Source Code
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These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3),
the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72
source code was then modified by incorporating changes known from contemporary documentation to have
been made between revisions 72 and 72/3. 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 72/3 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.
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022458,000002: ## Copyright: Public domain.
022459,000003: ## Filename: P11.agc
022460,000004: ## Purpose: A section of Manche72 revision 3.
022461,000005: ## It is part of the reconstructed source code for the final, flown
022462,000006: ## release of the software for the Command Module's (CM) Apollo
022463,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
022464,000008: ## of this program are available; instead, this file was recreated
022465,000009: ## from a reconstructed copy of Comanche 072. It has been adapted
022466,000010: ## such that the resulting bugger words exactly match those
022467,000011: ## specified for Manche72 revision 3 in NASA drawing 2021153G,
022468,000012: ## which gives relatively high confidence that the reconstruction
022469,000013: ## is correct.
022470,000014: ## Assembler: yaYUL
022471,000015: ## Contact: Ron Burkey <info@sandroid.org>.
022472,000016: ## Website: www.ibiblio.org/apollo/index.html
022473,000017: ## Mod history: 2024-05-19 MAS Created from Comanche 072.
022474,000018:
022475,000019:
022476,000020: # EARTH ORBIT INSERTION MONITOR PROGRAM
022477,000021: # *************************************
022478,000022:
022479,000023: # PROGRAM DESCRIPTION -P11-
022480,000024:
022481,000025: # MOD NO. 1
022482,000026: # MOD BY ELIASSEN
022483,000027:
022484,000028: # FUNCTIONAL DESCRIPTION
022485,000029:
022486,000030: # P11 IS INITIATED BY
022487,000031:
022488,000032: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
022489,000033: # B) BACKUP THRU VERB 75 ENTER
022490,000034:
022491,000035: # PROGRAM WILL
022492,000036: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
022493,000037: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
022494,000038: # 3. INITIATE SERVICER AT PREREAD1
022495,000039: # 4. CHANGE MAJOR MODE TO 11
022496,000040: # 5. CLEAR DSKY IN CASE OF V 75
022497,000041: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
022498,000042: # 7. TERMINATE GYROCOMPASSING - -
022499,000043: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
022500,000044: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
022501,000045: # - - X Y Z
022502,000046: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
022503,000047: # Z
022504,000048: # - - -
022505,000049: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
022506,000050: # X
022507,000051: # - - -
022508,000052: # U =U * U
022509,000053: # U Z X
022510,000054: # 10. SET REFSMMAT KNOWN FLAG
022511,000055: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
022512,000056: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
022513,000057:
022514,000058: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
022515,000059: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
022516,000060: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
022517,000061: #
022518,000062: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
022519,000063:
022520,000064: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
022521,000065: # DESIRED ATTITUDE IS AS STORED AT L.O.
022522,000066: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
022523,000067: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
022524,000068: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
022525,000069: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
022526,000070: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
022527,000071:
022528,000072: # SUBROUTINES CALLED
022529,000073:
022530,000074: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
022531,000075: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
022532,000076: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
022533,000077: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
022534,000078: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
022535,000079:
022536,000080: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
022537,000081:
022538,000082: # DSKY -
022539,000083: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
022540,000084: # R2 MINUTES
022541,000085:
022542,000086: # DSKY -
022543,000087: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
022544,000088: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
022545,000089: # R3 TFF IN MINUTES/SECS
022546,000090:
022547,000091: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
022548,000092: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
022549,000093: # NORMAL EXIT MODE
022550,000094:
022551,000095: # ASTRONAUT VERB 37 ENTER 00 ENTER
022552,000096:
022553,000097: # ALARM MODES - NONE
022554,000098:
022555,000099: # ABORT EXIT MODES -
022556,000100:
022557,000101: # OUTPUT
022558,000102:
022559,000103: # TLIFTOFF (DP) TEPHEM (TP)
022560,000104: # REFSMMAT
022561,000105: # DSKY DISPLAY
022562,000106: # FDAI DISPLAY
022563,000107:
022564,000108: # ERASABLE INITIALIZATION
022565,000109:
022566,000110: # AZO, AXO, -AYO
022567,000111: # LATITUDE
022568,000112: # PADLONG
022569,000113: # TEPHEM
022570,000114: # PGNCSALT
022571,000115: # POLYNUM THRU POLYNUM +14D)
022572,000116: # RPSTART
022573,000117: # POLYSTOP
022574,000118: # FLAGS SET OR RESET
022575,000119: # SET REFSMFLG
022576,000120: # SET DVMON IDLE FLAG
022577,000121: # CLEAR ERADFLAG
022578,000122:
022579,000123: # DEBRIS
022580,000124:
022581,000125: # LIFTTEMP
022582,000126: # POLYNUM THRU POLYNUM +7
022583,000127: # SPOLYARG
022584,000128: # BODY1, BODY2, BODY3
022585,000129: # VMAG2, ALTI, HDOT
022586,000130: # CENTRALS, CORE SET AND VAC AREAS
022587,000131:
022588,000132: 04,3303 COUNT 34/P11
022589,000133:
022590,000134: 04,3303 5051 BITS5-6 = SUPER011
022591,000135: 42,3605 BANK 42
022592,000136: 34,2000 SETLOC P11ONE
022593,000137: 34,2000 BANK
022594,000138:
022595,000139: 34,2002 E3,1706 EBANK= TEPHEM
022596,000140: 34,2002 35065 P11 CA EBANK3
022597,000141: 34,2003 54003 TS EBANK
022598,000142:
022599,000143: 34,2004 00006 EXTEND
022600,000144: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
022601,000145: 34,2006 52757 DXCH -PHASE3
022602,000146: 34,2007 45035 CS ZERO
022603,000147: 34,2010 22007 ZL
022604,000148: 34,2011 55265 TS LIFTTEMP
022605,000149: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
022606,000150: 34,2013 00006 P11+7 EXTEND
022607,000151: 34,2014 32301 DCA REP11SA
022608,000152: 34,2015 53337 DXCH TLIFTOFF
022609,000153:
022610,000154: 34,2016 00006 EXTEND
022611,000155: 34,2017 30025 DCA TIME2
022612,000156: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
022613,000157:
022614,000158: 34,2021 35035 CA ZERO
022615,000159: 34,2022 22007 ZL
022616,000160: 34,2023 52025 DXCH TIME2
022617,000161: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
022618,000162: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
022619,000163:
022620,000164: 34,2026 00004 REP11A INHINT
022621,000165: 34,2027 00006 EXTEND
022622,000166: 34,2030 31710 DCA TEPHEM +1
022623,000167: 34,2031 53271 DXCH TEPHEM1 +1
022624,000168: 34,2032 31706 CA TEPHEM
022625,000169: 34,2033 57267 XCH TEPHEM1
022626,000170:
022627,000171: 34,2034 00006 EXTEND
022628,000172: 34,2035 31337 DCA TLIFTOFF
022629,000173: 34,2036 21271 DAS TEPHEM1 +1
022630,000174: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
022631,000175:
022632,000176: 34,2040 05426 TC PHASCHNG
022633,000177: 34,2041 05023 OCT 05023
022634,000178: 34,2042 22000 OCT 22000
022635,000179:
022636,000180: 34,2043 00004 INHINT
022637,000181: 34,2044 00006 EXTEND
022638,000182: 34,2045 31270 DCA TEPHEM1
022639,000183: 34,2046 53707 DXCH TEPHEM
022640,000184: 34,2047 31271 CA TEPHEM1 +2
022641,000185: 34,2050 57710 XCH TEPHEM +2
022642,000186:
022643,000187: 34,2051 32000 CAF EBDVCNT
022644,000188: 34,2052 54003 TS EBANK
022645,000189: 34,2053 E7,1431 EBANK= DVCNTR
022646,000190: 34,2053 04754 TC IBNKCALL
022647,000191: 34,2054 76735 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
022648,000192:
022649,000193: 34,2055 05426 TC PHASCHNG
022650,000194: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
022651,000195: 34,2057 22000 OCT 22000
022652,000196:
022653,000197: 34,2060 35052 CAF .5SEC # START ATT ERROR DISPLAY
022654,000198: 34,2061 05261 TC WAITLIST # IN .5 SEC
022655,000199: 34,2062 E6,1704 EBANK= BODY3
022656,000200: 34,2062 02320 70066 2CADR ATERTASK
022657,000201:
022658,000202: 34,2064 05370 TC NEWMODEX # DISPLAY MM 11
022659,000203: 34,2065 00013 MM 11 B-14
022660,000204:
022661,000205: 34,2066 05562 TC UPFLAG
022662,000206: 34,2067 00022 ADRES NODOP01
022663,000207:
022664,000208: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
022665,000209: 34,2071 54332 TS DNLSTCOD
022666,000210:
022667,000211: 34,2072 04676 TC BANKCALL
022668,000212: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
022669,000213:
022670,000214: 34,2074 05406 TC 2PHSCHNG
022671,000215: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
022672,000216: 34,2076 00073 OCT 00073
022673,000217: 34,2077 32001 CAF EBQPLACE
022674,000218: 34,2100 54003 TS EBANK
022675,000219:
022676,000220: 34,2101 E5,1426 EBANK= QPLACES
022677,000221: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
022678,000222: 34,2102 55426 TS QPLACES
022679,000223: 34,2103 06006 TC INTPRET
022680,000224: 34,2104 64375 VLOAD MXV
022681,000225: 34,2105 02467 THETAN
022682,000226: 34,2106 02672 XSM
022683,000227: 34,2107 53372 VSL1 VAD
022684,000228: 34,2110 02650 ERCOMP
022685,000229: 34,2111 16650 STODL ERCOMP
022686,000230: 34,2112 01337 TLIFTOFF
022687,000231: 34,2113 52131 SSP GOTO
022688,000232: 34,2114 00052 S2
022689,000233: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
022690,000234: 34,2116 66373 EARTHR +3
022691,000235: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
022692,000236: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
022693,000237: 34,2121 53760 DXCH OGC
022694,000238: 34,2122 22007 ZL
022695,000239: 34,2123 30033 CA CDUY
022696,000240: 34,2124 53762 DXCH IGC
022697,000241: 34,2125 22007 ZL
022698,000242: 34,2126 30034 CA CDUZ
022699,000243: 34,2127 53764 DXCH MGC
022700,000244: 34,2130 06006 TC INTPRET # -
022701,000245: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
022702,000246: 34,2132 02760 OGC
022703,000247: 34,2133 02760 STORE OGC
022704,000248: 34,2134 77731 SSP # ZERO RTX2
022705,000249: 34,2135 03747 RTX2 # FOR
022706,000250: 34,2136 00000 0 # EARTH
022707,000251: 34,2137 65345 DLOAD PDDL
022708,000252: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
022709,000253: 34,2141 01264 PADLONG # LONGITUDE
022710,000254: 34,2142 55525 PDDL VDEF
022711,000255: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
022712,000256: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
022713,000257: 34,2145 15334 HI6ZEROS # TIME = 0
022714,000258: 34,2146 45014 CLEAR CALL
022715,000259: 34,2147 00662 ERADFLAG
022716,000260: 34,2150 26447 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
022717,000261:
022718,000262: 34,2151 35232 STCALL RN1 # -
022719,000263: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
022720,000264: 34,2153 53476 VCOMP UNIT
022721,000265: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
022722,000266: 34,2155 01232 RN1
022723,000267: 34,2156 74235 VXV VXSC
022724,000268: 34,2157 01714 UNITW # SCALED AT 1
022725,000269: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
022726,000270: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
022727,000271: 34,2162 25240 STOVL VN1
022728,000272: 34,2163 01752 REFSMMAT +12D
022729,000273: 34,2164 53435 VXV UNIT
022730,000274: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
022731,000275: 34,2166 47206 PUSH VXV
022732,000276: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
022733,000277: 34,2170 65256 UNIT PDDL
022734,000278: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
022735,000279: 34,2172 74346 COS VXSC
022736,000280: 34,2173 77626 STADR
022737,000281: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
022738,000282: 34,2175 02634 LAUNCHAZ
022739,000283: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
022740,000284: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
022741,000285: 34,2200 01736 REFSMMAT
022742,000286: 34,2201 01736 STORE REFSMMAT
022743,000287:
022744,000288: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
022745,000289: 34,2203 01752 REFSMMAT +12D
022746,000290: 34,2204 77676 VCOMP
022747,000291: 34,2205 01744 STORE REFSMMAT +6
022748,000292: 34,2206 45345 DLOAD DSU
022749,000293: 34,2207 15332 DPHALF # 1/2 REV
022750,000294: 34,2210 02634 LAUNCHAZ
022751,000295: 34,2211 65215 DAD PDDL
022752,000296:
022753,000297: 34,2212 02401 AZIMUTH
022754,000298: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
022755,000299: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
022756,000300: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
022757,000301: 34,2216 77414 SET EXIT
022758,000302: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
022759,000303:
022760,000304: 34,2220 05426 TC PHASCHNG
022761,000305: 34,2221 04023 OCT 04023
022762,000306:
022763,000307: 34,2222 00006 EXTEND
022764,000308: 34,2223 32306 DCA P11SCADR
022765,000309: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
022766,000310:
022767,000311: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
022768,000312: 34,2226 55074 TS 1/PIPADT
022769,000313:
022770,000314: 34,2227 E6,1501 EBANK= RCSFLAGS
022771,000315: 34,2227 35073 CA EBANK6
022772,000316: 34,2230 54003 TS EBANK
022773,000317:
022774,000318: 34,2231 00004 INHINT
022775,000319: 34,2232 45035 CS ZERO
022776,000320: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
022777,000321:
022778,000322: 34,2234 40025 CS TIME1
022779,000323: 34,2235 65056 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
022780,000324:
022781,000325: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
022782,000326: 34,2237 12242 TCF +3 # TIME POSITIVE
022783,000327: 34,2240 12242 TCF +2 # CANNOT GET HERE
022784,000328: 34,2241 35035 CA ZERO # TIME NEGATIVE - SET TO 1
022785,000329: 34,2242 65033 AD ONE # RESTORE TIME - OR MAKE POSITIVE
022786,000330:
022787,000331: 34,2243 05261 TC WAITLIST
022788,000332: 34,2244 E6,1661 EBANK= AOG
022789,000333: 34,2244 02757 76066 2CADR READACCS
022790,000334:
022791,000335: 34,2246 05406 TC 2PHSCHNG
022792,000336: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
022793,000337: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
022794,000338:
022795,000339: 34,2251 04715 TC POSTJUMP
022796,000340: 34,2252 77240 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
022797,000341:
022798,000342:
022799,000343: 34,2253 E3,1706 EBANK= TEPHEM
022800,000344: 34,2253 00004 REP11 INHINT
022801,000345: 34,2254 10763 CCS PHASE5
022802,000346: 34,2255 05233 TC ENDOFJOB
022803,000347:
022804,000348: 34,2256 11265 CCS LIFTTEMP
022805,000349: 34,2257 12263 TCF +4
022806,000350: 34,2260 12263 TCF +3
022807,000351: 34,2261 12263 TCF +2
022808,000352: 34,2262 12013 TCF P11+7
022809,000353:
022810,000354: 34,2263 41336 CS TLIFTOFF
022811,000355: 34,2264 00006 EXTEND
022812,000356: 34,2265 62273 BZMF ENDREP11
022813,000357:
022814,000358: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
022815,000359: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
022816,000360:
022817,000361: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
022818,000362: 34,2271 31266 DCA LIFTTEMP
022819,000363: 34,2272 12024 TCF REP11A-2
022820,000364:
022821,000365: 34,2273 00006 ENDREP11 EXTEND
022822,000366: 34,2274 32301 DCA REP11SA
022823,000367: 34,2275 12025 TCF REP11A-1
022824,000368: 34,2276 77766 00011 REP11S 2OCT 7776600011
022825,000369:
022826,000370: 34,2300 77764 00013 REP11SA 2OCT 7776400013
022827,000371:
022828,000372: 34,2302 02451 P11XIT GENADR P11OUT
022829,000373: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
022830,000374:
022831,000375: 34,2305 E6,1704 EBANK= BODY3
022832,000376: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
022833,000377:
022834,000378: 34,2307 6214 POWDNCOD EQUALS THREE
022835,000379:
022836,000380: 34,2307 E6,1704 EBANK= BODY3
022837,000381: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
022838,000382: # VI INERTIAL VELOCITY MAGNITUDE
022839,000383: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
022840,000384: # H ALTITUDE ABOVE L PAD RADIUS
022841,000385:
022842,000386: 34,2307 06006 VHHDOT TC INTPRET
022843,000387: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
022844,000388: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
022845,000389: 34,2312 77776 EXIT
022846,000390: 34,2313 05426 TC PHASCHNG
022847,000391: 34,2314 00035 OCT 00035
022848,000392:
022849,000393: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
022850,000394: 34,2316 04676 TC BANKCALL # VI HDOT H
022851,000395: 34,2317 20707 CADR REGODSP
022852,000396:
022853,000397: 34,2320 35022 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
022854,000398: 34,2321 05163 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
022855,000399: 34,2322 E6,1704 EBANK= BODY3
022856,000400: 34,2322 02345 70066 2CADR ATERJOB
022857,000401:
022858,000402: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
022859,000403: 34,2325 75031 MASK BIT3 # NEEDLER
022860,000404: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
022861,000405: 34,2327 04754 TC IBNKCALL # AND GO
022862,000406: 34,2330 42432 CADR NEEDLER # DO IT
022863,000407: 34,2331 35033 CA BIT1 # SET SW
022864,000408: 34,2332 55725 TS SATSW # FOR DISPLAY
022865,000409: 34,2333 05340 TC TASKOVER
022866,000410: 34,2334 40220 GETDOWN STQ SETPD
022867,000411: 34,2335 02242 INCORPEX
022868,000412: 34,2336 00001 0D
022869,000413: 34,2337 77745 DLOAD
022870,000414: 34,2340 15334 HI6ZEROS
022871,000415: 34,2341 14007 STODL 6D
022872,000416: 34,2342 15332 DPHALF
022873,000417: 34,2343 34011 STCALL 8D
022874,000418: 34,2344 26454 LALOTORV +5
022875,000419: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
022876,000420:
022877,000421: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
022878,000422: # 2 3 4 5 6
022879,000423: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
022880,000424: # SCALED TO 32 REVS. -14
022881,000425: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
022882,000426: # WHERE TL GE RPSTART
022883,000427: # TL LE (-POLYSTOP + RPSTART)
022884,000428: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
022885,000429: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
022886,000430: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
022887,000431: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
022888,000432: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
022889,000433:
022890,000434: # FOR SIMPLICITY, LET P = 2*PI*PITCH
022891,000435: # R = 2*PI*ROLL
022892,000436:
022893,000437: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
022894,000438: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
022895,000439: # YDC, AND ZDC.
022896,000440:
022897,000441: # * ( SIN(P) 0 -COS(P) ) (XDC)
022898,000442: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
022899,000443: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
022900,000444:
022901,000445: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
022902,000446: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
022903,000447: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
022904,000448: # AS THE DESIRED CDU ANGLES.
022905,000449:
022906,000450: # (XDC) (OGC)
022907,000451: # (YDC) ---) CALCGTA ---) (IGC)
022908,000452: # (ZDC) (MGC)
022909,000453: # -
022910,000454: # DEFINE THE VECTOR DELTACDU.
022911,000455:
022912,000456: # - (OGC) (CDUX)
022913,000457: # DELTACDU = (IGC) - (CDUY)
022914,000458: # (MGC) (CDUZ)
022915,000459: # - - * -
022916,000460: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
022917,000461:
022918,000462: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
022919,000463: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
022920,000464: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
022921,000465: # -
022922,000466: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
022923,000467: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
022924,000468: # ERROR DISPLAY ROUTINE.
022925,000469:
022926,000470: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
022927,000471: 34,2346 74105 MASK OCT60000 # BITS 14, 15
022928,000472: 34,2347 00006 EXTEND
022929,000473: 34,2350 12352 BZF +2 # OK - CONTINUE
022930,000474: 34,2351 05233 TC ENDOFJOB # SATURN STICK ON - KILL JOB
022931,000475: 34,2352 35022 CAF BIT10 # CHECK IF S/C CONTROL
022932,000476: 34,2353 00006 EXTEND # OF SATURN PANEL
022933,000477: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
022934,000478: 34,2355 00006 EXTEND
022935,000479: 34,2356 12510 BZF STRSAT # IT IS - GO STEER
022936,000480: 34,2357 11725 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
022937,000481: 34,2360 02363 TC ATTDISP # NO - CONTINUE
022938,000482: 34,2361 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
022939,000483: 34,2362 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
022940,000484: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
022941,000485: 34,2364 60025 AD TIME1
022942,000486: 34,2365 00006 EXTEND
022943,000487: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
022944,000488: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
022945,000489: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
022946,000490: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
022947,000491: 34,2372 00006 EXTEND
022948,000492: 34,2373 62375 BZMF +2
022949,000493: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
022950,000494: 34,2375 30024 CA TIME2
022951,000495: 34,2376 00006 EXTEND
022952,000496: 34,2377 62401 BZMF +2
022953,000497: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
022954,000498: 34,2401 31661 CAE POLYNUM
022955,000499: 34,2402 54001 TS L
022956,000500: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
022957,000501: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
022958,000502: 34,2405 35035 CA ZERO # RETURN WITH PITCH(32REV)
022959,000503: 34,2406 54163 TS MODE # STORED IN MPAC, MPAC +1
022960,000504: 34,2407 06006 TC INTPRET
022961,000505: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
022962,000506: 34,2411 00001 0
022963,000507: 34,2412 20206 5
022964,000508: 34,2413 77606 PUSH # LET P(RAD) = 2.PI.PITCH(REV)
022965,000509: 34,2414 77650 GOTO
022966,000510: 34,2415 76164 ATTDISP1 # AROUND SETLOC
022967,000511: # *
022968,000512: # CONSTRUCT SM TO S/C MATRIX, TSMV
022969,000513:
022970,000514: 37,2000 SETLOC P11TWO
022971,000515: 37,2000 BANK # 36 IN COL., 34 IN DISK
022972,000516:
022973,000517: 37,2164 COUNT 36/P11
022974,000518:
022975,000519: 37,2164 57546 ATTDISP1 COS DCOMP
022976,000520: 37,2165 14017 STODL 14D # -.5*COS(P)
022977,000521: 37,2166 77756 SIN
022978,000522: 37,2167 14013 STODL 10D # .5*SIN(P)
022979,000523: 37,2170 15334 ZEROVECS
022980,000524: 37,2171 00015 STORE 12D # 0
022981,000525:
022982,000526: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
022983,000527: 37,2172 41335 SLOAD DMP
022984,000528: 37,2173 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
022985,000529: 37,2174 03301 SATRLRT
022986,000530: 37,2175 45261 SL DSU
022987,000531: 37,2176 20217 14D
022988,000532: 37,2177 15332 DPHALF
022989,000533: 37,2200 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
022990,000534: 37,2201 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
022991,000535: 37,2202 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
022992,000536: 37,2203 77634 RTB # DETERMINE IF ROLLOUT
022993,000537: 37,2204 70604 RLTST # IS COMPLETED
022994,000538: 37,2205 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
022995,000539: 37,2206 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
022996,000540: 37,2207 72405 DMP SL1
022997,000541: 37,2210 00017 14D
022998,000542: 37,2211 14027 STODL 22D # -.5*COS(R)*COS(P)
022999,000543: 37,2212 77676 DCOMP
023000,000544: 37,2213 00023 STORE 18D # -.5*COS(R)
023001,000545: 37,2214 72405 DMP SL1
023002,000546: 37,2215 00013 10D
023003,000547: 37,2216 14033 STODL 26D # -.5*COS(R)*SIN(P)
023004,000548: 37,2217 41556 SIN PUSH
023005,000549: 37,2220 00031 STORE 24D # .5*SIN(R)
023006,000550: 37,2221 72405 DMP SL1
023007,000551: 37,2222 00017 14D
023008,000552: 37,2223 14021 STODL 16D # -.5*SIN(R)*COS(P)
023009,000553: 37,2224 77676 DCOMP
023010,000554: 37,2225 72405 DMP SL1
023011,000555: 37,2226 00013 10D
023012,000556: 37,2227 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023013,000557: 37,2230 00013 10D
023014,000558:
023015,000559: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
023016,000560: 37,2231 77656 UNIT
023017,000561: 37,2232 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023018,000562: 37,2233 00021 16D
023019,000563: 37,2234 77656 UNIT
023020,000564: 37,2235 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023021,000565: 37,2236 00027 22D # -SIN(R)*SIN(P))
023022,000566: 37,2237 77656 UNIT
023023,000567: 37,2240 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023024,000568: 37,2241 47207 CALCGTA # -COS(R)*SIN(P))
023025,000569:
023026,000570: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023027,000571: # - - -
023028,000572: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023029,000573: #
023030,000574: # ENTER HERE IF ATTITUDE HOLD
023031,000575:
023032,000576: 37,2242 41575 NOPOLYM VLOAD PUSH # OGC IGC
023033,000577: 37,2243 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023034,000578: 37,2244 45006 PUSH CALL # MGC OGC
023035,000579: 37,2245 47501 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023036,000580: 37,2246 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023037,000581: 37,2247 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023038,000582: 37,2250 45552 V1STO2S # DPSI MGC-CDUZ , 2
023039,000583: 37,2251 27317 STOVL BOOSTEMP
023040,000584: 37,2252 15334 ZEROVECS
023041,000585: 37,2253 24001 STOVL 0
023042,000586: 37,2254 00767 CDUSPOT
023043,000587: 37,2255 47034 RTB RTB
023044,000588: 37,2256 45552 V1STO2S
023045,000589: 37,2257 70564 DELSTOR
023046,000590: 37,2260 14013 STODL 10D
023047,000591: 37,2261 00741 SINCDUZ
023048,000592: 37,2262 72405 DMP SL1
023049,000593: 37,2263 00001 0
023050,000594: 37,2264 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023051,000595: 37,2265 00005 4
023052,000596: 37,2266 77650 GOTO
023053,000597: 37,2267 70416 ATTDISP2
023054,000598:
023055,000599: 34,2000 SETLOC P11ONE
023056,000600: 34,2000 BANK
023057,000601: 34,2416 COUNT 34/P11
023058,000602:
023059,000603: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023060,000604: 34,2417 00747 COSCDUZ
023061,000605: 34,2420 41405 DMP PUSH
023062,000606: 34,2421 00001 0
023063,000607: 34,2422 72405 DMP SL1
023064,000608: 34,2423 00751 COSCDUX
023065,000609: 34,2424 41325 PDDL DMP
023066,000610: 34,2425 00743 SINCDUX
023067,000611: 34,2426 00003 2
023068,000612: 34,2427 72415 DAD SL1
023069,000613: 34,2430 77626 STADR
023070,000614: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023071,000615: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
023072,000616: 34,2433 00743 SINCDUX
023073,000617: 34,2434 41325 PDDL DMP
023074,000618: 34,2435 00751 COSCDUX
023075,000619: 34,2436 00003 2
023076,000620: 34,2437 72425 DSU SL1
023077,000621: 34,2440 77626 STADR
023078,000622: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023079,000623: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
023080,000624: 34,2443 00021 16D
023081,000625: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023082,000626: 34,2445 77776 EXIT
023083,000627:
023084,000628: 34,2446 31725 CA SATSW
023085,000629: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
023086,000630: 34,2450 02471 TC SATOUT # POS - DISPLAY ONLY
023087,000631: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
023088,000632: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
023089,000633: 34,2453 76351 TLOAD TAD
023090,000634: 34,2454 03327 BIASAK
023091,000635: 34,2455 03077 AK
023092,000636: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
023093,000637: 34,2457 77776 EXIT
023094,000638: 34,2460 31476 CA AK
023095,000639: 34,2461 02623 TC RESCALES
023096,000640: 34,2462 55476 TS AK
023097,000641: 34,2463 31477 CA AK1
023098,000642: 34,2464 02623 TC RESCALES
023099,000643: 34,2465 55477 TS AK1
023100,000644: 34,2466 31500 CA AK2
023101,000645: 34,2467 02623 TC RESCALES
023102,000646: 34,2470 55500 TS AK2
023103,000647: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023104,000648:
023105,000649: 34,2471 04676 SATOUT TC BANKCALL
023106,000650: 34,2472 42432 CADR NEEDLER
023107,000651: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023108,000652: 34,2474 04676 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
023109,000653: 34,2475 01732 CADR DELAYJOB
023110,000654: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023111,000655:
023112,000656: 34,2477 41476 AKLOAD CS AK # STORE AKS
023113,000657: 34,2500 55726 TS BIASAK # INTO BIAS
023114,000658: 34,2501 41477 CS AK1 # COMPLEMENTED
023115,000659: 34,2502 55727 TS BIASAK +1
023116,000660: 34,2503 41500 CS AK2
023117,000661: 34,2504 55730 TS BIASAK +2
023118,000662: 34,2505 45033 CS BIT1 # SET SW
023119,000663: 34,2506 55725 TS SATSW # TO STEER
023120,000664: 34,2507 02452 TC STEERSAT # GO STEER
023121,000665: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEEDLER
023122,000666: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
023123,000667: 34,2512 62363 BZMF ATTDISP # YES - CONTINUE
023124,000668: 34,2513 41501 ATRESET CS RCSFLAGS # NO - SET
023125,000669: 34,2514 75031 MASK BIT3 # INITIALIZATION SW
023126,000670: 34,2515 27501 ADS RCSFLAGS # FOR NEEDLER
023127,000671: 34,2516 04676 TC BANKCALL # AND GO
023128,000672: 34,2517 42432 CADR NEEDLER # DO IT
023129,000673: 34,2520 36211 CAF REVCNT # OCT 6
023130,000674: 34,2521 04676 TC BANKCALL # DELAY JOB
023131,000675: 34,2522 01732 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
023132,000676: 34,2523 11725 CCS SATSW # CHECK SW STATUS
023133,000677: 34,2524 02534 TC TAKEON # POS STEER INIT.
023134,000678: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
023135,000679: 34,2526 35033 CA BIT1 # NEG RETURN TO DISPLAY
023136,000680: 34,2527 55725 TS SATSW # SW = DISPLAY ONLY
023137,000681: 34,2530 45023 CS BIT9 # DISABLE
023138,000682: 34,2531 00006 EXTEND # SIVB
023139,000683: 34,2532 03012 WAND CHAN12 # TAKEOVER
023140,000684: 34,2533 02471 TC SATOUT # DISPLAY
023141,000685: 34,2534 35023 TAKEON CAF BIT9 # ENABLE
023142,000686: 34,2535 00006 EXTEND # SIVB
023143,000687: 34,2536 05012 WOR CHAN12 # TAKEOVER
023144,000688: 34,2537 35035 CA ZERO # INDICATE NEEDLER
023145,000689: 34,2540 55725 TS SATSW # WAS INITIALIZED
023146,000690: 34,2541 02471 TC SATOUT
023147,000691: 34,2542 51575 S11.1 VLOAD ABVAL
023148,000692: 34,2543 01177 VN
023149,000693: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023150,000694: 34,2545 01171 RN
023151,000695: 34,2546 50256 UNIT DOT
023152,000696: 34,2547 01177 VN
023153,000697: 34,2550 77752 SL1
023154,000698: 34,2551 17741 STODL HDOT
023155,000699: 34,2552 05152 RPAD
023156,000700: 34,2553 77214 BOF VLOAD
023157,000701: 34,2554 00355 AMOONFLG
023158,000702: 34,2555 70560 EARTHALT
023159,000703: 34,2556 02026 RLS
023160,000704: 34,2557 60446 ABVAL SR2
023161,000705: 34,2560 77621 EARTHALT BDSU
023162,000706: 34,2561 00045 36D
023163,000707: 34,2562 03737 STORE ALTI
023164,000708: 34,2563 77616 RVQ
023165,000709: 34,2564 31716 DELSTOR CA BOOSTEMP
023166,000710: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023167,000711: 34,2566 20154 MSU MPAC
023168,000712: 34,2567 50120 INDEX FIXLOC
023169,000713: 34,2570 54000 TS 0
023170,000714: 34,2571 31717 CA BOOSTEMP +1
023171,000715: 34,2572 00006 EXTEND
023172,000716: 34,2573 20155 MSU MPAC +1
023173,000717: 34,2574 50120 INDEX FIXLOC
023174,000718: 34,2575 54002 TS 2
023175,000719: 34,2576 31720 CA BOOSTEMP +2
023176,000720: 34,2577 00006 EXTEND
023177,000721: 34,2600 20156 MSU MPAC +2
023178,000722: 34,2601 50120 INDEX FIXLOC
023179,000723: 34,2602 54004 TS 4
023180,000724: 34,2603 16030 TCF DANZIG
023181,000725: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023182,000726: 34,2605 00006 EXTEND # IS COMPLETED
023183,000727: 34,2606 71701 MP SATRLRT +1
023184,000728: 34,2607 00006 EXTEND
023185,000729: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023186,000730: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
023187,000731: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023188,000732: 34,2613 52155 DXCH MPAC
023189,000733: 34,2614 06030 TC DANZIG
023190,000734: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
023191,000735: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
023192,000736: 34,2617 00001 0
023193,000737: 34,2620 76242 NOPOLYM
023194,000738: 34,2621 01673 COEFPOLY ADRES POLYLOC
023195,000739: 34,2622 01476 V06N62 VN 0662
023196,000740: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
023197,000741: 34,2624 71731 MP SATSCALE # NEW HARDWARE
023198,000742: 34,2625 20001 DDOUBL # SCALING FOR
023199,000743: 34,2626 20001 DDOUBL # STEERING
023200,000744: 34,2627 00002 TC Q # SATURN
023201,000745:
023202,000746: # SATURN TAKEOVER FUNCTION
023203,000747: # ************************
023204,000748: #
023205,000749: # PROGRAM DESCRIPTION
023206,000750:
023207,000751: # MOD NUMBER 1
023208,000752: # MOD BY ELIASSEN
023209,000753:
023210,000754: # FUNCTIONAL DESCRIPTION
023211,000755:
023212,000756: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023213,000757: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023214,000758: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023215,000759: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023216,000760: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
023217,000761: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023218,000762: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023219,000763: # SULTS IN A ZERO RATE COMMAND.
023220,000764:
023221,000765: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023222,000766: # OF THE RATE COMMAND.
023223,000767:
023224,000768: # CALLING SEQUENCE
023225,000769:
023226,000770: # DAPFIG +9D TC POSTJUMP
023227,000771: # CADR SATSTKON
023228,000772:
023229,000773: # SUBROUTINES CALLED
023230,000774:
023231,000775: # ENDEXT
023232,000776: # IBNKCALL
023233,000777: # STICKCHK
023234,000778: # NEEDLER
023235,000779: # T5RUPT
023236,000780: # RESUME
023237,000781:
023238,000782: # ASTRONAUT REQUESTS
023239,000783:
023240,000784: # ENTRY - VERB 46 ENTER
023241,000785: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023242,000786:
023243,000787: # EXIT - VERB 48 ENTER (FLASH V06N46)
023244,000788: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023245,000789: # VERB 34 ENTER
023246,000790: # VERB 46 ENTER
023247,000791:
023248,000792: # NORMAL EXIT MODE
023249,000793:
023250,000794: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
023251,000795:
023252,000796: # ALARM OR ABORT EXIT MODES
023253,000797:
023254,000798: # NONE
023255,000799:
023256,000800: # OUTPUT
023257,000801:
023258,000802: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023259,000803:
023260,000804: # ERASABLE INITIALIZATION
023261,000805:
023262,000806: # DAPDATR1 (BITS 13, 14 MUST BE SET)
023263,000807:
023264,000808: # DEBRIS
023265,000809:
023266,000810: # CENTRALS
023267,000811: # CDUXCMD, CDUYCMD, CDUZCMD
023268,000812:
023269,000813: 43,3225 BANK 43
023270,000814: 43,2000 SETLOC EXTVERBS
023271,000815: 43,2000 BANK
023272,000816:
023273,000817: 43,3225 COUNT 23/STTKE
023274,000818: 43,3225 00006 SATSTKON EXTEND
023275,000819: 43,3226 33243 DCA 2REDOSAT
023276,000820: 43,3227 00004 INHINT
023277,000821: 43,3230 53313 DXCH T5LOC
023278,000822: 43,3231 35013 CAF POSMAX
023279,000823: 43,3232 54030 TS TIME5
023280,000824: 43,3233 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
023281,000825: 43,3234 74105 MASK RELTAB11 # FLAGWRD6
023282,000826: 43,3235 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
023283,000827: 43,3236 04754 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
023284,000828: 43,3237 42644 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
023285,000829: 43,3240 00003 RELINT
023286,000830: 43,3241 02123 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
023287,000831:
023288,000832: 43,3242 E6,1704 EBANK= BODY3
023289,000833: 43,3242 02767 46106 2REDOSAT 2CADR REDOSAT
023290,000834:
023291,000835:
023292,000836: 43,3244 30,2000 SBANK= LOWSUPER
023293,000837: 32,2017 BANK 32
023294,000838: 23,2000 SETLOC P11FOUR
023295,000839: 23,2000 BANK
023296,000840:
023297,000841: 23,2767 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
023298,000842: 23,2770 00006 EXTEND
023299,000843: 23,2771 22012 QXCH QRUPT
023300,000844: 23,2772 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
023301,000845: 23,2773 75031 MASK BIT3 # FOR
023302,000846: 23,2774 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
023303,000847: 23,2775 04754 TC IBNKCALL
023304,000848: 23,2776 42432 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
023305,000849: 23,2777 35023 CAF BIT9 # SIVB
023306,000850: 23,3000 00006 EXTEND # TAKEOVER
023307,000851: 23,3001 05012 WOR CHAN12 # ENABLE
023308,000852: 23,3002 00006 EXTEND # SET UP T5 CYCLE
023309,000853: 23,3003 33044 DCA 2SATSTCK
023310,000854: 23,3004 53313 DXCH T5LOC
023311,000855: 23,3005 33042 CAF 100MST5 # IN 100 MSECS
023312,000856: 23,3006 54030 TS TIME5
023313,000857: 23,3007 15347 TCF RESUME # END OF SATURN STICK INITIALIZATION
023314,000858:
023315,000859: # THIS SECTION IS EXECUTED EVERY 100 MSECS
023316,000860: 23,3010 22016 SATSTICK LXCH BANKRUPT
023317,000861: 23,3011 00006 EXTEND
023318,000862: 23,3012 22012 QXCH QRUPT
023319,000863:
023320,000864: 23,3013 33043 CAF 2SATSTCK # SET UP RUPT
023321,000865: 23,3014 55312 TS T5LOC # LO ORDER LOC SET
023322,000866: 23,3015 33042 CAF 100MST5 # 100 MSECS
023323,000867: 23,3016 54030 TS TIME5
023324,000868: 23,3017 33041 CAF STIKBITS
023325,000869: 23,3020 00006 EXTEND
023326,000870: 23,3021 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
023327,000871: 23,3022 73041 MASK STIKBITS
023328,000872: 23,3023 04754 TC IBNKCALL # SET RATE INDICES
023329,000873: 23,3024 43142 CADR STICKCHK # FOR PITCH YAW AND ROLL
023330,000874:
023331,000875: 23,3025 51656 INDEX RMANNDX # SET SATURN RATES
023332,000876: 23,3026 31721 CA SATRATE
023333,000877: 23,3027 55476 TS AK # ROLL
023334,000878: 23,3030 51657 INDEX PMANNDX
023335,000879: 23,3031 31721 CA SATRATE
023336,000880: 23,3032 55477 TS AK1 # PITCH
023337,000881: 23,3033 51660 INDEX YMANNDX
023338,000882: 23,3034 31721 CA SATRATE
023339,000883: 23,3035 55500 TS AK2 # YAW
023340,000884:
023341,000885: 23,3036 04754 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
023342,000886: 23,3037 42432 CADR NEEDLER
023343,000887: 23,3040 15347 TCF RESUME # END OF SATURN STICK CONTROL
023344,000888:
023345,000889: 23,3041 00077 STIKBITS OCT 00077
023346,000890: 23,3042 37766 100MST5 DEC 16374 B-14
023347,000891: 23,3043 E6,1704 EBANK= BODY3
023348,000892: 23,3043 03010 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc