Source Code

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

The starting point was the source code of Comanche 44 (itself previously accurately reconstructed). Comanche 44 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 44 and 45. The now-reconstructed Comanche 45 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy; the source code would likely have different page numbers in a contemporary Comanche 45 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced in those annotations:
There is also a detailed commentary about the reconstruction process.

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

022770,000002:                                                                                                  ## Copyright:   Public domain.
022771,000003:                                                                                                  ## Filename:    P11.agc
022772,000004:                                                                                                  ## Purpose:     A section of Comanche revision 045.
022773,000005:                                                                                                  ##              It is part of the reconstructed source code for the
022774,000006:                                                                                                  ##              second release of the flight software for the Command
022775,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
022776,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
022777,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
022778,000010:                                                                                                  ##              exactly match those specified for Comanche 45 in NASA drawing
022779,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
022780,000012:                                                                                                  ##              reconstruction is correct.
022781,000013:                                                                                                  ## Assembler:   yaYUL
022782,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
022783,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
022784,000016:                                                                                                  ## Mod history: 2020-12-06 MAS  Created from Comanche 44.
022785,000017: 

Page 533

022787,000019: 
022788,000020:                                                                                                  #  EARTH ORBIT INSERTION MONITOR PROGRAM
022789,000021:                                                                                                  #  *************************************
022790,000022: 
022791,000023:                                                                                                  #  PROGRAM DESCRIPTION -P11-
022792,000024: 
022793,000025:                                                                                                  #        MOD NO. 1
022794,000026:                                                                                                  #        MOD BY ELIASSEN
022795,000027: 
022796,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
022797,000029: 
022798,000030:                                                                                                  #        P11 IS INITIATED BY
022799,000031: 
022800,000032:                                                                                                  #                A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
022801,000033:                                                                                                  #                B) BACKUP THRU VERB 75 ENTER
022802,000034: 
022803,000035:                                                                                                  #        PROGRAM WILL
022804,000036:                                                                                                  #                1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
022805,000037:                                                                                                  #                2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
022806,000038:                                                                                                  #                3. INITIATE SERVICER AT PREREAD1
022807,000039:                                                                                                  #                4. CHANGE MAJOR MODE TO 11
022808,000040:                                                                                                  #                5. CLEAR DSKY IN CASE OF V 75
022809,000041:                                                                                                  #                6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
022810,000042:                                                                                                  #                7. TERMINATE GYROCOMPASSING     -   -
022811,000043:                                                                                                  #                8. COMPUTE INITIAL VECTORS      RN, VN            -  -  -
022812,000044:                                                                                                  #                9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U  ARE
022813,000045:                                                                                                  #                        -        -                                 X  Y  Z
022814,000046:                                                                                                  #                        U =UNIT(-R)     LOCAL VERTICAL AT TIME OF LIFTOFF
022815,000047:                                                                                                  #                         Z     
022816,000048:                                                                                                  #                        -       -       -
022817,000049:                                                                                                  #                        U =UNIT(A),     A=HOR VECTOR AT LAUNCH AZIMUTH
022818,000050:                                                                                                  #                         X
022819,000051:                                                                                                  #                        -  -   -
022820,000052:                                                                                                  #                        U =U * U
022821,000053:                                                                                                  #                         U  Z   X
022822,000054:                                                                                                  #                10. SET REFSMMAT KNOWN FLAG
022823,000055:                                                                                                  #                11. SET AVGEXIT IN SERVICER TO VHHDOT TO
022824,000056:                                                                                                  #                    COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
022825,000057: 
022826,000058:                                                                                                  #                        R1      V1   - INTERTIAL VELOCITY MAGNITUDE IN FPS
022827,000059:                                                                                                  #                        R2      HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
022828,000060:                                                                                                  #                        R3      H    - VEHICLE ALTITUDE ABOVE PAD IN NM
022829,000061:                                                                                                  #                
022830,000062:                                                                                                  #                12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
022831,000063: 
022832,000064:                                                                                                  #                        A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
022833,000065:                                                                                                  #                           DESIRED ATTITUDE IS AS STORED AT L.O.
022834,000066:                                                                                                  #                        B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
022835,000067:                                                                                                  #                           DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
022836,000068:                                                                                                  #                           POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER

Page 534

022838,000070:                                                                                                  #                           THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
022839,000071:                                                                                                  #                           EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
022840,000072: 
022841,000073:                                                                                                  #  SUBROUTINES CALLED
022842,000074: 
022843,000075:                                                                                                  #        2PHSCHNG        BANKCALL        CALCGRA         CDUTRIG         CLEANDSP        DANZIG
022844,000076:                                                                                                  #        DELAYJOB        EARTHR          ENDOFJOB        FINDVAC         IBNKCALL
022845,000077:                                                                                                  #        INTPRET         LALOTORV        NEEDLER         NEWMODEX        PHASCHNG
022846,000078:                                                                                                  #        POSTJUMP        POWRSERS        PREREAD1        REGODSPR        S11.1
022847,000079:                                                                                                  #        SERVEXIT        TASKOVER        TCDANZIG        V1ST02S         WAITLIST
022848,000080: 
022849,000081:                                                                                                  #  ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
022850,000082: 
022851,000083:                                                                                                  #        DSKY -
022852,000084:                                                                                                  #                MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
022853,000085:                                                                                                  #                                                   R2 MINUTES
022854,000086: 
022855,000087:                                                                                                  #        DSKY -
022856,000088:                                                                                                  #                MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
022857,000089:                                                                                                  #                                   R2 PERIGEE ALTITUDE IN NAUTICAL MILES
022858,000090:                                                                                                  #                                   R3 TFF IN MINUTES/SECS
022859,000091: 
022860,000092:                                                                                                  #        IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
022861,000093:                                                                                                  #  HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
022862,000094:                                                                                                  #  NORMAL EXIT MODE
022863,000095: 
022864,000096:                                                                                                  #        ASTRONAUT       VERB 37 ENTER 00 ENTER
022865,000097: 
022866,000098:                                                                                                  #  ALARM MODES - NONE
022867,000099: 
022868,000100:                                                                                                  #  ABORT EXIT MODES -
022869,000101: 
022870,000102:                                                                                                  #  OUTPUT
022871,000103: 
022872,000104:                                                                                                  #        TLIFTOFF (DP)   TEPHEM (TP)
022873,000105:                                                                                                  #        REFSMMAT
022874,000106:                                                                                                  #        DSKY DISPLAY
022875,000107:                                                                                                  #        FDAI DISPLAY
022876,000108: 
022877,000109:                                                                                                  #  ERASABLE INITIALIZATION
022878,000110: 
022879,000111:                                                                                                  #        AZO, AXO, -AYO
022880,000112:                                                                                                  #        LATITUDE
022881,000113:                                                                                                  #        PADLONG
022882,000114:                                                                                                  #        TEPHEM
022883,000115:                                                                                                  #        PGNCSALT
022884,000116:                                                                                                  #        POLYNUM THRU POLYNUM +14D)
022885,000117:                                                                                                  #        RPSTART
022886,000118:                                                                                                  #        POLYSTOP
022887,000119:                                                                                                  #  FLAGS SET OR RESET

Page 535

022889,000121:                                                                                                  #        SET REFSMFLG
022890,000122:                                                                                                  #        SET DVMON IDLE FLAG
022891,000123:                                                                                                  #        CLEAR ERADFLAG
022892,000124: 
022893,000125:                                                                                                  #  DEBRIS
022894,000126: 
022895,000127:                                                                                                  #        LIFTTEMP
022896,000128:                                                                                                  #        POLYNUM THRU POLYNUM +7
022897,000129:                                                                                                  #        SPOLYARG
022898,000130:                                                                                                  #        BODY1, BODY2, BODY3
022899,000131:                                                                                                  #        VMAG2, ALTI, HDOT
022900,000132:                                                                                                  #        CENTRALS, CORE SET AND VAC AREAS
022901,000133: 
022902,000134: 04,3300                                           COUNT    34/P11                                
022903,000135: 
022904,000136: 04,3300     5035               BITS5-6            =        SUPER011                              
022905,000137: 42,3606                                           BANK     42                                    
022906,000138: 34,2000                                           SETLOC   P11ONE                                
022907,000139: 34,2000                                           BANK                                           
022908,000140: 
022909,000141: 34,2002  E3,1706                                  EBANK=   TEPHEM                                
022910,000142: 34,2002           35051        P11                CA       EBANK3                                
022911,000143: 34,2003           54003                           TS       EBANK                                 
022912,000144: 
022913,000145: 34,2004           00006                           EXTEND                                         
022914,000146: 34,2005           32277                           DCA      REP11S                                #  DIRECT RESTARTS TO REP11
022915,000147: 34,2006           52757                           DXCH     -PHASE3                               
022916,000148: 34,2007           45021                           CS       ZERO                                  
022917,000149: 34,2010           22007                           ZL                                             
022918,000150: 34,2011           55265                           TS       LIFTTEMP                              
022919,000151: 34,2012           52763                           DXCH     -PHASE5                               #  INACTIVE GROUP 5, PRELAUNCH PROTECTION
022920,000152: 34,2013           00006        P11+7              EXTEND                                         
022921,000153: 34,2014           32301                           DCA      REP11SA                               
022922,000154: 34,2015           53337                           DXCH     TLIFTOFF                              
022923,000155: 
022924,000156: 34,2016           00006                           EXTEND                                         
022925,000157: 34,2017           30025                           DCA      TIME2                                 
022926,000158: 34,2020           53266                           DXCH     LIFTTEMP                              #  FOR RESTARTS
022927,000159: 
022928,000160: 34,2021           35021                           CA       ZERO                                  
022929,000161: 34,2022           22007                           ZL                                             
022930,000162: 34,2023           52025                           DXCH     TIME2                                 
022931,000163: 34,2024           53337        REP11A-2           DXCH     TLIFTOFF                              
022932,000164: 34,2025           52757        REP11A-1           DXCH     -PHASE3                               #  RESET PHASE
022933,000165: 
022934,000166: 34,2026           00004        REP11A             INHINT                                         
022935,000167: 34,2027           00006                           EXTEND                                         
022936,000168: 34,2030           31710                           DCA      TEPHEM     +1                         
022937,000169: 34,2031           53271                           DXCH     TEPHEM1    +1                         
022938,000170: 34,2032           31706                           CA       TEPHEM                                

Page 536

022940,000172: 34,2033           57267                           XCH      TEPHEM1                               
022941,000173: 
022942,000174: 34,2034           00006                           EXTEND                                         
022943,000175: 34,2035           31337                           DCA      TLIFTOFF                              
022944,000176: 34,2036           21271                           DAS      TEPHEM1    +1                         
022945,000177: 34,2037           27267                           ADS      TEPHEM1                               #  CORRECTOFOR OVERFLOW
022946,000178: 
022947,000179: 34,2040           05412                           TC       PHASCHNG                              
022948,000180: 34,2041           05023                           OCT      05023                                 
022949,000181: 34,2042           22000                           OCT      22000                                 
022950,000182: 
022951,000183: 34,2043           00004                           INHINT                                         
022952,000184: 34,2044           00006                           EXTEND                                         
022953,000185: 34,2045           31270                           DCA      TEPHEM1                               
022954,000186: 34,2046           53707                           DXCH     TEPHEM                                
022955,000187: 34,2047           31271                           CA       TEPHEM1    +2                         
022956,000188: 34,2050           57710                           XCH      TEPHEM     +2                         
022957,000189: 
022958,000190: 34,2051           32000                           CAF      EBDVCNT                               
022959,000191: 34,2052           54003                           TS       EBANK                                 
022960,000192: 34,2053  E7,1431                                  EBANK=   DVCNTR                                
022961,000193: 34,2053           04740                           TC       IBNKCALL                              
022962,000194: 34,2054           76721                           CADR     PREREAD1                              #  ZERO PIPS AND INITIALIZE AVERAGEG
022963,000195: 
022964,000196: 34,2055           05412                           TC       PHASCHNG                              
022965,000197: 34,2056           05023                           OCT      05023                                 #  CONTINUE HERE ON RESTART
022966,000198: 34,2057           22000                           OCT      22000                                 
022967,000199: 
022968,000200: 34,2060           35036                           CAF      .5SEC                                 #  START ATT ERROR DISPLAY
022969,000201: 34,2061           05245                           TC       WAITLIST                              #  IN .5 SEC
022970,000202: 34,2062  E6,1704                                  EBANK=   BODY3                                 
022971,000203: 34,2062           02320 70066                     2CADR    ATERTASK                              
022972,000204: 
022973,000205: 34,2064           05354                           TC       NEWMODEX                              #  DISPLAY MM 11
022974,000206: 34,2065           00013                           MM       11         B-14                       
022975,000207: 
022976,000208: 34,2066           05546                           TC       UPFLAG                                
022977,000209: 34,2067           00022                           ADRES    NODOP01                               
022978,000210: 
022979,000211: 34,2070           36214                           CA       POWDNCOD                              #  SWITCH TO POWERED FLIGHT DOWNLIST
022980,000212: 34,2071           54332                           TS       DNLSTCOD                              
022981,000213: 
022982,000214: 34,2072           04662                           TC       BANKCALL                              
022983,000215: 34,2073           20703                           CADR     CLEANDSP                              #  CLEAR DSKY IN CASE OF V75
022984,000216: 
022985,000217: 34,2074           05372                           TC       2PHSCHNG                              
022986,000218: 34,2075           40514                           OCT      40514                                 #  PROTECT ATERTASK
022987,000219: 34,2076           00073                           OCT      00073                                 
022988,000220: 34,2077           32001                           CAF      EBQPLACE                              

Page 537

022990,000222: 34,2100           54003                           TS       EBANK                                 
022991,000223: 
022992,000224: 34,2101  E5,1426                                  EBANK=   QPLACES                               
022993,000225: 34,2101           32302                           CA       P11XIT                                #  SET EXIT FROM PROUT IN EARTHR
022994,000226: 34,2102           55426                           TS       QPLACES                               
022995,000227: 34,2103           22007                           ZL                                             #  STORE DP GIMBAL
022996,000228: 34,2104           30032                           CA       CDUX                                  #  ANGLES FOR ATTITUDE
022997,000229: 34,2105           53760                           DXCH     OGC                                   #  ERROR DISPLAY
022998,000230: 34,2106           22007                           ZL                                             #  AFTER L.O.
022999,000231: 34,2107           30033                           CA       CDUY                                  
023000,000232: 34,2110           53762                           DXCH     IGC                                   
023001,000233: 34,2111           22007                           ZL                                             
023002,000234: 34,2112           30034                           CA       CDUZ                                  
023003,000235: 34,2113           53764                           DXCH     MGC                                   
023004,000236: 34,2114           06006                           TC       INTPRET                               #        -
023005,000237: 34,2115           74575                           VLOAD    VSR1                                  #  SCALE OGC B-1
023006,000238: 34,2116           02760                                    OGC                                   
023007,000239: 34,2117           02760                           STORE    OGC                                   
023008,000240: 34,2120           64375                           VLOAD    MXV                                   
023009,000241: 34,2121           02467                                    THETAN                                
023010,000242: 34,2122           02672                                    XSM                                   
023011,000243: 34,2123           53372                           VSL1     VAD                                   
023012,000244: 34,2124           02650                                    ERCOMP                                
023013,000245: 34,2125           16650                           STODL    ERCOMP                                
023014,000246: 34,2126           01337                                    TLIFTOFF                              
023015,000247: 34,2127           52131                           SSP      GOTO                                  
023016,000248: 34,2130           00052                                    S2                                    
023017,000249: 34,2131           66424                           CADR     PROUT                                 #  RETURN FROM EARTHR
023018,000250: 34,2132           66373                                    EARTHR     +3                         
023019,000251: 34,2133           06006        MATRXJOB           TC       INTPRET                               
023020,000252: 34,2134           77731                           SSP                                            #  ZERO RTX2
023021,000253: 34,2135           03747                                    RTX2                                  #  FOR
023022,000254: 34,2136           00000                                    0                                     #  EARTH
023023,000255: 34,2137           65345                           DLOAD    PDDL                                  
023024,000256: 34,2140           01273                                    PGNCSALT                              #  ALTITUDE OF PGNCS
023025,000257: 34,2141           01264                                    PADLONG                               #  LONGITUDE
023026,000258: 34,2142           55525                           PDDL     VDEF                                  
023027,000259: 34,2143           02403                                    LATITUDE                              #  GEODETIC LATITUDE
023028,000260: 34,2144           15104                           STODL    LAT                                   #  LAT,LONG,ALT ARE CONSECUTIVE
023029,000261: 34,2145           15335                                    HI6ZEROS                              #  TIME = 0
023030,000262: 34,2146           45014                           CLEAR    CALL                                  
023031,000263: 34,2147           00662                                    ERADFLAG                              
023032,000264: 34,2150           26441                                    LALOTORV                              #  CONVERT TO POSITION VECTOR IN REF.COORDS
023033,000265: 
023034,000266: 34,2151           35232                           STCALL   RN1                                   #               -   
023035,000267: 34,2152           70334                                    GETDOWN                               #  RETURN WITH VECTOR FOR DOWN DIRECTION
023036,000268: 34,2153           53476                           VCOMP    UNIT                                  
023037,000269: 34,2154           25752                           STOVL    REFSMMAT   +12D                       #  UNITZ = UNIT(GRAV)
023038,000270: 34,2155           01232                                    RN1                                   
023039,000271: 34,2156           74235                           VXV      VXSC                                  

Page 538

023041,000273: 34,2157           01714                                    UNITW                                 #  SCALED AT 1
023042,000274: 34,2160           30304                                    -ERTHRAT                              #  V = EARTHRATE X R
023043,000275: 34,2161           77712                           VSL4                                           #  SCALE TO 2(7) M/CS
023044,000276: 34,2162           25240                           STOVL    VN1                                   
023045,000277: 34,2163           01752                                    REFSMMAT   +12D                       
023046,000278: 34,2164           53435                           VXV      UNIT                                  
023047,000279: 34,2165           01714                                    UNITW                                 #  (REF3 X UNITW) = EAST
023048,000280: 34,2166           47206                           PUSH     VXV                                   
023049,000281: 34,2167           01752                                    REFSMMAT   +12D                       #  (EAST X REF3) = -SOUTH
023050,000282: 34,2170           65256                           UNIT     PDDL                                  
023051,000283: 34,2171           02634                                    LAUNCHAZ                              #  COS(AZ)*SOUTH
023052,000284: 34,2172           74346                           COS      VXSC                                  
023053,000285: 34,2173           77626                           STADR                                          
023054,000286: 34,2174           62041                           STODL    REFSMMAT                              #  TEMPORARY STORAGE
023055,000287: 34,2175           02634                                    LAUNCHAZ                              
023056,000288: 34,2176           74356                           SIN      VXSC                                  #  SIN(AZ)*EAST
023057,000289: 34,2177           53455                           VAD      UNIT                                  #  SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023058,000290: 34,2200           01736                                    REFSMMAT                              
023059,000291: 34,2201           01736                           STORE    REFSMMAT                              
023060,000292: 
023061,000293: 34,2202           53435                           VXV      UNIT                                  #  (REF1 X REF3) = -REF3
023062,000294: 34,2203           01752                                    REFSMMAT   +12D                       
023063,000295: 34,2204           77676                           VCOMP                                          
023064,000296: 34,2205           01744                           STORE    REFSMMAT   +6                         
023065,000297: 34,2206           45345                           DLOAD    DSU                                   
023066,000298: 34,2207           15333                                    DPHALF                                #  1/2 REV
023067,000299: 34,2210           02634                                    LAUNCHAZ                              
023068,000300: 34,2211           65215                           DAD      PDDL                                  
023069,000301: 
023070,000302: 34,2212           02401                                    AZIMUTH                               
023071,000303: 34,2213           03301                                    SATRLRT                               #  SET SATRLRT = -SATRLRT IF
023072,000304: 34,2214           45565                           SIGN     STADR                                 #  (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023073,000305: 34,2215           74476                           STORE    SATRLRT                               #  FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023074,000306: 34,2216           77414                           SET      EXIT                                  
023075,000307: 34,2217           01462                                    REFSMFLG                              #  SET REFSMMAT KNOWN FLAG
023076,000308: 
023077,000309: 34,2220           05412                           TC       PHASCHNG                              
023078,000310: 34,2221           04023                           OCT      04023                                 
023079,000311: 
023080,000312: 34,2222           00006                           EXTEND                                         
023081,000313: 34,2223           32306                           DCA      P11SCADR                              
023082,000314: 34,2224           53223                           DXCH     AVGEXIT                               #  SET AVGEXIT
023083,000315: 
023084,000316: 34,2225           37665                           CA       PRIO31                                #  2 SECONDS AT 2(+8)
023085,000317: 34,2226           55074                           TS       1/PIPADT                              
023086,000318: 
023087,000319: 34,2227  E6,1501                                  EBANK=   RCSFLAGS                              
023088,000320: 34,2227           35057                           CA       EBANK6                                
023089,000321: 34,2230           54003                           TS       EBANK                                 
023090,000322: 
023091,000323: 34,2231           00004                           INHINT                                         

Page 539

023093,000325: 34,2232           45021                           CS       ZERO                                  
023094,000326: 34,2233           55063                           TS       TBASE5                                #  RESTART READACCS 2 SECONDS AFTER LIFTOFF
023095,000327: 
023096,000328: 34,2234           40025                           CS       TIME1                                 
023097,000329: 34,2235           65042                           AD       2SECS                                 #  DO READACCS 2 SECONDS AFTER LIFTOFF
023098,000330: 
023099,000331: 34,2236           10000                           CCS      A                                     #  CHECK TO INSURE DT IS POSITIVE
023100,000332: 34,2237           12242                           TCF      +3                                    #  TIME POSITIVE
023101,000333: 34,2240           12242                           TCF      +2                                    #  CANNOT GET HERE
023102,000334: 34,2241           35021                           CA       ZERO                                  #  TIME NEGATIVE - SET TO 1
023103,000335: 34,2242           65017                           AD       ONE                                   #  RESTORE TIME  -  OR MAKE POSITIVE
023104,000336: 
023105,000337: 34,2243           05245                           TC       WAITLIST                              
023106,000338: 34,2244  E6,1661                                  EBANK=   AOG                                   
023107,000339: 34,2244           02743 76066                     2CADR    READACCS                              
023108,000340: 
023109,000341: 34,2246           05372                           TC       2PHSCHNG                              
023110,000342: 34,2247           00003                           OCT      00003                                 #  TURN OFF GROUP 3
023111,000343: 34,2250           00025                           OCT      00025                                 #  PROTECT NORMLIZE AND READACCS
023112,000344: 
023113,000345: 34,2251           04701                           TC       POSTJUMP                              
023114,000346: 34,2252           77235                           CADR     NORMLIZE                              #  DO NORMLIZE AND ENDOFJOB
023115,000347: 
023116,000348: 
023117,000349: 34,2253  E3,1706                                  EBANK=   TEPHEM                                
023118,000350: 34,2253           00004        REP11              INHINT                                         
023119,000351: 34,2254           10763                           CCS      PHASE5                                
023120,000352: 34,2255           05217                           TC       ENDOFJOB                              
023121,000353: 
023122,000354: 34,2256           11265                           CCS      LIFTTEMP                              
023123,000355: 34,2257           12263                           TCF      +4                                    
023124,000356: 34,2260           12263                           TCF      +3                                    
023125,000357: 34,2261           12263                           TCF      +2                                    
023126,000358: 34,2262           12013                           TCF      P11+7                                 
023127,000359: 
023128,000360: 34,2263           41336                           CS       TLIFTOFF                              
023129,000361: 34,2264           00006                           EXTEND                                         
023130,000362: 34,2265           62273                           BZMF     ENDREP11                              
023131,000363: 
023132,000364: 34,2266           10024                           CCS      TIME2                                 #  ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023133,000365: 34,2267           12021                           TCF      REP11A     -5                         #  T2,T1 NOT YET ZEROED, GO AND DO IT
023134,000366: 
023135,000367: 34,2270           00006                           EXTEND                                         #  T2,T1 ZEROED, SET TLIFTOFF
023136,000368: 34,2271           31266                           DCA      LIFTTEMP                              
023137,000369: 34,2272           12024                           TCF      REP11A-2                              
023138,000370: 
023139,000371: 34,2273           00006        ENDREP11           EXTEND                                         
023140,000372: 34,2274           32301                           DCA      REP11SA                               
023141,000373: 34,2275           12025                           TCF      REP11A-1                              

Page 540

023143,000375: 34,2276           77766 00011  REP11S             2OCT     7776600011                            
023144,000376: 
023145,000377: 34,2300           77764 00013  REP11SA            2OCT     7776400013                            
023146,000378: 
023147,000379: 34,2302           02451        P11XIT             GENADR   P11OUT                                
023148,000380: 34,2303           71704 41735  -ERTHRAT           2DEC*    -7.292115138 E-7        B18*            #  - EARTH RATE AT 2(18)
023149,000381: 
023150,000382: 34,2305  E6,1704                                  EBANK=   BODY3                                 
023151,000383: 34,2305           02307 70066  P11SCADR           2CADR    VHHDOT                                
023152,000384: 
023153,000385: 34,2307     6214               POWDNCOD           EQUALS   THREE                                 
023154,000386: 
023155,000387: 34,2307  E6,1704                                  EBANK=   BODY3                                 
023156,000388:                                                                                                  #  VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023157,000389:                                                                                                  #        VI      INERTIAL VELOCITY MAGNITUDE
023158,000390:                                                                                                  #        HDOT    RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023159,000391:                                                                                                  #        H       ALTITUDE ABOVE L PAD RADIUS
023160,000392: 
023161,000393: 34,2307           06006        VHHDOT             TC       INTPRET                               
023162,000394: 34,2310           77624                           CALL                                           #  LOAD VMAGI, ALTI,
023163,000395: 34,2311           70542                                    S11.1                                 #  HDOT FOR DISPLAY
023164,000396: 34,2312           77776                           EXIT                                           
023165,000397: 34,2313           05412                           TC       PHASCHNG                              
023166,000398: 34,2314           00035                           OCT      00035                                 
023167,000399: 
023168,000400: 34,2315           32622                           CAF      V06N62                                #  DISPLAY IN R1 R2   R3
023169,000401: 34,2316           04662                           TC       BANKCALL                              #             VI HDOT H
023170,000402: 34,2317           20707                           CADR     REGODSP                               
023171,000403: 
023172,000404: 34,2320           35006        ATERTASK           CAF      PRIO1                                 #  ESTABLISH JOB TO DISPLAY ATT ERRORS
023173,000405: 34,2321           05147                           TC       FINDVAC                               #  COMES HERE AT L.O. + .33 SEC
023174,000406: 34,2322  E6,1704                                  EBANK=   BODY3                                 
023175,000407: 34,2322           02345 70066                     2CADR    ATERJOB                               
023176,000408: 
023177,000409: 34,2324           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR
023178,000410: 34,2325           75015                           MASK     BIT3                                  #  NEEDLER
023179,000411: 34,2326           27501                           ADS      RCSFLAGS                              #  INITIALIZATION PASS
023180,000412: 34,2327           04740                           TC       IBNKCALL                              #  AND GO
023181,000413: 34,2330           42420                           CADR     NEEDLER                               #  DO IT
023182,000414: 34,2331           35017                           CA       BIT1                                  #  SET SW
023183,000415: 34,2332           55725                           TS       SATSW                                 #  FOR DISPLAY
023184,000416: 34,2333           05324                           TC       TASKOVER                              
023185,000417: 34,2334           40220        GETDOWN            STQ      SETPD                                 
023186,000418: 34,2335           02242                                    INCORPEX                              
023187,000419: 34,2336           00001                                    0D                                    
023188,000420: 34,2337           77745                           DLOAD                                          
023189,000421: 34,2340           15335                                    HI6ZEROS                              

Page 541

023191,000423: 34,2341           14007                           STODL    6D                                    
023192,000424: 34,2342           15333                                    DPHALF                                
023193,000425: 34,2343           34011                           STCALL   8D                                    
023194,000426: 34,2344           26446                                    LALOTORV   +5                         
023195,000427:                                                                                                  #  THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023196,000428: 
023197,000429:                                                                                                  #        COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023198,000430:                                                                                                  #                          2    3    4    5    6
023199,000431:                                                                                                  #        PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023200,000432:                                                                                                  #                SCALED TO 32 REVS.                                   -14
023201,000433:                                                                                                  #        IF TL = TIME IN SECS FROM L.O., THEN    T = 100(TL-RPSTART)2
023202,000434:                                                                                                  #        WHERE   TL GE RPSTART
023203,000435:                                                                                                  #                TL LE (-POLYSTOP + RPSTART)
023204,000436:                                                                                                  #        COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023205,000437:                                                                                                  #        LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023206,000438:                                                                                                  #        ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T    IN REV
023207,000439:                                                                                                  #        SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023208,000440:                                                                                                  #        T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023209,000441: 
023210,000442:                                                                                                  #        FOR SIMPLICITY, LET     P = 2*PI*PITCH
023211,000443:                                                                                                  #                                R = 2*PI*ROLL
023212,000444: 
023213,000445:                                                                                                  #        CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023214,000446:                                                                                                  #        TERMS OF SM COORDINATES.  LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023215,000447:                                                                                                  #        YDC, AND ZDC.
023216,000448: 
023217,000449:                                                                                                  #         *     (    SIN(P)                 0               -COS(P)    )   (XDC)
023218,000450:                                                                                                  #        TSMV = (-SIN(R)*COS(P)          -COS(R)         -SIN(R)*SIN(P)) = (YDC)
023219,000451:                                                                                                  #               (-COS(R)*COS(P)           SIN(R)         -COS(R)*SIN(P))   (ZDC)
023220,000452: 
023221,000453:                                                                                                  #        XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE 
023222,000454:                                                                                                  #        EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023223,000455:                                                                                                  #        ORIENTATION.  THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023224,000456:                                                                                                  #        AS THE DESIRED CDU ANGLES.
023225,000457: 
023226,000458:                                                                                                  #        (XDC)                   (OGC)
023227,000459:                                                                                                  #        (YDC) ---) CALCGTA ---) (IGC)
023228,000460:                                                                                                  #        (ZDC)                   (MGC)
023229,000461:                                                                                                  #                           -
023230,000462:                                                                                                  #        DEFINE THE VECTOR DELTACDU.
023231,000463: 
023232,000464:                                                                                                  #         -         (OGC)   (CDUX)
023233,000465:                                                                                                  #        DELTACDU = (IGC) - (CDUY)
023234,000466:                                                                                                  #                   (MGC)   (CDUZ)
023235,000467:                                                                                                  #                                 -              -    *    -
023236,000468:                                                                                                  #        COMPUTE ATTITUDE ERRORS, A, WHERE       A = TGSC*DELTACDU
023237,000469: 
023238,000470:                                                                                                  #         *     (1             SIN(CDUZ)             0    )   THE GIMBAL ANGLES

Page 542

023240,000472:                                                                                                  #        TGSC = (0       COS(CDUX)*COS(CDUZ)     SIN(CDUX)) = TO SPACECRAFT AXES
023241,000473:                                                                                                  #               (0      -SIN(CDUX)*COS(CDUZ)     COS(CDUX))   CONVERSION MATRIX
023242,000474:                                                                                                  #                             -
023243,000475:                                                                                                  #        THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023244,000476:                                                                                                  #        THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023245,000477:                                                                                                  #        ERROR DISPLAY ROUTINE.
023246,000478: 
023247,000479: 34,2345           30102        ATERJOB            CAE      FLAGWRD6                              #  CHECK FLAGWRD6
023248,000480: 34,2346           74105                           MASK     OCT60000                              #  BITS 14, 15
023249,000481: 34,2347           00006                           EXTEND                                         
023250,000482: 34,2350           12352                           BZF      +2                                    #  OK - CONTINUE
023251,000483: 34,2351           05217                           TC       ENDOFJOB                              #  SATURN STICK ON - KILL JOB
023252,000484: 34,2352           35006                           CAF      BIT10                                 #  CHECK IF S/C CONTROL
023253,000485: 34,2353           00006                           EXTEND                                         #  OF SATURN PANEL
023254,000486: 34,2354           02030                           RAND     CHAN30                                #  SWITCH IS ON
023255,000487: 34,2355           00006                           EXTEND                                         
023256,000488: 34,2356           12510                           BZF      STRSAT                                #  IT IS - GO STEER
023257,000489: 34,2357           11725                           CCS      SATSW                                 #  IT IS NOT - WAS IT ON LAST CYCLE
023258,000490: 34,2360           02363                           TC       ATTDISP                               #  NO - CONTINUE
023259,000491: 34,2361           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023260,000492: 34,2362           02513                           TC       ATRESET                               #  YES - REINITIALIZE NEEDLER
023261,000493: 34,2363           41702        ATTDISP            CS       RPSTART                               #  PITCH/ROLL START TIME
023262,000494: 34,2364           60025                           AD       TIME1                                 
023263,000495: 34,2365           00006                           EXTEND                                         
023264,000496: 34,2366           62615                           BZMF     NOPOLY                                #  IF MINUS THEN ATTITUDE HOLD
023265,000497: 34,2367           54154                           TS       MPAC                                  #  MPAC = TIME1 - RPSTART
023266,000498: 34,2370           55707                           TS       SPOLYARG                              #  SAVE FOR USE IN ROLL CALUCLATION
023267,000499: 34,2371           61703                           AD       POLYSTOP                              #  NEG PITCHOVER TIME IN CSECS
023268,000500: 34,2372           00006                           EXTEND                                         
023269,000501: 34,2373           62375                           BZMF     +2                                    
023270,000502: 34,2374           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD
023271,000503: 34,2375           30024                           CA       TIME2                                 
023272,000504: 34,2376           00006                           EXTEND                                         
023273,000505: 34,2377           62401                           BZMF     +2                                    
023274,000506: 34,2400           02615                           TC       NOPOLY                                #  GO TO ATTITUDE HOLD      
023275,000507: 34,2401           31661                           CAE      POLYNUM                               
023276,000508: 34,2402           54001                           TS       L                                     
023277,000509: 34,2403           32621                           CAF      COEFPOLY                              #  EVALUATE PITCH POLYNOMIAL
023278,000510: 34,2404           07164                           TC       POWRSERS                              #  SCALED TO 32 REVOLUTIONS
023279,000511: 34,2405           35021                           CA       ZERO                                  #  RETURN WITH PITCH(32REV)
023280,000512: 34,2406           54163                           TS       MODE                                  #  STORED IN MPAC, MPAC +1
023281,000513: 34,2407           06006                           TC       INTPRET                               
023282,000514: 34,2410           54201                           SETPD    SL                                    #  32(PITCH(32REV)) = PITCH(REV)
023283,000515: 34,2411           00001                                    0                                     
023284,000516: 34,2412           20206                                    5                                     
023285,000517: 34,2413           77606                           PUSH                                           #  LET P(RAD) = 2.PI.PITCH(REV)
023286,000518: 34,2414           77650                           GOTO                                           
023287,000519: 34,2415           76154                                    ATTDISP1                              #  AROUND SETLOC

Page 543

023289,000521:                                                                                                  #                                     *
023290,000522:                                                                                                  #        CONSTRUCT SM TO S/C MATRIX, TSMV
023291,000523: 
023292,000524: 37,2000                                           SETLOC   P11TWO                                
023293,000525: 37,2000                                           BANK                                           #  36 IN COL., 34 IN DISK
023294,000526: 
023295,000527: 37,2154                                           COUNT    36/P11                                
023296,000528: 
023297,000529: 37,2154           57546        ATTDISP1           COS      DCOMP                                 
023298,000530: 37,2155           14017                           STODL    14D                                   #  -.5*COS(P)
023299,000531: 37,2156           77756                           SIN                                            
023300,000532: 37,2157           14013                           STODL    10D                                   #  .5*SIN(P)
023301,000533: 37,2160           15335                                    ZEROVECS                              
023302,000534: 37,2161           00015                           STORE    12D                                   #  0
023303,000535: 
023304,000536:                                                                                                  #        EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023305,000537: 37,2162           41335                           SLOAD    DMP                                   
023306,000538: 37,2163           03310                                    SPOLYARG                              #  TIME1 - RPSTART, CSECS B-14.
023307,000539: 37,2164           03301                                    SATRLRT                               
023308,000540: 37,2165           45261                           SL       DSU                                   
023309,000541: 37,2166           20217                                    14D                                   
023310,000542: 37,2167           15333                                    DPHALF                                
023311,000543: 37,2170           45215                           DAD      DSU                                   #  ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023312,000544: 37,2171           02634                                    LAUNCHAZ                              #  LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023313,000545: 37,2172           02401                                    AZIMUTH                               #  AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023314,000546: 37,2173           77634                           RTB                                            #  DETERMINE IF ROLLOUT
023315,000547: 37,2174           70604                                    RLTST                                 #  IS COMPLETED
023316,000548: 37,2175           71406        ATTDISPR           PUSH     COS                                   #  CONTINUE COMPUTING TSMV
023317,000549: 37,2176           77606                           PUSH                                           #  LET R(RAD) = 2*PI*ROLL(REV)
023318,000550: 37,2177           72405                           DMP      SL1                                   
023319,000551: 37,2200           00017                                    14D                                   
023320,000552: 37,2201           14027                           STODL    22D                                   #  -.5*COS(R)*COS(P)
023321,000553: 37,2202           77676                           DCOMP                                          
023322,000554: 37,2203           00023                           STORE    18D                                   #  -.5*COS(R)
023323,000555: 37,2204           72405                           DMP      SL1                                   
023324,000556: 37,2205           00013                                    10D                                   
023325,000557: 37,2206           14033                           STODL    26D                                   #  -.5*COS(R)*SIN(P)
023326,000558: 37,2207           41556                           SIN      PUSH                                  
023327,000559: 37,2210           00031                           STORE    24D                                   #  .5*SIN(R)
023328,000560: 37,2211           72405                           DMP      SL1                                   
023329,000561: 37,2212           00017                                    14D                                   
023330,000562: 37,2213           14021                           STODL    16D                                   #  -.5*SIN(R)*COS(P)
023331,000563: 37,2214           77676                           DCOMP                                          
023332,000564: 37,2215           72405                           DMP      SL1                                   
023333,000565: 37,2216           00013                                    10D                                   
023334,000566: 37,2217           24025                           STOVL    20D                                   #  -.5*SIN(R)*SIN(P)
023335,000567: 37,2220           00013                                    10D                                   
023336,000568: 
023337,000569:                                                                                                  #        FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA

Page 544

023339,000571: 37,2221           77656                           UNIT                                           
023340,000572: 37,2222           26714                           STOVL    XDC                                   #  XDC = .5*UNIT(SIN(P),0,-COS(P))
023341,000573: 37,2223           00021                                    16D                                   
023342,000574: 37,2224           77656                           UNIT                                           
023343,000575: 37,2225           26722                           STOVL    YDC                                   #  YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023344,000576: 37,2226           00027                                    22D                                   #                        -SIN(R)*SIN(P))
023345,000577: 37,2227           77656                           UNIT                                           
023346,000578: 37,2230           36730                           STCALL   ZDC                                   #  ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023347,000579: 37,2231           47205                                    CALCGTA                               #                        -COS(R)*SIN(P))
023348,000580: 
023349,000581:                                                                                                  #        CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION  OGC,IGC, AND MGC
023350,000582:                                                                                                  #                                 -          -   -
023351,000583:                                                                                                  #        FIND DIFFERENCE VECTOR  DELTACDU = OGC-CDUX
023352,000584:                                                                                                  #   
023353,000585:                                                                                                  #        ENTER HERE IF ATTITUDE HOLD
023354,000586: 
023355,000587: 37,2232           41575        NOPOLYM            VLOAD    PUSH                                  #         OGC      IGC
023356,000588: 37,2233           02760                                    OGC                                   #  CHANGE IGC  TO  MGC FOR COMPATIBILITY
023357,000589: 37,2234           45006                           PUSH     CALL                                  #         MGC      OGC
023358,000590: 37,2235           47477                                    CDUTRIG                               #  WITH Y,Z,X ORDER OF CDUSPOT
023359,000591: 37,2236           47175                           VLOAD    RTB                                   #   -         DPHI     OGC-CDUX , PD4
023360,000592: 37,2237           00003                                    2                                     #  DELTACDU = DTHETA = IGC-CDUY , 0
023361,000593: 37,2240           45552                                    V1STO2S                               #             DPSI     MGC-CDUZ , 2
023362,000594: 37,2241           27317                           STOVL    BOOSTEMP                              
023363,000595: 37,2242           15335                                    ZEROVECS                              
023364,000596: 37,2243           24001                           STOVL    0                                     
023365,000597: 37,2244           00767                                    CDUSPOT                               
023366,000598: 37,2245           47034                           RTB      RTB                                   
023367,000599: 37,2246           45552                                    V1STO2S                               
023368,000600: 37,2247           70564                                    DELSTOR                               
023369,000601: 37,2250           14013                           STODL    10D                                   
023370,000602: 37,2251           00741                                    SINCDUZ                               
023371,000603: 37,2252           72405                           DMP      SL1                                   
023372,000604: 37,2253           00001                                    0                                     
023373,000605: 37,2254           60415                           DAD      SR2                                   #  CHANGE SCALE OF AK TO 2REVS
023374,000606: 37,2255           00005                                    4                                     
023375,000607: 37,2256           77650                           GOTO                                           
023376,000608: 37,2257           70416                                    ATTDISP2                              
023377,000609: 
023378,000610: 34,2000                                           SETLOC   P11ONE                                
023379,000611: 34,2000                                           BANK                                           
023380,000612: 34,2416                                           COUNT    34/P11                                
023381,000613: 
023382,000614: 34,2416           14021        ATTDISP2           STODL    16D                                   #  16D, .5(DPHI + DTHETA*SIN(CDUZ))
023383,000615: 34,2417           00747                                    COSCDUZ                               
023384,000616: 34,2420           41405                           DMP      PUSH                                  
023385,000617: 34,2421           00001                                    0                                     
023386,000618: 34,2422           72405                           DMP      SL1                                   
023387,000619: 34,2423           00751                                    COSCDUX                               
023388,000620: 34,2424           41325                           PDDL     DMP                                   

Page 545

023390,000622: 34,2425           00743                                    SINCDUX                               
023391,000623: 34,2426           00003                                    2                                     
023392,000624: 34,2427           72415                           DAD      SL1                                   
023393,000625: 34,2430           77626                           STADR                                          
023394,000626: 34,2431           63755                           STODL    17D                                   #  17D,  .5(DTHETA*COS(CDUX)*COS(CDUZ)
023395,000627: 34,2432           72405                           DMP      SL1                                   #                        +DPSI*SIN(CDUX))
023396,000628: 34,2433           00743                                    SINCDUX                               
023397,000629: 34,2434           41325                           PDDL     DMP                                   
023398,000630: 34,2435           00751                                    COSCDUX                               
023399,000631: 34,2436           00003                                    2                                     
023400,000632: 34,2437           72425                           DSU      SL1                                   
023401,000633: 34,2440           77626                           STADR                                          
023402,000634: 34,2441           77754                           STORE    18D                                   #  18D,  .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023403,000635: 34,2442           77751                           TLOAD                                          #                        +DPSI*COS(CDUX))
023404,000636: 34,2443           00021                                    16D                                   
023405,000637: 34,2444           03077                           STORE    AK                                    #  STORE ATTITUDE ERRORS IN AK,AK1,AK2
023406,000638: 34,2445           77776                           EXIT                                           
023407,000639: 
023408,000640: 34,2446           31725                           CA       SATSW                                 
023409,000641: 34,2447           10000                           CCS      A                                     #  CHK TAKEOVER STATUS
023410,000642: 34,2450           02471                           TC       SATOUT                                #  POS - DISPLAY ONLY
023411,000643: 34,2451           02477                           TC       AKLOAD                                #  0     STORE BIAS
023412,000644: 34,2452           06006        STEERSAT           TC       INTPRET                               #  NEG   STEER L/V
023413,000645: 34,2453           76351                           TLOAD    TAD                                   
023414,000646: 34,2454           03327                                    BIASAK                                
023415,000647: 34,2455           03077                                    AK                                    
023416,000648: 34,2456           03077                           STORE    AK                                    #  AKS = AKS - STORED BIAS
023417,000649: 34,2457           77776                           EXIT                                           
023418,000650: 34,2460           31476                           CA       AK                                    
023419,000651: 34,2461           02623                           TC       RESCALES                              
023420,000652: 34,2462           55476                           TS       AK                                    
023421,000653: 34,2463           31477                           CA       AK1                                   
023422,000654: 34,2464           02623                           TC       RESCALES                              
023423,000655: 34,2465           55477                           TS       AK1                                   
023424,000656: 34,2466           31500                           CA       AK2                                   
023425,000657: 34,2467           02623                           TC       RESCALES                              
023426,000658: 34,2470           55500                           TS       AK2                                   
023427,000659:                                                                                                  #        DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023428,000660: 
023429,000661: 34,2471           04662        SATOUT             TC       BANKCALL                              
023430,000662: 34,2472           42420                           CADR     NEEDLER                               
023431,000663: 34,2473           34113        ATERSET            CAF      OCT31                                 #  DELAY .25 SEC
023432,000664: 34,2474           04662                           TC       BANKCALL                              #  EXECUTION + DELAY = .56SEC APPROX
023433,000665: 34,2475           01732                           CADR     DELAYJOB                              
023434,000666: 34,2476           02345                           TC       ATERJOB                               #  END OF ATT ERROR DISPLAY CYCLE
023435,000667: 
023436,000668: 34,2477           41476        AKLOAD             CS       AK                                    #  STORE AKS
023437,000669: 34,2500           55726                           TS       BIASAK                                #  INTO BIAS
023438,000670: 34,2501           41477                           CS       AK1                                   #  COMPLEMENTED
023439,000671: 34,2502           55727                           TS       BIASAK     +1                         

Page 546

023441,000673: 34,2503           41500                           CS       AK2                                   
023442,000674: 34,2504           55730                           TS       BIASAK     +2                         
023443,000675: 34,2505           45017                           CS       BIT1                                  #  SET SW
023444,000676: 34,2506           55725                           TS       SATSW                                 #  TO STEER
023445,000677: 34,2507           02452                           TC       STEERSAT                              #  GO STEER
023446,000678: 34,2510           31725        STRSAT             CA       SATSW                                 #  CHECK IF NEEDLER
023447,000679: 34,2511           00006                           EXTEND                                         #  HAS BEEN INITIALIZED
023448,000680: 34,2512           62363                           BZMF     ATTDISP                               #  YES - CONTINUE
023449,000681: 34,2513           41501        ATRESET            CS       RCSFLAGS                              #  NO - SET
023450,000682: 34,2514           75015                           MASK     BIT3                                  #  INITIALIZATION SW
023451,000683: 34,2515           27501                           ADS      RCSFLAGS                              #  FOR NEEDLER
023452,000684: 34,2516           04662                           TC       BANKCALL                              #  AND GO
023453,000685: 34,2517           42420                           CADR     NEEDLER                               #  DO IT
023454,000686: 34,2520           36211                           CAF      REVCNT                                #  OCT 6
023455,000687: 34,2521           04662                           TC       BANKCALL                              #  DELAY JOB
023456,000688: 34,2522           01732                           CADR     DELAYJOB                              #  60 MS -WAIT TILL IMUERRCNTR ZEROED
023457,000689: 34,2523           11725                           CCS      SATSW                                 #  CHECK SW STATUS
023458,000690: 34,2524           02534                           TC       TAKEON                                #  POS   STEER INIT.
023459,000691: 34,2525           02526                           TC       +1                                    #  0     RETURN TO DISPLAY
023460,000692: 34,2526           35017                           CA       BIT1                                  #  NEG   RETURN TO DISPLAY
023461,000693: 34,2527           55725                           TS       SATSW                                 #  SW = DISPLAY ONLY
023462,000694: 34,2530           45007                           CS       BIT9                                  #  DISABLE
023463,000695: 34,2531           00006                           EXTEND                                         #  SIVB
023464,000696: 34,2532           03012                           WAND     CHAN12                                #  TAKEOVER
023465,000697: 34,2533           02471                           TC       SATOUT                                #  DISPLAY
023466,000698: 34,2534           35007        TAKEON             CAF      BIT9                                  #  ENABLE
023467,000699: 34,2535           00006                           EXTEND                                         #  SIVB
023468,000700: 34,2536           05012                           WOR      CHAN12                                #  TAKEOVER
023469,000701: 34,2537           35021                           CA       ZERO                                  #  INDICATE NEEDLER
023470,000702: 34,2540           55725                           TS       SATSW                                 #  WAS INITIALIZED
023471,000703: 34,2541           02471                           TC       SATOUT                                
023472,000704: 34,2542           51575        S11.1              VLOAD    ABVAL                                 
023473,000705: 34,2543           01177                                    VN                                    
023474,000706: 34,2544           27723                           STOVL    VMAGI                                 #  VI    SCALED 2(7) IN METERS/CSEC
023475,000707: 34,2545           01171                                    RN                                    
023476,000708: 34,2546           50256                           UNIT     DOT                                   
023477,000709: 34,2547           01177                                    VN                                    
023478,000710: 34,2550           77752                           SL1                                            
023479,000711: 34,2551           17737                           STODL    HDOT                                  
023480,000712: 34,2552           05152                                    RPAD                                  
023481,000713: 34,2553           77214                           BOF      VLOAD                                 
023482,000714: 34,2554           00355                                    AMOONFLG                              
023483,000715: 34,2555           70560                                    EARTHALT                              
023484,000716: 34,2556           02026                                    RLS                                   
023485,000717: 34,2557           60446                           ABVAL    SR2                                   
023486,000718: 34,2560           77621        EARTHALT           BDSU                                           
023487,000719: 34,2561           00045                                    36D                                   
023488,000720: 34,2562           03735                           STORE    ALTI                                  
023489,000721: 34,2563           77616                           RVQ                                            
023490,000722: 34,2564           31716        DELSTOR            CA       BOOSTEMP                              

Page 547

023492,000724: 34,2565           00006                           EXTEND                                         #  STORE DELTACDU INTO PDL 0,2,4
023493,000725: 34,2566           20154                           MSU      MPAC                                  
023494,000726: 34,2567           50120                           INDEX    FIXLOC                                
023495,000727: 34,2570           54000                           TS       0                                     
023496,000728: 34,2571           31717                           CA       BOOSTEMP   +1                         
023497,000729: 34,2572           00006                           EXTEND                                         
023498,000730: 34,2573           20155                           MSU      MPAC       +1                         
023499,000731: 34,2574           50120                           INDEX    FIXLOC                                
023500,000732: 34,2575           54002                           TS       2                                     
023501,000733: 34,2576           31720                           CA       BOOSTEMP   +2                         
023502,000734: 34,2577           00006                           EXTEND                                         
023503,000735: 34,2600           20156                           MSU      MPAC       +2                         
023504,000736: 34,2601           50120                           INDEX    FIXLOC                                
023505,000737: 34,2602           54004                           TS       4                                     
023506,000738: 34,2603           16030                           TCF      DANZIG                                
023507,000739: 34,2604           30154        RLTST              CA       MPAC                                  #  DETERMINE IF ROLLOUT
023508,000740: 34,2605           00006                           EXTEND                                         #  IS COMPLETED
023509,000741: 34,2606           71701                           MP       SATRLRT    +1                         
023510,000742: 34,2607           00006                           EXTEND                                         
023511,000743: 34,2610           66030                           BZMF     DANZIG                                #  UNLIKE SIGNS STILL ROLLING
023512,000744: 34,2611           00006                           EXTEND                                         #  ROLLOUT COMPLETED
023513,000745: 34,2612           33672                           DCA      MBDYTCTL   +2                         #  ZERO OUT ROLL CONTRIBUTION
023514,000746: 34,2613           52155                           DXCH     MPAC                                  
023515,000747: 34,2614           06030                           TC       DANZIG                                
023516,000748: 34,2615           06006        NOPOLY             TC       INTPRET                               #  COMES HERE IF
023517,000749: 34,2616           52001                           SETPD    GOTO                                  #  ATTITUDE HOLD
023518,000750: 34,2617           00001                                    0                                     
023519,000751: 34,2620           76232                                    NOPOLYM                               
023520,000752: 34,2621           01673        COEFPOLY           ADRES    POLYLOC                               
023521,000753: 34,2622           01476        V06N62             VN       0662                                  
023522,000754: 34,2623           00006        RESCALES           EXTEND                                         #  RESCALE AK S FOR
023523,000755: 34,2624           71731                           MP       SATSCALE                              #  NEW HARDWARE
023524,000756: 34,2625           20001                           DDOUBL                                         #  SCALING FOR
023525,000757: 34,2626           20001                           DDOUBL                                         #  STEERING
023526,000758: 34,2627           00002                           TC       Q                                     #  SATURN
023527,000759: 
023528,000760:                                                                                                  #  SATURN TAKEOVER FUNCTION
023529,000761:                                                                                                  #  ************************
023530,000762:                                                                                                  #  
023531,000763:                                                                                                  #  PROGRAM DESCRIPTION
023532,000764: 
023533,000765:                                                                                                  #        MOD NUMBER 1
023534,000766:                                                                                                  #        MOD BY ELIASSEN
023535,000767: 
023536,000768:                                                                                                  #  FUNCTIONAL DESCRIPTION
023537,000769: 
023538,000770:                                                                                                  #        DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023539,000771:                                                                                                  #        ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023540,000772:                                                                                                  #        EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023541,000773:                                                                                                  #        THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023542,000774:                                                                                                  #        COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC

Page 548

023544,000776:                                                                                                  #        VOLTAGES.  THE VALUE OF THE CONSTANT RATE COMMAND
023545,000777:                                                                                                  #        IS 0.5 DEG/SEC.  AN ABSENCE OF RHC ACTIVITY RE-
023546,000778:                                                                                                  #        SULTS IN A ZERO RATE COMMAND.
023547,000779: 
023548,000780:                                                                                                  #        THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023549,000781:                                                                                                  #        OF THE RATE COMMAND.
023550,000782: 
023551,000783:                                                                                                  #  CALLING SEQUENCE
023552,000784: 
023553,000785:                                                                                                  #        DAPFIG +9D      TC      POSTJUMP
023554,000786:                                                                                                  #                        CADR    SATSTKON
023555,000787: 
023556,000788:                                                                                                  #  SUBROUTINES CALLED
023557,000789: 
023558,000790:                                                                                                  #        ENDEXT
023559,000791:                                                                                                  #        IBNKCALL
023560,000792:                                                                                                  #        STICKCHK
023561,000793:                                                                                                  #        NEEDLER
023562,000794:                                                                                                  #        T5RUPT
023563,000795:                                                                                                  #        RESUME
023564,000796: 
023565,000797:                                                                                                  #  ASTRONAUT REQUESTS
023566,000798: 
023567,000799:                                                                                                  #        ENTRY -  VERB 46 ENTER
023568,000800:                                                                                                  #                 (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023569,000801: 
023570,000802:                                                                                                  #        EXIT -   VERB 48 ENTER  (FLASH V06N46)
023571,000803:                                                                                                  #                 VERB 21 ENTER  AXXXX ENTER WHERE A=0 OR 1
023572,000804:                                                                                                  #                 VERB 34 ENTER
023573,000805:                                                                                                  #                 VERB 46 ENTER
023574,000806: 
023575,000807:                                                                                                  #  NORMAL EXIT MODE
023576,000808: 
023577,000809:                                                                                                  #        VERB 46 ENTER   (SEE ASTRONAUT ABOVE)
023578,000810: 
023579,000811:                                                                                                  #  ALARM OR ABORT EXIT MODES
023580,000812: 
023581,000813:                                                                                                  #        NONE
023582,000814: 
023583,000815:                                                                                                  #  OUTPUT
023584,000816: 
023585,000817:                                                                                                  #        SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023586,000818: 
023587,000819:                                                                                                  #  ERASABLE INITIALIZATION
023588,000820: 
023589,000821:                                                                                                  #        DAPDATR1        (BITS 13, 14 MUST BE SET)
023590,000822: 
023591,000823:                                                                                                  #  DEBRIS
023592,000824: 
023593,000825:                                                                                                  #        CENTRALS

Page 549

023595,000827:                                                                                                  #        CDUXCMD, CDUYCMD, CDUZCMD
023596,000828: 
023597,000829: 43,3215                                           BANK     43                                    
023598,000830: 43,2000                                           SETLOC   EXTVERBS                              
023599,000831: 43,2000                                           BANK                                           
023600,000832: 
023601,000833: 43,3215                                           COUNT    23/STTKE                              
023602,000834: 43,3215           00006        SATSTKON           EXTEND                                         
023603,000835: 43,3216           33233                           DCA      2REDOSAT                              
023604,000836: 43,3217           00004                           INHINT                                         
023605,000837: 43,3220           53313                           DXCH     T5LOC                                 
023606,000838: 43,3221           34777                           CAF      POSMAX                                
023607,000839: 43,3222           54030                           TS       TIME5                                 
023608,000840: 43,3223           40102                           CS       FLAGWRD6                              #  TURN ON BITS 15,14 OF
023609,000841: 43,3224           74105                           MASK     RELTAB11                              #  FLAGWRD6
023610,000842: 43,3225           26102                           ADS      FLAGWRD6                              #        SATSTICK CONTROL OF T5
023611,000843: 43,3226           04740                           TC       IBNKCALL                              #  ZERO JET CHANNELS IN 14 MS AND THEN
023612,000844: 43,3227           42632                           CADR     ZEROJET                               #  LEAVE THE T6 CLOCK DISABLED
023613,000845: 43,3230           00003                           RELINT                                         
023614,000846: 43,3231           02121                           TC       GOPIN                                 #  EXIT THUS BECAUSE WE CAME VIA V46
023615,000847: 
023616,000848: 43,3232  E6,1704                                  EBANK=   BODY3                                 
023617,000849: 43,3232           02765 46106  2REDOSAT           2CADR    REDOSAT                               
023618,000850: 
023619,000851: 
023620,000852: 43,3234  30,2000                                  SBANK=   LOWSUPER                              
023621,000853: 32,2017                                           BANK     32                                    
023622,000854: 23,2000                                           SETLOC   P11FOUR                               
023623,000855: 23,2000                                           BANK                                           
023624,000856: 
023625,000857: 23,2765           22016        REDOSAT            LXCH     BANKRUPT                              #  ALSO COMES HERE FOR RESTARTS
023626,000858: 23,2766           00006                           EXTEND                                         
023627,000859: 23,2767           22012                           QXCH     QRUPT                                 
023628,000860: 23,2770           41501                           CS       RCSFLAGS                              #  TURN ON BIT3 OF RCSFLAGX
023629,000861: 23,2771           75015                           MASK     BIT3                                  #  FOR
023630,000862: 23,2772           27501                           ADS      RCSFLAGS                              #  NEEDLER INITIALIZATION
023631,000863: 23,2773           04740                           TC       IBNKCALL                              
023632,000864: 23,2774           42420                           CADR     NEEDLER                               #  DISABLE IMU ERR COUNTERS ETC.
023633,000865: 23,2775           35007                           CAF      BIT9                                  #  SIVB
023634,000866: 23,2776           00006                           EXTEND                                         #  TAKEOVER
023635,000867: 23,2777           05012                           WOR      CHAN12                                #  ENABLE
023636,000868: 23,3000           00006                           EXTEND                                         #  SET UP T5 CYCLE
023637,000869: 23,3001           33042                           DCA      2SATSTCK                              
023638,000870: 23,3002           53313                           DXCH     T5LOC                                 
023639,000871: 23,3003           33040                           CAF      100MST5                               #  IN 100 MSECS
023640,000872: 23,3004           54030                           TS       TIME5                                 
023641,000873: 23,3005           15333                           TCF      RESUME                                #  END OF SATURN STICK INITIALIZATION
023642,000874: 
023643,000875:                                                                                                  #        THIS SECTION IS EXECUTED EVERY 100 MSECS

Page 550

023645,000877: 23,3006           22016        SATSTICK           LXCH     BANKRUPT                              
023646,000878: 23,3007           00006                           EXTEND                                         
023647,000879: 23,3010           22012                           QXCH     QRUPT                                 
023648,000880: 
023649,000881: 23,3011           33041                           CAF      2SATSTCK                              #  SET UP RUPT
023650,000882: 23,3012           55312                           TS       T5LOC                                 #  LO ORDER LOC SET
023651,000883: 23,3013           33040                           CAF      100MST5                               #  100 MSECS
023652,000884: 23,3014           54030                           TS       TIME5                                 
023653,000885: 23,3015           33037                           CAF      STIKBITS                              
023654,000886: 23,3016           00006                           EXTEND                                         
023655,000887: 23,3017           06031                           RXOR     CHAN31                                #  CHECK IF MAN ROT BITS SAME
023656,000888: 23,3020           73037                           MASK     STIKBITS                              
023657,000889: 23,3021           04740                           TC       IBNKCALL                              #  SET RATE INDICES
023658,000890: 23,3022           43130                           CADR     STICKCHK                              #  FOR PITCH YAW AND ROLL
023659,000891: 
023660,000892: 23,3023           51656                           INDEX    RMANNDX                               #  SET SATURN RATES
023661,000893: 23,3024           31721                           CA       SATRATE                               
023662,000894: 23,3025           55476                           TS       AK                                    #        ROLL
023663,000895: 23,3026           51657                           INDEX    PMANNDX                               
023664,000896: 23,3027           31721                           CA       SATRATE                               
023665,000897: 23,3030           55477                           TS       AK1                                   #        PITCH
023666,000898: 23,3031           51660                           INDEX    YMANNDX                               
023667,000899: 23,3032           31721                           CA       SATRATE                               
023668,000900: 23,3033           55500                           TS       AK2                                   #        YAW
023669,000901: 
023670,000902: 23,3034           04740                           TC       IBNKCALL                              #  FOR SATURN INTERFACE AND FDAI DISPLAY
023671,000903: 23,3035           42420                           CADR     NEEDLER                               
023672,000904: 23,3036           15333                           TCF      RESUME                                #  END OF SATURN STICK CONTROL
023673,000905: 
023674,000906: 23,3037           00077        STIKBITS           OCT      00077                                 
023675,000907: 23,3040           37766        100MST5            DEC      16374      B-14                       
023676,000908: 23,3041  E6,1704                                  EBANK=   BODY3                                 
023677,000909: 23,3041           03006 46066  2SATSTCK           2CADR    SATSTICK                              

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