 37,2236           47477                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
023985,000616: 37,2237           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX , PD4
023986,000617: 37,2240           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY , 0
023987,000618: 37,2241           45552                                    V1STO2S                               #             DPSI     MGC-CDUZ , 2
023988,000619: 37,2242           27317                           STOVL    BOOSTEMP                              
023989,000620: 37,2243           15335                                    ZEROVECS                              
023990,000621: 37,2244           24001                           STOVL    0                                     
023991,000622: 37,2245           00767                                    CDUSPOT                               
023992,000623: 37,2246           47034                           RTB      RTB                                   
023993,000624: 37,2247           45552                                    V1STO2S                               
023994,000625: 37,2250           70564                                    DELSTOR                               
023995,000626: 37,2251           14013                           STODL    10D                                   
023996,000627: 37,2252           00741                                    SINCDUZ                               
023997,000628: 37,2253           72405                           DMP      SL1                                   
023998,000629: 37,2254           00001                                    0                                     
023999,000630: 37,2255           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
024000,000631: 37,2256           00005                                    4                                     
024001,000632: 37,2257           77650                           GOTO                                           
024002,000633: 37,2260           70416                                    ATTDISP2                              
024003,000634: 
024004,000635: 34,2000                                           SETLOC   P11ONE                                
024005,000636: 34,2000                                           BANK                                           
024006,000637: 34,2416                                           COUNT    34/P11                                
024007,000638: 
024008,000639: 34,2416           14021        ATTDISP2           STODL    16D                                   #  16D, .5(DPHI + DTHETA*SIN(CDUZ))
024009,000640: 34,2417           00747                                    COSCDUZ                               
024010,000641: 34,2420           41405                           DMP      PUSH                                  
024011,000642: 34,2421           00001                                    0                                     
024012,000643: 34,2422           72405                           DMP      SL1                                   
024013,000644: 34,2423           00751                                    COSCDUX                               
024014,000645: 34,2424           41325                           PDDL     DMP                                   

Page 545

024016,000647: 34,2425           00743                                    SINCDUX                               
024017,000648: 34,2426           00003                                    2                                     
024018,000649: 34,2427           72415                           DAD      SL1                                   
024019,000650: 34,2430           77626                           STADR                                          
024020,000651: 34,2431           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
024021,000652: 34,2432           72405                           DMP      SL1                                   #                        +DPSI*SIN(CDUX))
024022,000653: 34,2433           00743                                    SINCDUX                               
024023,000654: 34,2434           41325                           PDDL     DMP                                   
024024,000655: 34,2435           00751                                    COSCDUX                               
024025,000656: 34,2436           00003                                    2                                     
024026,000657: 34,2437           72425                           DSU      SL1                                   
024027,000658: 34,2440           77626                           STADR                                          
024028,000659: 34,2441           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
024029,000660: 34,2442           77751                           TLOAD                                          #                        +DPSI*COS(CDUX))
024030,000661: 34,2443           00021                                    16D                                   
024031,000662: 34,2444           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
024032,000663: 34,2445           77776                           EXIT                                           
024033,000664: 
024034,000665: 34,2446           31725                           CA       SATSW                                 
024035,000666: 34,2447           10000                           CCS      A                                     #  CHK TAKEOVER STATUS
024036,000667: 34,2450           02471                           TC       SATOUT                                #  POS - DISPLAY ONLY
024037,000668: 34,2451           02477                           TC       AKLOAD                                #  0     STORE BIAS
024038,000669: 34,2452           06006        STEERSAT           TC       INTPRET                               #  NEG   STEER L/V
024039,000670: 34,2453           76351                           TLOAD    TAD                                   
024040,000671: 34,2454           03327                                    BIASAK                                
024041,000672: 34,2455           03077                                    AK                                    
024042,000673: 34,2456           03077                           STORE    AK                                    #  AKS = AKS - STORED BIAS
024043,000674: 34,2457           77776                           EXIT                                           
024044,000675: 34,2460           31476                           CA       AK                                    
024045,000676: 34,2461           02623                           TC       RESCALES                              
024046,000677: 34,2462           55476                           TS       AK                                    
024047,000678: 34,2463           31477                           CA       AK1                                   
024048,000679: 34,2464           02623                           TC       RESCALES                              
024049,000680: 34,2465           55477                           TS       AK1                                   
024050,000681: 34,2466           31500                           CA       AK2                                   
024051,000682: 34,2467           02623                           TC       RESCALES                              
024052,000683: 34,2470           55500                           TS       AK2                                   
024053,000684:                                                                                                  #        DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
024054,000685: 
024055,000686: 34,2471           04662        SATOUT             TC       BANKCALL                              
024056,000687: 34,2472           42420                           CADR     NEEDLER                               
024057,000688: 34,2473           34113        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
024058,000689: 34,2474           04662                           TC       BANKCALL                              #  EXECUTION + DELAY = .56SEC APPROX
024059,000690: 34,2475           01732                           CADR     DELAYJOB                              
024060,000691: 34,2476           02345                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
024061,000692: 
024062,000693: 34,2477           41476        AKLOAD             CS       AK                                    #  STORE AKS
024063,000694: 34,2500           55726                           TS       BIASAK                                #  INTO BIAS
024064,000695: 34,2501           41477                           CS       AK1                                   #  COMPLEMENTED
024065,000696: 34,2502           55727                           TS       BIASAK     +1                         

Page 546

024067,000698: 34,2503           41500                           CS       AK2                                   
024068,000699: 34,2504           55730                           TS       BIASAK     +2                         
024069,000700: 34,2505           45017                           CS       BIT1                                  #  SET SW
024070,000701: 34,2506           55725                           TS       SATSW                                 #  TO STEER
024071,000702: 34,2507           02452                           TC       STEERSAT                              #  GO STEER
024072,000703: 34,2510           31725        STRSAT             CA       SATSW                                 #  CHECK IF NEEDLER
024073,000704: 34,2511           00006                           EXTEND                                         #  HAS BEEN INITIALIZED
024074,000705: 34,2512           62363                           BZMF     ATTDISP                               #  YES - CONTINUE
024075,000706: 34,2513           41501        ATRESET            CS       RCSFLAGS                              #  NO - SET
024076,000707: 34,2514           75015                           MASK     BIT3                                  #  INITIALIZATION SW
024077,000708: 34,2515           27501                           ADS      RCSFLAGS                              #  FOR NEEDLER
024078,000709: 34,2516           04662                           TC       BANKCALL                              #  AND GO
024079,000710: 34,2517           42420                           CADR     NEEDLER                               #  DO IT
024080,000711: 34,2520           36211                           CAF      REVCNT                                #  OCT 6
024081,000712: 34,2521           04662                           TC       BANKCALL                              #  DELAY JOB
024082,000713: 34,2522           01732                           CADR     DELAYJOB                              #  60 MS -WAIT TILL IMUERRCNTR ZEROED
024083,000714: 34,2523           11725                           CCS      SATSW                                 #  CHECK SW STATUS
024084,000715: 34,2524           02534                           TC       TAKEON                                #  POS   STEER INIT.
024085,000716: 34,2525           02526                           TC       +1                                    #  0     RETURN TO DISPLAY
024086,000717: 34,2526           35017                           CA       BIT1                                  #  NEG   RETURN TO DISPLAY
024087,000718: 34,2527           55725                           TS       SATSW                                 #  SW = DISPLAY ONLY
024088,000719: 34,2530           45007                           CS       BIT9                                  #  DISABLE
024089,000720: 34,2531           00006                           EXTEND                                         #  SIVB
024090,000721: 34,2532           03012                           WAND     CHAN12                                #  TAKEOVER
024091,000722: 34,2533           02471                           TC       SATOUT                                #  DISPLAY
024092,000723: 34,2534           35007        TAKEON             CAF      BIT9                                  #  ENABLE
024093,000724: 34,2535           00006                           EXTEND                                         #  SIVB
024094,000725: 34,2536           05012                           WOR      CHAN12                                #  TAKEOVER
024095,000726: 34,2537           35021                           CA       ZERO                                  #  INDICATE NEEDLER
024096,000727: 34,2540           55725                           TS       SATSW                                 #  WAS INITIALIZED
024097,000728: 34,2541           02471                           TC       SATOUT                                
024098,000729: 34,2542           51575        S11.1              VLOAD    ABVAL                                 
024099,000730: 34,2543           01177                                    VN                                    
024100,000731: 34,2544           27723                           STOVL    VMAGI                                 #  VI    SCALED 2(7) IN METERS/CSEC
024101,000732: 34,2545           01171                                    RN                                    
024102,000733: 34,2546           50256                           UNIT     DOT                                   
024103,000734: 34,2547           01177                                    VN                                    
024104,000735: 34,2550           77752                           SL1                                            
024105,000736: 34,2551           17737                           STODL    HDOT                                  
024106,000737: 34,2552           05152                                    RPAD                                  
024107,000738: 34,2553           77214                           BOF      VLOAD                                 
024108,000739: 34,2554           00355                                    AMOONFLG                              
024109,000740: 34,2555           70560                                    EARTHALT                              
024110,000741: 34,2556           02026                                    RLS                                   
024111,000742: 34,2557           60446                           ABVAL    SR2                                   
024112,000743: 34,2560           77621        EARTHALT           BDSU                                           
024113,000744: 34,2561           00045                                    36D                                   
024114,000745: 34,2562           03735                           STORE    ALTI                                  
024115,000746: 34,2563           77616                           RVQ                                            
024116,000747: 34,2564           31716        DELSTOR            CA       BOOSTEMP                              

Page 547

024118,000749: 34,2565           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
024119,000750: 34,2566           20154                           MSU      MPAC                                  
024120,000751: 34,2567           50120                           INDEX    FIXLOC                                
024121,000752: 34,2570           54000                           TS       0                                     
024122,000753: 34,2571           31717                           CA       BOOSTEMP   +1                         
024123,000754: 34,2572           00006                           EXTEND                                         
024124,000755: 34,2573           20155                           MSU      MPAC       +1                         
024125,000756: 34,2574           50120                           INDEX    FIXLOC                                
024126,000757: 34,2575           54002                           TS       2                                     
024127,000758: 34,2576           31720                           CA       BOOSTEMP   +2                         
024128,000759: 34,2577           00006                           EXTEND                                         
024129,000760: 34,2600           20156                           MSU      MPAC       +2                         
024130,000761: 34,2601           50120                           INDEX    FIXLOC                                
024131,000762: 34,2602           54004                           TS       4                                     
024132,000763: 34,2603           16030                           TCF      DANZIG                                
024133,000764: 34,2604           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
024134,000765: 34,2605           00006                           EXTEND                                         #  IS COMPLETED
024135,000766: 34,2606           71701                           MP       SATRLRT    +1                         
024136,000767: 34,2607           00006                           EXTEND                                         
024137,000768: 34,2610           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS STILL ROLLING
024138,000769: 34,2611           00006                           EXTEND                                         #  ROLLOUT COMPLETED
024139,000770: 34,2612           33672                           DCA      MBDYTCTL   +2                         #  ZERO OUT ROLL CONTRIBUTION
024140,000771: 34,2613           52155                           DXCH     MPAC                                  
024141,000772: 34,2614           06030                           TC       DANZIG                                
024142,000773: 34,2615           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
024143,000774: 34,2616           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
024144,000775: 34,2617           00001                                    0                                     
024145,000776: 34,2620           76233                                    NOPOLYM                               
024146,000777: 34,2621           01673        COEFPOLY           ADRES    POLYLOC                               
024147,000778: 34,2622           01476        V06N62             VN       0662                                  
024148,000779: 34,2623           00006        RESCALES           EXTEND                                         #  RESCALE AK S FOR
024149,000780: 34,2624           71731                           MP       SATSCALE                              #  NEW HARDWARE
024150,000781: 34,2625           20001                           DDOUBL                                         #  SCALING FOR
024151,000782: 34,2626           20001                           DDOUBL                                         #  STEERING
024152,000783: 34,2627           00002                           TC       Q                                     #  SATURN
024153,000784: 
024154,000785:                                                                                                  #  SATURN TAKEOVER FUNCTION
024155,000786:                                                                                                  #  ************************
024156,000787:                                                                                                  #  
024157,000788:                                                                                                  #  PROGRAM DESCRIPTION
024158,000789: 
024159,000790:                                                                                                  #        MOD NUMBER 1
024160,000791:                                                                                                  #        MOD BY ELIASSEN
024161,000792: 
024162,000793:                                                                                                  #  FUNCTIONAL DESCRIPTION
024163,000794: 
024164,000795:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
024165,000796:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
024166,000797:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
024167,000798:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
024168,000799:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC

Page 548

024170,000801:                                                                                                  #        VOLTAGES.  THE VALUE OF THE CONSTANT RATE COMMAND
024171,000802:                                                                                                  #        IS 0.5 DEG/SEC.  AN ABSENCE OF RHC ACTIVITY RE-
024172,000803:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
024173,000804: 
024174,000805:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
024175,000806:                                                                                                  #        OF THE RATE COMMAND.
024176,000807: 
024177,000808:                                                                                                  #  CALLING SEQUENCE
024178,000809: 
024179,000810:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
024180,000811:                                                                                                  #                        CADR    SATSTKON
024181,000812: 
024182,000813:                                                                                                  #  SUBROUTINES CALLED
024183,000814: 
024184,000815:                                                                                                  #        ENDEXT
024185,000816:                                                                                                  #        IBNKCALL
024186,000817:                                                                                                  #        STICKCHK
024187,000818:                                                                                                  #        NEEDLER
024188,000819:                                                                                                  #        T5RUPT
024189,000820:                                                                                                  #        RESUME
024190,000821: 
024191,000822:                                                                                                  #  ASTRONAUT REQUESTS
024192,000823: 
024193,000824:                                                                                                  #        ENTRY -  VERB 46 ENTER
024194,000825:                                                                                                  #                 (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
024195,000826: 
024196,000827:                                                                                                  #        EXIT -   VERB 48 ENTER  (FLASH V06N46)
024197,000828:                                                                                                  #                 VERB 21 ENTER  AXXXX ENTER WHERE A=0 OR 1
024198,000829:                                                                                                  #                 VERB 34 ENTER
024199,000830:                                                                                                  #                 VERB 46 ENTER
024200,000831: 
024201,000832:                                                                                                  #  NORMAL EXIT MODE
024202,000833: 
024203,000834:                                                                                                  #        VERB 46 ENTER   (SEE ASTRONAUT ABOVE)
024204,000835: 
024205,000836:                                                                                                  #  ALARM OR ABORT EXIT MODES
024206,000837: 
024207,000838:                                                                                                  #        NONE
024208,000839: 
024209,000840:                                                                                                  #  OUTPUT
024210,000841: 
024211,000842:                                                                                                  #        SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
024212,000843: 
024213,000844:                                                                                                  #  ERASABLE INITIALIZATION
024214,000845: 
024215,000846:                                                                                                  #        DAPDATR1        (BITS 13, 14 MUST BE SET)
024216,000847: 
024217,000848:                                                                                                  #  DEBRIS
024218,000849: 
024219,000850:                                                                                                  #        CENTRALS

Page 549

024221,000852:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
024222,000853: 
024223,000854: 43,3215                                           BANK     43                                    
024224,000855: 43,2000                                           SETLOC   EXTVERBS                              
024225,000856: 43,2000                                           BANK                                           
024226,000857: 
024227,000858: 43,3215                                           COUNT    23/STTKE                              
024228,000859: 43,3215           00006        SATSTKON           EXTEND                                         
024229,000860: 43,3216           33233                           DCA      2REDOSAT                              
024230,000861: 43,3217           00004                           INHINT                                         
024231,000862: 43,3220           53313                           DXCH     T5LOC                                 
024232,000863: 43,3221           34777                           CAF      POSMAX                                
024233,000864: 43,3222           54030                           TS       TIME5                                 
024234,000865: 43,3223           40102                           CS       FLAGWRD6                              #  TURN ON BITS 15,14 OF
024235,000866: 43,3224           74105                           MASK     RELTAB11                              #  FLAGWRD6
024236,000867: 43,3225           26102                           ADS      FLAGWRD6                              #        SATSTICK CONTROL OF T5
024237,000868: 43,3226           04740                           TC       IBNKCALL                              #  ZERO JET CHANNELS IN 14 MS AND THEN
024238,000869: 43,3227           42632                           CADR     ZEROJET                               #  LEAVE THE T6 CLOCK DISABLED
024239,000870: 43,3230           00003                           RELINT                                         
024240,000871: 43,3231           02121                           TC       GOPIN                                 #  EXIT THUS BECAUSE WE CAME VIA V46
024241,000872: 
024242,000873: 43,3232  E6,1704                                  EBANK=   BODY3                                 
024243,000874: 43,3232           02765 46106  2REDOSAT           2CADR    REDOSAT                               
024244,000875: 
024245,000876: 
024246,000877: 43,3234  30,2000                                  SBANK=   LOWSUPER                              
024247,000878: 32,2017                                           BANK     32                                    
024248,000879: 23,2000                                           SETLOC   P11FOUR                               
024249,000880: 23,2000                                           BANK                                           
024250,000881: 
024251,000882: 23,2765           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
024252,000883: 23,2766           00006                           EXTEND                                         
024253,000884: 23,2767           22012                           QXCH     QRUPT                                 
024254,000885: 23,2770           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
024255,000886: 23,2771           75015                           MASK     BIT3                                  #  FOR
024256,000887: 23,2772           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
024257,000888: 23,2773           04740                           TC       IBNKCALL                              
024258,000889: 23,2774           42420                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
024259,000890: 23,2775           35007                           CAF      BIT9                                  #  SIVB
024260,000891: 23,2776           00006                           EXTEND                                         #  TAKEOVER
024261,000892: 23,2777           05012                           WOR      CHAN12                                #  ENABLE
024262,000893: 23,3000           00006                           EXTEND                                         #  SET UP T5 CYCLE
024263,000894: 23,3001           33042                           DCA      2SATSTCK                              
024264,000895: 23,3002           53313                           DXCH     T5LOC                                 
024265,000896: 23,3003           33040                           CAF      100MST5                               #  IN 100 MSECS
024266,000897: 23,3004           54030                           TS       TIME5                                 
024267,000898: 23,3005           15333                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
024268,000899: 
024269,000900:                                                                                                  #        THIS SECTION IS EXECUTED EVERY 100 MSECS

Page 550

024271,000902: 23,3006           22016        SATSTICK           LXCH     BANKRUPT                              
024272,000903: 23,3007           00006                           EXTEND                                         
024273,000904: 23,3010           22012                           QXCH     QRUPT                                 
024274,000905: 
024275,000906: 23,3011           33041                           CAF      2SATSTCK                              #  SET UP RUPT
024276,000907: 23,3012           55312                           TS       T5LOC                                 #  LO ORDER LOC SET
024277,000908: 23,3013           33040                           CAF      100MST5                               #  100 MSECS
024278,000909: 23,3014           54030                           TS       TIME5                                 
024279,000910: 23,3015           33037                           CAF      STIKBITS                              
024280,000911: 23,3016           00006                           EXTEND                                         
024281,000912: 23,3017           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
024282,000913: 23,3020           73037                           MASK     STIKBITS                              
024283,000914: 23,3021           04740                           TC       IBNKCALL                              #  SET RATE INDICES
024284,000915: 23,3022           43130                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
024285,000916: 
024286,000917: 23,3023           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
024287,000918: 23,3024           31721                           CA       SATRATE                               
024288,000919: 23,3025           55476                           TS       AK                                    #        ROLL
024289,000920: 23,3026           51657                           INDEX    PMANNDX                               
024290,000921: 23,3027           31721                           CA       SATRATE                               
024291,000922: 23,3030           55477                           TS       AK1                                   #        PITCH
024292,000923: 23,3031           51660                           INDEX    YMANNDX                               
024293,000924: 23,3032           31721                           CA       SATRATE                               
024294,000925: 23,3033           55500                           TS       AK2                                   #        YAW
024295,000926: 
024296,000927: 23,3034           04740                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
024297,000928: 23,3035           42420                           CADR     NEEDLER                               
024298,000929: 23,3036           15333                           TCF      RESUME                                #  END OF SATURN STICK CONTROL
024299,000930: 
024300,000931: 23,3037           00077        STIKBITS           OCT      00077                                 
024301,000932: 23,3040           37766        100MST5            DEC      16374      B-14                       
024302,000933: 23,3041  E6,1704                                  EBANK=   BODY3                                 
024303,000934: 23,3041           03006 46066  2SATSTCK           2CADR    SATSTICK                              

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