Source Code
|
These source-code files are part of a reconstructed copy of Comanche 72, the
first release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
They have been adapted from sources files created from a listing of Comanche 55.
These source files were updated to match binary dumps of a set of Comanche 67 rope modules.
They were then further modified by applying known changes between Comanche 67 and Comanche 72.
A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used
to validate changes made to banks 05-13. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
|
022496,000002: ## Copyright: Public domain.
022497,000003: ## Filename: P11.agc
022498,000004: ## Purpose: A section of Comanche revision 072.
022499,000005: ## It is part of the reconstructed source code for the first
022500,000006: ## release of the software for the Command Module's (CM) Apollo
022501,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
022502,000008: ## of this program are available; instead, this file was recreated
022503,000009: ## from a printout of Comanche 055, binary dumps of a set of
022504,000010: ## Comanche 067 rope modules, and changelogs between Comanche 067
022505,000011: ## and 072. It has been adapted such that the resulting bugger words
022506,000012: ## exactly match those specified for Comanche 072 in NASA drawing
022507,000013: ## 2021153G, which gives relatively high confidence that the
022508,000014: ## reconstruction is correct.
022509,000015: ## Assembler: yaYUL
022510,000016: ## Contact: Ron Burkey <info@sandroid.org>.
022511,000017: ## Website: www.ibiblio.org/apollo/index.html
022512,000018: ## Mod history: 2024-05-13 MAS Created from Comanche 067.
022513,000019:
022514,000020:
022515,000021: # EARTH ORBIT INSERTION MONITOR PROGRAM
022516,000022: # *************************************
022517,000023:
022518,000024: # PROGRAM DESCRIPTION -P11-
022519,000025:
022520,000026: # MOD NO. 1
022521,000027: # MOD BY ELIASSEN
022522,000028:
022523,000029: # FUNCTIONAL DESCRIPTION
022524,000030:
022525,000031: # P11 IS INITIATED BY
022526,000032:
022527,000033: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
022528,000034: # B) BACKUP THRU VERB 75 ENTER
022529,000035:
022530,000036: # PROGRAM WILL
022531,000037: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
022532,000038: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
022533,000039: # 3. INITIATE SERVICER AT PREREAD1
022534,000040: # 4. CHANGE MAJOR MODE TO 11
022535,000041: # 5. CLEAR DSKY IN CASE OF V 75
022536,000042: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
022537,000043: # 7. TERMINATE GYROCOMPASSING - -
022538,000044: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
022539,000045: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
022540,000046: # - - X Y Z
022541,000047: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
022542,000048: # Z
022543,000049: # - - -
022544,000050: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
022545,000051: # X
022546,000052: # - - -
022547,000053: # U =U * U
022548,000054: # U Z X
022549,000055: # 10. SET REFSMMAT KNOWN FLAG
022550,000056: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
022551,000057: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
022552,000058:
022553,000059: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
022554,000060: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
022555,000061: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
022556,000062: #
022557,000063: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
022558,000064:
022559,000065: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
022560,000066: # DESIRED ATTITUDE IS AS STORED AT L.O.
022561,000067: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
022562,000068: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
022563,000069: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
022564,000070: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
022565,000071: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
022566,000072:
022567,000073: # SUBROUTINES CALLED
022568,000074:
022569,000075: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
022570,000076: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
022571,000077: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
022572,000078: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
022573,000079: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
022574,000080:
022575,000081: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
022576,000082:
022577,000083: # DSKY -
022578,000084: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
022579,000085: # R2 MINUTES
022580,000086:
022581,000087: # DSKY -
022582,000088: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
022583,000089: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
022584,000090: # R3 TFF IN MINUTES/SECS
022585,000091:
022586,000092: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
022587,000093: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
022588,000094: # NORMAL EXIT MODE
022589,000095:
022590,000096: # ASTRONAUT VERB 37 ENTER 00 ENTER
022591,000097:
022592,000098: # ALARM MODES - NONE
022593,000099:
022594,000100: # ABORT EXIT MODES -
022595,000101:
022596,000102: # OUTPUT
022597,000103:
022598,000104: # TLIFTOFF (DP) TEPHEM (TP)
022599,000105: # REFSMMAT
022600,000106: # DSKY DISPLAY
022601,000107: # FDAI DISPLAY
022602,000108:
022603,000109: # ERASABLE INITIALIZATION
022604,000110:
022605,000111: # AZO, AXO, -AYO
022606,000112: # LATITUDE
022607,000113: # PADLONG
022608,000114: # TEPHEM
022609,000115: # PGNCSALT
022610,000116: # POLYNUM THRU POLYNUM +14D)
022611,000117: # RPSTART
022612,000118: # POLYSTOP
022613,000119: # FLAGS SET OR RESET
022614,000120: # SET REFSMFLG
022615,000121: # SET DVMON IDLE FLAG
022616,000122: # CLEAR ERADFLAG
022617,000123:
022618,000124: # DEBRIS
022619,000125:
022620,000126: # LIFTTEMP
022621,000127: # POLYNUM THRU POLYNUM +7
022622,000128: # SPOLYARG
022623,000129: # BODY1, BODY2, BODY3
022624,000130: # VMAG2, ALTI, HDOT
022625,000131: # CENTRALS, CORE SET AND VAC AREAS
022626,000132:
022627,000133: 04,3303 COUNT 34/P11
022628,000134:
022629,000135: 04,3303 5051 BITS5-6 = SUPER011
022630,000136: 42,3605 BANK 42
022631,000137: 34,2000 SETLOC P11ONE
022632,000138: 34,2000 BANK
022633,000139:
022634,000140: 34,2002 E3,1706 EBANK= TEPHEM
022635,000141: 34,2002 35065 P11 CA EBANK3
022636,000142: 34,2003 54003 TS EBANK
022637,000143:
022638,000144: 34,2004 00006 EXTEND
022639,000145: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
022640,000146: 34,2006 52757 DXCH -PHASE3
022641,000147: 34,2007 45035 CS ZERO
022642,000148: 34,2010 22007 ZL
022643,000149: 34,2011 55265 TS LIFTTEMP
022644,000150: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
022645,000151: 34,2013 00006 P11+7 EXTEND
022646,000152: 34,2014 32301 DCA REP11SA
022647,000153: 34,2015 53337 DXCH TLIFTOFF
022648,000154:
022649,000155: 34,2016 00006 EXTEND
022650,000156: 34,2017 30025 DCA TIME2
022651,000157: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
022652,000158:
022653,000159: 34,2021 35035 CA ZERO
022654,000160: 34,2022 22007 ZL
022655,000161: 34,2023 52025 DXCH TIME2
022656,000162: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
022657,000163: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
022658,000164:
022659,000165: 34,2026 00004 REP11A INHINT
022660,000166: 34,2027 00006 EXTEND
022661,000167: 34,2030 31710 DCA TEPHEM +1
022662,000168: 34,2031 53271 DXCH TEPHEM1 +1
022663,000169: 34,2032 31706 CA TEPHEM
022664,000170: 34,2033 57267 XCH TEPHEM1
022665,000171:
022666,000172: 34,2034 00006 EXTEND
022667,000173: 34,2035 31337 DCA TLIFTOFF
022668,000174: 34,2036 21271 DAS TEPHEM1 +1
022669,000175: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
022670,000176:
022671,000177: 34,2040 05426 TC PHASCHNG
022672,000178: 34,2041 05023 OCT 05023
022673,000179: 34,2042 22000 OCT 22000
022674,000180:
022675,000181: 34,2043 00004 INHINT
022676,000182: 34,2044 00006 EXTEND
022677,000183: 34,2045 31270 DCA TEPHEM1
022678,000184: 34,2046 53707 DXCH TEPHEM
022679,000185: 34,2047 31271 CA TEPHEM1 +2
022680,000186: 34,2050 57710 XCH TEPHEM +2
022681,000187:
022682,000188: 34,2051 32000 CAF EBDVCNT
022683,000189: 34,2052 54003 TS EBANK
022684,000190: 34,2053 E7,1431 EBANK= DVCNTR
022685,000191: 34,2053 04754 TC IBNKCALL
022686,000192: 34,2054 76735 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
022687,000193:
022688,000194: 34,2055 05426 TC PHASCHNG
022689,000195: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
022690,000196: 34,2057 22000 OCT 22000
022691,000197:
022692,000198: 34,2060 35052 CAF .5SEC # START ATT ERROR DISPLAY
022693,000199: 34,2061 05261 TC WAITLIST # IN .5 SEC
022694,000200: 34,2062 E6,1704 EBANK= BODY3
022695,000201: 34,2062 02320 70066 2CADR ATERTASK
022696,000202:
022697,000203: 34,2064 05370 TC NEWMODEX # DISPLAY MM 11
022698,000204: 34,2065 00013 MM 11 B-14
022699,000205:
022700,000206: 34,2066 05562 TC UPFLAG
022701,000207: 34,2067 00022 ADRES NODOP01
022702,000208:
022703,000209: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
022704,000210: 34,2071 54332 TS DNLSTCOD
022705,000211:
022706,000212: 34,2072 04676 TC BANKCALL
022707,000213: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
022708,000214:
022709,000215: 34,2074 05406 TC 2PHSCHNG
022710,000216: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
022711,000217: 34,2076 00073 OCT 00073
022712,000218: 34,2077 32001 CAF EBQPLACE
022713,000219: 34,2100 54003 TS EBANK
022714,000220:
022715,000221: 34,2101 E5,1426 EBANK= QPLACES
022716,000222: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
022717,000223: 34,2102 55426 TS QPLACES
022718,000224: 34,2103 06006 TC INTPRET
022719,000225: 34,2104 64375 VLOAD MXV
022720,000226: 34,2105 02467 THETAN
022721,000227: 34,2106 02672 XSM
022722,000228: 34,2107 53372 VSL1 VAD
022723,000229: 34,2110 02650 ERCOMP
022724,000230: 34,2111 16650 STODL ERCOMP
022725,000231: 34,2112 01337 TLIFTOFF
022726,000232: 34,2113 52131 SSP GOTO
022727,000233: 34,2114 00052 S2
022728,000234: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
022729,000235: 34,2116 66373 EARTHR +3
022730,000236: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
022731,000237: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
022732,000238: 34,2121 53760 DXCH OGC
022733,000239: 34,2122 22007 ZL
022734,000240: 34,2123 30033 CA CDUY
022735,000241: 34,2124 53762 DXCH IGC
022736,000242: 34,2125 22007 ZL
022737,000243: 34,2126 30034 CA CDUZ
022738,000244: 34,2127 53764 DXCH MGC
022739,000245: 34,2130 06006 TC INTPRET # -
022740,000246: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
022741,000247: 34,2132 02760 OGC
022742,000248: 34,2133 02760 STORE OGC
022743,000249: 34,2134 77731 SSP # ZERO RTX2
022744,000250: 34,2135 03747 RTX2 # FOR
022745,000251: 34,2136 00000 0 # EARTH
022746,000252: 34,2137 65345 DLOAD PDDL
022747,000253: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
022748,000254: 34,2141 01264 PADLONG # LONGITUDE
022749,000255: 34,2142 55525 PDDL VDEF
022750,000256: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
022751,000257: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
022752,000258: 34,2145 15334 HI6ZEROS # TIME = 0
022753,000259: 34,2146 45014 CLEAR CALL
022754,000260: 34,2147 00662 ERADFLAG
022755,000261: 34,2150 26447 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
022756,000262:
022757,000263: 34,2151 35232 STCALL RN1 # -
022758,000264: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
022759,000265: 34,2153 53476 VCOMP UNIT
022760,000266: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
022761,000267: 34,2155 01232 RN1
022762,000268: 34,2156 74235 VXV VXSC
022763,000269: 34,2157 01714 UNITW # SCALED AT 1
022764,000270: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
022765,000271: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
022766,000272: 34,2162 25240 STOVL VN1
022767,000273: 34,2163 01752 REFSMMAT +12D
022768,000274: 34,2164 53435 VXV UNIT
022769,000275: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
022770,000276: 34,2166 47206 PUSH VXV
022771,000277: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
022772,000278: 34,2170 65256 UNIT PDDL
022773,000279: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
022774,000280: 34,2172 74346 COS VXSC
022775,000281: 34,2173 77626 STADR
022776,000282: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
022777,000283: 34,2175 02634 LAUNCHAZ
022778,000284: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
022779,000285: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
022780,000286: 34,2200 01736 REFSMMAT
022781,000287: 34,2201 01736 STORE REFSMMAT
022782,000288:
022783,000289: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
022784,000290: 34,2203 01752 REFSMMAT +12D
022785,000291: 34,2204 77676 VCOMP
022786,000292: 34,2205 01744 STORE REFSMMAT +6
022787,000293: 34,2206 45345 DLOAD DSU
022788,000294: 34,2207 15332 DPHALF # 1/2 REV
022789,000295: 34,2210 02634 LAUNCHAZ
022790,000296: 34,2211 65215 DAD PDDL
022791,000297:
022792,000298: 34,2212 02401 AZIMUTH
022793,000299: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
022794,000300: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
022795,000301: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
022796,000302: 34,2216 77414 SET EXIT
022797,000303: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
022798,000304:
022799,000305: 34,2220 05426 TC PHASCHNG
022800,000306: 34,2221 04023 OCT 04023
022801,000307:
022802,000308: 34,2222 00006 EXTEND
022803,000309: 34,2223 32306 DCA P11SCADR
022804,000310: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
022805,000311:
022806,000312: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
022807,000313: 34,2226 55074 TS 1/PIPADT
022808,000314:
022809,000315: 34,2227 E6,1501 EBANK= RCSFLAGS
022810,000316: 34,2227 35073 CA EBANK6
022811,000317: 34,2230 54003 TS EBANK
022812,000318:
022813,000319: 34,2231 00004 INHINT
022814,000320: 34,2232 45035 CS ZERO
022815,000321: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
022816,000322:
022817,000323: 34,2234 40025 CS TIME1
022818,000324: 34,2235 65056 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
022819,000325:
022820,000326: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
022821,000327: 34,2237 12242 TCF +3 # TIME POSITIVE
022822,000328: 34,2240 12242 TCF +2 # CANNOT GET HERE
022823,000329: 34,2241 35035 CA ZERO # TIME NEGATIVE - SET TO 1
022824,000330: 34,2242 65033 AD ONE # RESTORE TIME - OR MAKE POSITIVE
022825,000331:
022826,000332: 34,2243 05261 TC WAITLIST
022827,000333: 34,2244 E6,1661 EBANK= AOG
022828,000334: 34,2244 02757 76066 2CADR READACCS
022829,000335:
022830,000336: 34,2246 05406 TC 2PHSCHNG
022831,000337: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
022832,000338: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
022833,000339:
022834,000340: 34,2251 04715 TC POSTJUMP
022835,000341: 34,2252 77240 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
022836,000342:
022837,000343:
022838,000344: 34,2253 E3,1706 EBANK= TEPHEM
022839,000345: 34,2253 00004 REP11 INHINT
022840,000346: 34,2254 10763 CCS PHASE5
022841,000347: 34,2255 05233 TC ENDOFJOB
022842,000348:
022843,000349: 34,2256 11265 CCS LIFTTEMP
022844,000350: 34,2257 12263 TCF +4
022845,000351: 34,2260 12263 TCF +3
022846,000352: 34,2261 12263 TCF +2
022847,000353: 34,2262 12013 TCF P11+7
022848,000354:
022849,000355: 34,2263 41336 CS TLIFTOFF
022850,000356: 34,2264 00006 EXTEND
022851,000357: 34,2265 62273 BZMF ENDREP11
022852,000358:
022853,000359: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
022854,000360: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
022855,000361:
022856,000362: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
022857,000363: 34,2271 31266 DCA LIFTTEMP
022858,000364: 34,2272 12024 TCF REP11A-2
022859,000365:
022860,000366: 34,2273 00006 ENDREP11 EXTEND
022861,000367: 34,2274 32301 DCA REP11SA
022862,000368: 34,2275 12025 TCF REP11A-1
022863,000369: 34,2276 77766 00011 REP11S 2OCT 7776600011
022864,000370:
022865,000371: 34,2300 77764 00013 REP11SA 2OCT 7776400013
022866,000372:
022867,000373: 34,2302 02451 P11XIT GENADR P11OUT
022868,000374: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
022869,000375:
022870,000376: 34,2305 E6,1704 EBANK= BODY3
022871,000377: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
022872,000378:
022873,000379: 34,2307 6214 POWDNCOD EQUALS THREE
022874,000380:
022875,000381: 34,2307 E6,1704 EBANK= BODY3
022876,000382: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
022877,000383: # VI INERTIAL VELOCITY MAGNITUDE
022878,000384: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
022879,000385: # H ALTITUDE ABOVE L PAD RADIUS
022880,000386:
022881,000387: 34,2307 06006 VHHDOT TC INTPRET
022882,000388: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
022883,000389: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
022884,000390: 34,2312 77776 EXIT
022885,000391: 34,2313 05426 TC PHASCHNG
022886,000392: 34,2314 00035 OCT 00035
022887,000393:
022888,000394: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
022889,000395: 34,2316 04676 TC BANKCALL # VI HDOT H
022890,000396: 34,2317 20707 CADR REGODSP
022891,000397:
022892,000398: 34,2320 35022 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
022893,000399: 34,2321 05163 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
022894,000400: 34,2322 E6,1704 EBANK= BODY3
022895,000401: 34,2322 02345 70066 2CADR ATERJOB
022896,000402:
022897,000403: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
022898,000404: 34,2325 75031 MASK BIT3 # NEEDLER
022899,000405: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
022900,000406: 34,2327 04754 TC IBNKCALL # AND GO
022901,000407: 34,2330 42432 CADR NEEDLER # DO IT
022902,000408: 34,2331 35033 CA BIT1 # SET SW
022903,000409: 34,2332 55725 TS SATSW # FOR DISPLAY
022904,000410: 34,2333 05340 TC TASKOVER
022905,000411: 34,2334 40220 GETDOWN STQ SETPD
022906,000412: 34,2335 02242 INCORPEX
022907,000413: 34,2336 00001 0D
022908,000414: 34,2337 77745 DLOAD
022909,000415: 34,2340 15334 HI6ZEROS
022910,000416: 34,2341 14007 STODL 6D
022911,000417: 34,2342 15332 DPHALF
022912,000418: 34,2343 34011 STCALL 8D
022913,000419: 34,2344 26454 LALOTORV +5
022914,000420: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
022915,000421:
022916,000422: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
022917,000423: # 2 3 4 5 6
022918,000424: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
022919,000425: # SCALED TO 32 REVS. -14
022920,000426: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
022921,000427: # WHERE TL GE RPSTART
022922,000428: # TL LE (-POLYSTOP + RPSTART)
022923,000429: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
022924,000430: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
022925,000431: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
022926,000432: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
022927,000433: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
022928,000434:
022929,000435: # FOR SIMPLICITY, LET P = 2*PI*PITCH
022930,000436: # R = 2*PI*ROLL
022931,000437:
022932,000438: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
022933,000439: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
022934,000440: # YDC, AND ZDC.
022935,000441:
022936,000442: # * ( SIN(P) 0 -COS(P) ) (XDC)
022937,000443: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
022938,000444: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
022939,000445:
022940,000446: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
022941,000447: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
022942,000448: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
022943,000449: # AS THE DESIRED CDU ANGLES.
022944,000450:
022945,000451: # (XDC) (OGC)
022946,000452: # (YDC) ---) CALCGTA ---) (IGC)
022947,000453: # (ZDC) (MGC)
022948,000454: # -
022949,000455: # DEFINE THE VECTOR DELTACDU.
022950,000456:
022951,000457: # - (OGC) (CDUX)
022952,000458: # DELTACDU = (IGC) - (CDUY)
022953,000459: # (MGC) (CDUZ)
022954,000460: # - - * -
022955,000461: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
022956,000462:
022957,000463: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
022958,000464: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
022959,000465: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
022960,000466: # -
022961,000467: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
022962,000468: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
022963,000469: # ERROR DISPLAY ROUTINE.
022964,000470:
022965,000471: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
022966,000472: 34,2346 74105 MASK OCT60000 # BITS 14, 15
022967,000473: 34,2347 00006 EXTEND
022968,000474: 34,2350 12352 BZF +2 # OK - CONTINUE
022969,000475: 34,2351 05233 TC ENDOFJOB # SATURN STICK ON - KILL JOB
022970,000476: 34,2352 35022 CAF BIT10 # CHECK IF S/C CONTROL
022971,000477: 34,2353 00006 EXTEND # OF SATURN PANEL
022972,000478: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
022973,000479: 34,2355 00006 EXTEND
022974,000480: 34,2356 12510 BZF STRSAT # IT IS - GO STEER
022975,000481: 34,2357 11725 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
022976,000482: 34,2360 02363 TC ATTDISP # NO - CONTINUE
022977,000483: 34,2361 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
022978,000484: 34,2362 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
022979,000485: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
022980,000486: 34,2364 60025 AD TIME1
022981,000487: 34,2365 00006 EXTEND
022982,000488: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
022983,000489: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
022984,000490: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
022985,000491: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
022986,000492: 34,2372 00006 EXTEND
022987,000493: 34,2373 62375 BZMF +2
022988,000494: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
022989,000495: 34,2375 30024 CA TIME2
022990,000496: 34,2376 00006 EXTEND
022991,000497: 34,2377 62401 BZMF +2
022992,000498: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
022993,000499: 34,2401 31661 CAE POLYNUM
022994,000500: 34,2402 54001 TS L
022995,000501: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
022996,000502: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
022997,000503: 34,2405 35035 CA ZERO # RETURN WITH PITCH(32REV)
022998,000504: 34,2406 54163 TS MODE # STORED IN MPAC, MPAC +1
022999,000505: 34,2407 06006 TC INTPRET
023000,000506: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023001,000507: 34,2411 00001 0
023002,000508: 34,2412 20206 5
023003,000509: 34,2413 77606 PUSH # LET P(RAD) = 2.PI.PITCH(REV)
023004,000510: 34,2414 77650 GOTO
023005,000511: 34,2415 76164 ATTDISP1 # AROUND SETLOC
023006,000512: # *
023007,000513: # CONSTRUCT SM TO S/C MATRIX, TSMV
023008,000514:
023009,000515: 37,2000 SETLOC P11TWO
023010,000516: 37,2000 BANK # 36 IN COL., 34 IN DISK
023011,000517:
023012,000518: 37,2164 COUNT 36/P11
023013,000519:
023014,000520: 37,2164 57546 ATTDISP1 COS DCOMP
023015,000521: 37,2165 14017 STODL 14D # -.5*COS(P)
023016,000522: 37,2166 77756 SIN
023017,000523: 37,2167 14013 STODL 10D # .5*SIN(P)
023018,000524: 37,2170 15334 ZEROVECS
023019,000525: 37,2171 00015 STORE 12D # 0
023020,000526:
023021,000527: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023022,000528: 37,2172 41335 SLOAD DMP
023023,000529: 37,2173 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
023024,000530: 37,2174 03301 SATRLRT
023025,000531: 37,2175 45261 SL DSU
023026,000532: 37,2176 20217 14D
023027,000533: 37,2177 15332 DPHALF
023028,000534: 37,2200 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023029,000535: 37,2201 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023030,000536: 37,2202 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023031,000537: 37,2203 77634 RTB # DETERMINE IF ROLLOUT
023032,000538: 37,2204 70604 RLTST # IS COMPLETED
023033,000539: 37,2205 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023034,000540: 37,2206 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023035,000541: 37,2207 72405 DMP SL1
023036,000542: 37,2210 00017 14D
023037,000543: 37,2211 14027 STODL 22D # -.5*COS(R)*COS(P)
023038,000544: 37,2212 77676 DCOMP
023039,000545: 37,2213 00023 STORE 18D # -.5*COS(R)
023040,000546: 37,2214 72405 DMP SL1
023041,000547: 37,2215 00013 10D
023042,000548: 37,2216 14033 STODL 26D # -.5*COS(R)*SIN(P)
023043,000549: 37,2217 41556 SIN PUSH
023044,000550: 37,2220 00031 STORE 24D # .5*SIN(R)
023045,000551: 37,2221 72405 DMP SL1
023046,000552: 37,2222 00017 14D
023047,000553: 37,2223 14021 STODL 16D # -.5*SIN(R)*COS(P)
023048,000554: 37,2224 77676 DCOMP
023049,000555: 37,2225 72405 DMP SL1
023050,000556: 37,2226 00013 10D
023051,000557: 37,2227 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023052,000558: 37,2230 00013 10D
023053,000559:
023054,000560: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023055,000561: 37,2231 77656 UNIT
023056,000562: 37,2232 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023057,000563: 37,2233 00021 16D
023058,000564: 37,2234 77656 UNIT
023059,000565: 37,2235 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023060,000566: 37,2236 00027 22D # -SIN(R)*SIN(P))
023061,000567: 37,2237 77656 UNIT
023062,000568: 37,2240 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023063,000569: 37,2241 47207 CALCGTA # -COS(R)*SIN(P))
023064,000570:
023065,000571: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023066,000572: # - - -
023067,000573: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023068,000574: #
023069,000575: # ENTER HERE IF ATTITUDE HOLD
023070,000576:
023071,000577: 37,2242 41575 NOPOLYM VLOAD PUSH # OGC IGC
023072,000578: 37,2243 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023073,000579: 37,2244 45006 PUSH CALL # MGC OGC
023074,000580: 37,2245 47501 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023075,000581: 37,2246 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023076,000582: 37,2247 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023077,000583: 37,2250 45552 V1STO2S # DPSI MGC-CDUZ , 2
023078,000584: 37,2251 27317 STOVL BOOSTEMP
023079,000585: 37,2252 15334 ZEROVECS
023080,000586: 37,2253 24001 STOVL 0
023081,000587: 37,2254 00767 CDUSPOT
023082,000588: 37,2255 47034 RTB RTB
023083,000589: 37,2256 45552 V1STO2S
023084,000590: 37,2257 70564 DELSTOR
023085,000591: 37,2260 14013 STODL 10D
023086,000592: 37,2261 00741 SINCDUZ
023087,000593: 37,2262 72405 DMP SL1
023088,000594: 37,2263 00001 0
023089,000595: 37,2264 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023090,000596: 37,2265 00005 4
023091,000597: 37,2266 77650 GOTO
023092,000598: 37,2267 70416 ATTDISP2
023093,000599:
023094,000600: 34,2000 SETLOC P11ONE
023095,000601: 34,2000 BANK
023096,000602: 34,2416 COUNT 34/P11
023097,000603:
023098,000604: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023099,000605: 34,2417 00747 COSCDUZ
023100,000606: 34,2420 41405 DMP PUSH
023101,000607: 34,2421 00001 0
023102,000608: 34,2422 72405 DMP SL1
023103,000609: 34,2423 00751 COSCDUX
023104,000610: 34,2424 41325 PDDL DMP
023105,000611: 34,2425 00743 SINCDUX
023106,000612: 34,2426 00003 2
023107,000613: 34,2427 72415 DAD SL1
023108,000614: 34,2430 77626 STADR
023109,000615: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023110,000616: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
023111,000617: 34,2433 00743 SINCDUX
023112,000618: 34,2434 41325 PDDL DMP
023113,000619: 34,2435 00751 COSCDUX
023114,000620: 34,2436 00003 2
023115,000621: 34,2437 72425 DSU SL1
023116,000622: 34,2440 77626 STADR
023117,000623: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023118,000624: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
023119,000625: 34,2443 00021 16D
023120,000626: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023121,000627: 34,2445 77776 EXIT
023122,000628:
023123,000629: 34,2446 31725 CA SATSW
023124,000630: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
023125,000631: 34,2450 02471 TC SATOUT # POS - DISPLAY ONLY
023126,000632: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
023127,000633: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
023128,000634: 34,2453 76351 TLOAD TAD
023129,000635: 34,2454 03327 BIASAK
023130,000636: 34,2455 03077 AK
023131,000637: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
023132,000638: 34,2457 77776 EXIT
023133,000639: 34,2460 31476 CA AK
023134,000640: 34,2461 02623 TC RESCALES
023135,000641: 34,2462 55476 TS AK
023136,000642: 34,2463 31477 CA AK1
023137,000643: 34,2464 02623 TC RESCALES
023138,000644: 34,2465 55477 TS AK1
023139,000645: 34,2466 31500 CA AK2
023140,000646: 34,2467 02623 TC RESCALES
023141,000647: 34,2470 55500 TS AK2
023142,000648: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023143,000649:
023144,000650: 34,2471 04676 SATOUT TC BANKCALL
023145,000651: 34,2472 42432 CADR NEEDLER
023146,000652: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023147,000653: 34,2474 04676 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
023148,000654: 34,2475 01732 CADR DELAYJOB
023149,000655: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023150,000656:
023151,000657: 34,2477 41476 AKLOAD CS AK # STORE AKS
023152,000658: 34,2500 55726 TS BIASAK # INTO BIAS
023153,000659: 34,2501 41477 CS AK1 # COMPLEMENTED
023154,000660: 34,2502 55727 TS BIASAK +1
023155,000661: 34,2503 41500 CS AK2
023156,000662: 34,2504 55730 TS BIASAK +2
023157,000663: 34,2505 45033 CS BIT1 # SET SW
023158,000664: 34,2506 55725 TS SATSW # TO STEER
023159,000665: 34,2507 02452 TC STEERSAT # GO STEER
023160,000666: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEEDLER
023161,000667: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
023162,000668: 34,2512 62363 BZMF ATTDISP # YES - CONTINUE
023163,000669: 34,2513 41501 ATRESET CS RCSFLAGS # NO - SET
023164,000670: 34,2514 75031 MASK BIT3 # INITIALIZATION SW
023165,000671: 34,2515 27501 ADS RCSFLAGS # FOR NEEDLER
023166,000672: 34,2516 04676 TC BANKCALL # AND GO
023167,000673: 34,2517 42432 CADR NEEDLER # DO IT
023168,000674: 34,2520 36211 CAF REVCNT # OCT 6
023169,000675: 34,2521 04676 TC BANKCALL # DELAY JOB
023170,000676: 34,2522 01732 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
023171,000677: 34,2523 11725 CCS SATSW # CHECK SW STATUS
023172,000678: 34,2524 02534 TC TAKEON # POS STEER INIT.
023173,000679: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
023174,000680: 34,2526 35033 CA BIT1 # NEG RETURN TO DISPLAY
023175,000681: 34,2527 55725 TS SATSW # SW = DISPLAY ONLY
023176,000682: 34,2530 45023 CS BIT9 # DISABLE
023177,000683: 34,2531 00006 EXTEND # SIVB
023178,000684: 34,2532 03012 WAND CHAN12 # TAKEOVER
023179,000685: 34,2533 02471 TC SATOUT # DISPLAY
023180,000686: 34,2534 35023 TAKEON CAF BIT9 # ENABLE
023181,000687: 34,2535 00006 EXTEND # SIVB
023182,000688: 34,2536 05012 WOR CHAN12 # TAKEOVER
023183,000689: 34,2537 35035 CA ZERO # INDICATE NEEDLER
023184,000690: 34,2540 55725 TS SATSW # WAS INITIALIZED
023185,000691: 34,2541 02471 TC SATOUT
023186,000692: 34,2542 51575 S11.1 VLOAD ABVAL
023187,000693: 34,2543 01177 VN
023188,000694: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023189,000695: 34,2545 01171 RN
023190,000696: 34,2546 50256 UNIT DOT
023191,000697: 34,2547 01177 VN
023192,000698: 34,2550 77752 SL1
023193,000699: 34,2551 17741 STODL HDOT
023194,000700: 34,2552 05152 RPAD
023195,000701: 34,2553 77214 BOF VLOAD
023196,000702: 34,2554 00355 AMOONFLG
023197,000703: 34,2555 70560 EARTHALT
023198,000704: 34,2556 02026 RLS
023199,000705: 34,2557 60446 ABVAL SR2
023200,000706: 34,2560 77621 EARTHALT BDSU
023201,000707: 34,2561 00045 36D
023202,000708: 34,2562 03737 STORE ALTI
023203,000709: 34,2563 77616 RVQ
023204,000710: 34,2564 31716 DELSTOR CA BOOSTEMP
023205,000711: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023206,000712: 34,2566 20154 MSU MPAC
023207,000713: 34,2567 50120 INDEX FIXLOC
023208,000714: 34,2570 54000 TS 0
023209,000715: 34,2571 31717 CA BOOSTEMP +1
023210,000716: 34,2572 00006 EXTEND
023211,000717: 34,2573 20155 MSU MPAC +1
023212,000718: 34,2574 50120 INDEX FIXLOC
023213,000719: 34,2575 54002 TS 2
023214,000720: 34,2576 31720 CA BOOSTEMP +2
023215,000721: 34,2577 00006 EXTEND
023216,000722: 34,2600 20156 MSU MPAC +2
023217,000723: 34,2601 50120 INDEX FIXLOC
023218,000724: 34,2602 54004 TS 4
023219,000725: 34,2603 16030 TCF DANZIG
023220,000726: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023221,000727: 34,2605 00006 EXTEND # IS COMPLETED
023222,000728: 34,2606 71701 MP SATRLRT +1
023223,000729: 34,2607 00006 EXTEND
023224,000730: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023225,000731: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
023226,000732: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023227,000733: 34,2613 52155 DXCH MPAC
023228,000734: 34,2614 06030 TC DANZIG
023229,000735: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
023230,000736: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
023231,000737: 34,2617 00001 0
023232,000738: 34,2620 76242 NOPOLYM
023233,000739: 34,2621 01673 COEFPOLY ADRES POLYLOC
023234,000740: 34,2622 01476 V06N62 VN 0662
023235,000741: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
023236,000742: 34,2624 71731 MP SATSCALE # NEW HARDWARE
023237,000743: 34,2625 20001 DDOUBL # SCALING FOR
023238,000744: 34,2626 20001 DDOUBL # STEERING
023239,000745: 34,2627 00002 TC Q # SATURN
023240,000746:
023241,000747: # SATURN TAKEOVER FUNCTION
023242,000748: # ************************
023243,000749: #
023244,000750: # PROGRAM DESCRIPTION
023245,000751:
023246,000752: # MOD NUMBER 1
023247,000753: # MOD BY ELIASSEN
023248,000754:
023249,000755: # FUNCTIONAL DESCRIPTION
023250,000756:
023251,000757: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023252,000758: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023253,000759: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023254,000760: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023255,000761: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023256,000762: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023257,000763: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023258,000764: # SULTS IN A ZERO RATE COMMAND.
023259,000765:
023260,000766: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023261,000767: # OF THE RATE COMMAND.
023262,000768:
023263,000769: # CALLING SEQUENCE
023264,000770:
023265,000771: # DAPFIG +9D TC POSTJUMP
023266,000772: # CADR SATSTKON
023267,000773:
023268,000774: # SUBROUTINES CALLED
023269,000775:
023270,000776: # ENDEXT
023271,000777: # IBNKCALL
023272,000778: # STICKCHK
023273,000779: # NEEDLER
023274,000780: # T5RUPT
023275,000781: # RESUME
023276,000782:
023277,000783: # ASTRONAUT REQUESTS
023278,000784:
023279,000785: # ENTRY - VERB 46 ENTER
023280,000786: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023281,000787:
023282,000788: # EXIT - VERB 48 ENTER (FLASH V06N46)
023283,000789: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023284,000790: # VERB 34 ENTER
023285,000791: # VERB 46 ENTER
023286,000792:
023287,000793: # NORMAL EXIT MODE
023288,000794:
023289,000795: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
023290,000796:
023291,000797: # ALARM OR ABORT EXIT MODES
023292,000798:
023293,000799: # NONE
023294,000800:
023295,000801: # OUTPUT
023296,000802:
023297,000803: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023298,000804:
023299,000805: # ERASABLE INITIALIZATION
023300,000806:
023301,000807: # DAPDATR1 (BITS 13, 14 MUST BE SET)
023302,000808:
023303,000809: # DEBRIS
023304,000810:
023305,000811: # CENTRALS
023306,000812: # CDUXCMD, CDUYCMD, CDUZCMD
023307,000813:
023308,000814: 43,3225 BANK 43
023309,000815: 43,2000 SETLOC EXTVERBS
023310,000816: 43,2000 BANK
023311,000817:
023312,000818: 43,3225 COUNT 23/STTKE
023313,000819: 43,3225 00006 SATSTKON EXTEND
023314,000820: 43,3226 33243 DCA 2REDOSAT
023315,000821: 43,3227 00004 INHINT
023316,000822: 43,3230 53313 DXCH T5LOC
023317,000823: 43,3231 35013 CAF POSMAX
023318,000824: 43,3232 54030 TS TIME5
023319,000825: 43,3233 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
023320,000826: 43,3234 74105 MASK RELTAB11 # FLAGWRD6
023321,000827: 43,3235 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
023322,000828: 43,3236 04754 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
023323,000829: 43,3237 42644 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
023324,000830: 43,3240 00003 RELINT
023325,000831: 43,3241 02123 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
023326,000832:
023327,000833: 43,3242 E6,1704 EBANK= BODY3
023328,000834: 43,3242 02767 46106 2REDOSAT 2CADR REDOSAT
023329,000835:
023330,000836:
023331,000837: 43,3244 30,2000 SBANK= LOWSUPER
023332,000838: 32,2017 BANK 32
023333,000839: 23,2000 SETLOC P11FOUR
023334,000840: 23,2000 BANK
023335,000841:
023336,000842: 23,2767 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
023337,000843: 23,2770 00006 EXTEND
023338,000844: 23,2771 22012 QXCH QRUPT
023339,000845: 23,2772 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
023340,000846: 23,2773 75031 MASK BIT3 # FOR
023341,000847: 23,2774 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
023342,000848: 23,2775 04754 TC IBNKCALL
023343,000849: 23,2776 42432 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
023344,000850: 23,2777 35023 CAF BIT9 # SIVB
023345,000851: 23,3000 00006 EXTEND # TAKEOVER
023346,000852: 23,3001 05012 WOR CHAN12 # ENABLE
023347,000853: 23,3002 00006 EXTEND # SET UP T5 CYCLE
023348,000854: 23,3003 33044 DCA 2SATSTCK
023349,000855: 23,3004 53313 DXCH T5LOC
023350,000856: 23,3005 33042 CAF 100MST5 # IN 100 MSECS
023351,000857: 23,3006 54030 TS TIME5
023352,000858: 23,3007 15347 TCF RESUME # END OF SATURN STICK INITIALIZATION
023353,000859:
023354,000860: # THIS SECTION IS EXECUTED EVERY 100 MSECS
023355,000861: 23,3010 22016 SATSTICK LXCH BANKRUPT
023356,000862: 23,3011 00006 EXTEND
023357,000863: 23,3012 22012 QXCH QRUPT
023358,000864:
023359,000865: 23,3013 33043 CAF 2SATSTCK # SET UP RUPT
023360,000866: 23,3014 55312 TS T5LOC # LO ORDER LOC SET
023361,000867: 23,3015 33042 CAF 100MST5 # 100 MSECS
023362,000868: 23,3016 54030 TS TIME5
023363,000869: 23,3017 33041 CAF STIKBITS
023364,000870: 23,3020 00006 EXTEND
023365,000871: 23,3021 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
023366,000872: 23,3022 73041 MASK STIKBITS
023367,000873: 23,3023 04754 TC IBNKCALL # SET RATE INDICES
023368,000874: 23,3024 43142 CADR STICKCHK # FOR PITCH YAW AND ROLL
023369,000875:
023370,000876: 23,3025 51656 INDEX RMANNDX # SET SATURN RATES
023371,000877: 23,3026 31721 CA SATRATE
023372,000878: 23,3027 55476 TS AK # ROLL
023373,000879: 23,3030 51657 INDEX PMANNDX
023374,000880: 23,3031 31721 CA SATRATE
023375,000881: 23,3032 55477 TS AK1 # PITCH
023376,000882: 23,3033 51660 INDEX YMANNDX
023377,000883: 23,3034 31721 CA SATRATE
023378,000884: 23,3035 55500 TS AK2 # YAW
023379,000885:
023380,000886: 23,3036 04754 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
023381,000887: 23,3037 42432 CADR NEEDLER
023382,000888: 23,3040 15347 TCF RESUME # END OF SATURN STICK CONTROL
023383,000889:
023384,000890: 23,3041 00077 STIKBITS OCT 00077
023385,000891: 23,3042 37766 100MST5 DEC 16374 B-14
023386,000892: 23,3043 E6,1704 EBANK= BODY3
023387,000893: 23,3043 03010 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc