diff --git a/Comanche055/P11.agc b/Comanche055/P11.agc index 0e70b1f..d3df75b 100644 --- a/Comanche055/P11.agc +++ b/Comanche055/P11.agc @@ -35,19 +35,19 @@ # Page 533 # EARTH ORBIT INSERTION MONITOR PROGRAM # ************************************* -# + # PROGRAM DESCRIPTION -P11- -# + # MOD NO. 1 # MOD BY ELIASSEN -# + # FUNCTIONAL DESCRIPTION -# + # P11 IS INITIATED BY -# + # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR # B) BACKUP THRU VERB 75 ENTER -# + # PROGRAM WILL # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP) # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED @@ -55,79 +55,82 @@ # 4. CHANGE MAJOR MODE TO 11 # 5. CLEAR DSKY IN CASE OF V 75 # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY -# 7. TERMINATE GYROCOMPASSING __ __ -# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _ -# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE -# _ _ X Y Z -# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF -# _Z _ _ -# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH -# _X _ _ +# 7. TERMINATE GYROCOMPASSING - - +# 8. COMPUTE INITIAL VECTORS RN, VN - - - +# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE +# - - X Y Z +# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF +# Z +# - - - +# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH +# X +# - - - # U =U * U # U Z X + # 10. SET REFSMMAT KNOWN FLAG # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS -# -# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS -# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS -# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM -# + +# R1 V1 - INERTIAL VELOCITY MAGNITUDE IN FPS +# R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS +# R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM + # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES # -# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.) -# DESIRED ATTITUDE IS AS STORED AT L.O. -# B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO) -# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL -# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER +# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.) +# DESIRED ATTITUDE IS AS STORED AT L.O. +# B) FROM RPSTART TO POLYSTOP(APPROX.+10 TO +133SECS AFTER LO) +# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL +# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER # Page 534 -# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX. -# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1 -# +# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX. +# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1 + # SUBROUTINES CALLED -# -# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG -# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL -# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG -# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1 -# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST -# + +# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG +# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL +# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG +# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1 +# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST + # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT) # -# DSKY -- -# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS -# R2 MINUTES -# -# DSKY -- -# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES -# R2 PERIGEE ALTITUDE IN NAUTICAL MILES -# R3 TFF IN MINUTES/SECS -# +# DSKY - +# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS +# R2 MINUTES + +# DSKY - +# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES +# R2 PERIGEE ALTITUDE IN NAUTICAL MILES +# R3 TFF IN MINUTES/SECS + # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY. # NORMAL EXIT MODE -# + # ASTRONAUT VERB 37 ENTER 00 ENTER -# -# ALARM MODES -- NONE -# -# ABORT EXIT MODES -- -# + +# ALARM MODES - NONE + +# ABORT EXIT MODES - + # OUTPUT -# + # TLIFTOFF (DP) TEPHEM (TP) # REFSMMAT # DSKY DISPLAY # FDAI DISPLAY -# + # ERASABLE INITIALIZATION -# + # AZO, AXO, -AYO # LATITUDE # PADLONG # TEPHEM # PGNCSALT -# POLYNUM THRU POLYNUM +14D +# POLYNUM THRU POLYNUM +14D) # RPSTART # POLYSTOP # FLAGS SET OR RESET @@ -135,16 +138,15 @@ # SET REFSMFLG # SET DVMON IDLE FLAG # CLEAR ERADFLAG -# + # DEBRIS -# + # LIFTTEMP # POLYNUM THRU POLYNUM +7 # SPOLYARG # BODY1, BODY2, BODY3 # VMAG2, ALTI, HDOT -# CENTRALS, CORE SET, AND VAC AREAS - +# CENTRALS, CORE SET AND VAC AREAS COUNT 34/P11 BITS5-6 = SUPER011 @@ -169,7 +171,7 @@ P11+7 EXTEND EXTEND DCA TIME2 - DXCH LIFTTEMP # FORE RESTARTS + DXCH LIFTTEMP # FOR RESTARTS CA ZERO ZL @@ -177,6 +179,7 @@ P11+7 EXTEND REP11A-2 DXCH TLIFTOFF REP11A-1 DXCH -PHASE3 # RESET PHASE + REP11A INHINT EXTEND DCA TEPHEM +1 @@ -188,7 +191,7 @@ REP11A INHINT EXTEND DCA TLIFTOFF DAS TEPHEM1 +1 - ADS TEPHEM1 # CORRECT FOR OVERFLOW + ADS TEPHEM1 # CORRECTFOR OVERFLOW TC PHASCHNG OCT 05023 @@ -259,7 +262,7 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE ZL CA CDUZ DXCH MGC - TC INTPRET # _ + TC INTPRET # - VLOAD VSR1 # SCALE OGC B-1 OGC STORE OGC @@ -275,9 +278,9 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE HI6ZEROS # TIME = 0 CLEAR CALL ERADFLAG - LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS. + LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS - STCALL RN1 # _ + STCALL RN1 # - GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION VCOMP UNIT STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV) @@ -313,7 +316,7 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE LAUNCHAZ DAD PDDL AZIMUTH - SATRLRT # SET SATRLRT = -SATRLRT IF + SATRLRT # SET SATRLRT = -SATRLRT IF SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY SET EXIT @@ -344,8 +347,8 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE CCS A # CHECK TO INSURE DT IS POSITIVE TCF +3 # TIME POSITIVE TCF +2 # CANNOT GET HERE - CA ZERO # TIME NEGATIVE -- SET TO 1 - AD ONE # RESTORE TIME -- OR MAKE POSITIVE + CA ZERO # TIME NEGATIVE - SET TO 1 + AD ONE # RESTORE TIME - OR MAKE POSITIVE TC WAITLIST EBANK= AOG @@ -374,7 +377,7 @@ REP11 INHINT EXTEND BZMF ENDREP11 - CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF ** + CCS TIME2 # **TIME2 MUST BE NON-ZERO AT LIFTOFF** TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT EXTEND # T2,T1 ZEROED, SET TLIFTOFF @@ -399,9 +402,9 @@ POWDNCOD EQUALS THREE EBANK= BODY3 # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY -# VI INERTIAL VELOCITY MAGNITUDE -# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS -# H ALTITUDE ABOVE L PAD RADIUS +# VI INERTIAL VELOCITY MAGNITUDE +# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS +# H ALTITUDE ABOVE L PAD RADIUS VHHDOT TC INTPRET CALL # LOAD VMAGI, ALTI, @@ -410,8 +413,8 @@ VHHDOT TC INTPRET TC PHASCHNG OCT 00035 - CAF V06N62 # DISPLAY IN R1 R2 R3 - TC BANKCALL # VI HDOT H + CAF V06N62 # DISPLAY IN R1 R2 R3 + TC BANKCALL # VI HDOT H CADR REGODSP ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS @@ -438,53 +441,56 @@ GETDOWN STQ SETPD STCALL 8D LALOTORV +5 # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST + +# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF +# 2 3 4 5 6 +# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T +# SCALED TO 32 REVS. -14 +# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2 +# WHERE TL GE RPSTART +# TL LE (-POLYSTOP + RPSTART) +# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM +# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C). +# ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV +# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC +# T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS + +# FOR SIMPLICITY, LET P = 2*PI*PITCH +# R = 2*PI*ROLL + +# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN +# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC, +# YDC,AND ZDC. + +# * ( SIN(P) 0 -COS(P) ) (XDC) +# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC) +# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC) + +# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE +# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED +# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED +# AS THE DESIRED CDU ANGLES. + +# (XDC) (OGC) +# (YDC) ---) CALCGTA ---) (IGC) +# (ZDC) (MGC) + +# - +# DEFINE THE VECTOR DELTACDU. + +# - (OGC) (CDUX) +# DELTACDU = (IGC) - (CDUY) +# (MGC) (CDUZ) + +# - - * - +# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU # -# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF -# 2 3 4 5 6 -# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T -# SCALED TO 32 REVS. -14 -# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2 -# WHERE TL GE RPSTART -# TL LE (-POLYSTOP + RPSTART) -# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM -# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C). -# ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV -# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC -# T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS -# -# FOR SIMPLICITY, LET P = 2*PI*PITCH -# R = 2*PI*ROLL -# -# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN -# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC, -# YDC, AND ZDC. -# -# * ( SIN(P) 0 -COS(P) ) (XDC) -# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC) -# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC) -# -# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE -# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED -# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED -# AS THE DESIRED CDU ANGLES. -# -# (XDC) (OGC) -# (YDC) ---) CALCGTA ---) (IGC) -# (ZDC) (MGC) -# _ -# DEFINE THE VECTOR DELTACDU. -# -# _ (OGC) (CDUX) -# DELTACDU = (IGC) - (CDUY) -# (MGC) (CDUZ) -# _ _ * _ -# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU -# -# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES +# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES # Page 542 # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX -# _ + +# - # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE # ERROR DISPLAY ROUTINE. @@ -492,22 +498,22 @@ GETDOWN STQ SETPD ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6 MASK OCT60000 # BITS 14, 15 EXTEND - BZF +2 # OK -- CONTINUE - TC ENDOFJOB # STAURN STICK ON -- KILL JOB + BZF +2 # OK - CONTINUE + TC ENDOFJOB # SATURN STICK ON - KILL JOB CAF BIT10 # CHECK IF S/C CONTROL EXTEND # OF SATURN PANEL RAND CHAN30 # SWITCH IS ON EXTEND - BZF STRSAT # IT IS -- GO STEER - CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE - TC ATTDISP # NO -- CONTINUE - TC ATRESET # YES -- REINITIALIZE NEEDLER - TC ATRESET # YES -- REINITIALIZE NEEDLER + BZF STRSAT # IT IS - GO STEER + CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE + TC ATTDISP # NO - CONTINUE + TC ATRESET # YES - REINITIALIZE NEEDLER + TC ATRESET # YES - REINITIALIZE NEEDLER ATTDISP CS RPSTART # PITCH/ROLL START TIME AD TIME1 EXTEND BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD - TS MPAC # MPAC = TIME1 - RPSTART + TS MPAC # MPAC=TIME1-RPSTART TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION AD POLYSTOP # NEG PITCHOVER TIME IN CSECS EXTEND @@ -521,13 +527,14 @@ ATTDISP CS RPSTART # PITCH/ROLL START TIME TS L CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL TC POWRSERS # SCALED TO 32 REVOLUTIONS + CA ZERO # RETURN WITH PITCH(32REV) TS MODE # STORED MPAC, MPAC +1 TC INTPRET - SETPD SL # 32(PITCH(32REV)) = PITCH(REV) + SETPD SL # 32(PITCH(32REV))=PITCH(REV) 0 5 - PUSH # LET P(RAD) = 2*PI*PITCH(REV) + PUSH # LET P(RAD)=2*PI*PITCH(REV) GOTO ATTDISP1 # AROUND SETLOC # Page 543 @@ -548,7 +555,7 @@ ATTDISP1 COS DCOMP # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T SLOAD DMP - SPOLYARG # TIME1 - RSPSTART, CSECS B-14. + SPOLYARG # TIME1 - RSPSTART ,CSECS B-14. SATRLRT SL DSU 14D @@ -559,7 +566,7 @@ ATTDISP1 COS DCOMP RTB # DETERMINE IF ROLLOUT RLTST # IS COMPLETED ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV - PUSH # LET R(RAD) = 2*PI*ROLL(REV) + PUSH # LET R(RAD) = 2*PI*ROLL(REV) DMP SL1 14D STODL 22D # -.5*COS(R)*COS(P) @@ -591,19 +598,19 @@ ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R), CALCGTA # -COS(R)*SIN(P)) -# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC -# _ _ _ +# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC +# - - - # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX -# + # ENTER HERE IF ATTITUDE HOLD NOPOLYM VLOAD PUSH # OGC IGC OGC # CHANGE IGC TO MGC FOR COMPATIBILITY PUSH CALL # MGC OGC CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT - VLOAD RTB # _ DPHI OGC-CDUX , PD4 - 2 # DELTACDU = DTHETA = IGC-CDUY , 0 - V1STO2S # DPSI MGC-CDUZ , 2 + VLOAD RTB # - DPHI OGC-CDUX ,PD4 + 2 # DELTACDU = DTHETA = IGC-CDUY , 0 + V1STO2S # DPSI MGC-CDUZ , 2 STOVL BOOSTEMP ZEROVECS STOVL 0 @@ -652,9 +659,9 @@ ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ)) CA SATSW CCS A # CHK TAKEOVER STATUS - TC SATOUT # POS -- DISPLAY ONLY - TC AKLOAD # 0 STORE BIAS -STEERSAT TC INTPRET # NEG STEER L/V + TC SATOUT # POS - DISPLAY ONLY + TC AKLOAD # 0 STORE BIAS +STEERSAT TC INTPRET # NEG STEER L/V TLOAD TAD BIASAK AK @@ -669,12 +676,12 @@ STEERSAT TC INTPRET # NEG STEER L/V CA AK2 TC RESCALES TS AK2 -# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER +# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER SATOUT TC BANKCALL CADR NEEDLER ATERSET CAF OCT31 # DELAY .25 SEC - TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX + TC BANKCALL # EXECUTION + DELAY =.56SEC APPROX CADR DELAYJOB TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE @@ -688,17 +695,17 @@ AKLOAD CS AK # STORE AKS CS BIT1 # SET SW TS SATSW # TO STEER TC STEERSAT # GO STEER -STRSAT CA SATSW # CHECK IF NEDLER +STRSAT CA SATSW # CHECK IF NEEDLER EXTEND # HAS BEEN INITIALIZED - BZMF ATTDISP # YES -- CONTINUE -ATRESET CS RCSFLAGS # NO -- SET + BZMF ATTDISP # YES - CONTINUE +ATRESET CS RCSFLAGS # NO - SET MASK BIT3 # INITIALIZATION SW - ADS RCSFLAGS # FOR NEDLER + ADS RCSFLAGS # FOR NEEDLER TC BANKCALL # AND GO CADR NEEDLER # DO IT CAF REVCNT # OCT 6 TC BANKCALL # DELAY JOB - CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED + CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED CCS SATSW # CHECK SW STATUS TC TAKEON # POS STEER INIT. TC +1 # 0 RETURN TO DISPLAY @@ -769,17 +776,16 @@ RESCALES EXTEND # RESCALE AK S FOR DDOUBL # SCALING FOR DDOUBL # STEERING TC Q # SATURN - # SATURN TAKEOVER FUNCTION # ************************ -# + # PROGRAM DESCRIPTION -# + # MOD NUMBER 1 # MOD BY ELIASSEN -# + # FUNCTIONAL DESCRIPTION -# + # DURING THE COASTING PHASE OF SIVB ATTACHED, THE # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ). @@ -789,52 +795,52 @@ RESCALES EXTEND # RESCALE AK S FOR # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE- # SULTS IN A ZERO RATE COMMAND. -# + # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE # OF THE RATE COMMAND. -# + # CALLING SEQUENCE # # DAPFIG +9D TC POSTJUMP # CADR SATSTKON -# + # SUBROUTINES CALLED -# + # ENDEXT # IBNKCALL # STICKCHK # NEEDLER # T5RUPT # RESUME -# + # ASTRONAUT REQUESTS + +# ENTRY - VERB 46 ENTER +# (CONDITION - BITS 13, 14 OF DAPDATR1 SET) # -# ENTRY -- VERB 46 ENTER -# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET) -# -# EXIT -- VERB 48 ENTER (FLASH V06N46) +# EXIT - VERB 48 ENTER (FLASH V06N46) # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1 # VERB 34 ENTER # VERB 46 ENTER -# + # NORMAL EXIT MODE -# -# VERB 46 ENTER (SEE ASTRONAUT ABOVE) -# + +# VERB 46 ENTER (SEE ASTRONAUT ABOVE) + # ALARM OR ABORT EXIT MODES -# + # NONE -# + # OUTPUT -# + # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD -# + # ERASABLE INITIALIZATION -# -# DAPDATR1 (BITS 13, 14 MUST BE SET) -# + +# DAPDATR1 (BITS 13,14 MUST BE SET) + # DEBRIS -# + # CENTRALS # Page 549 # CDUXCMD, CDUYCMD, CDUZCMD @@ -858,7 +864,6 @@ SATSTKON EXTEND RELINT TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46 - SBANK= PINSUPER # Added RSB 2009 EBANK= BODY3 2REDOSAT 2CADR REDOSAT @@ -886,7 +891,7 @@ REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS TS TIME5 TCF RESUME # END OF SATURN STICK INITIALIZATION -# THIS SECTION IS EXECUTED EVERY 100 MSECS. +# THIS SECTION IS EXECUTED EVERY 100 MSECS # Page 550 SATSTICK LXCH BANKRUPT EXTEND @@ -905,13 +910,13 @@ SATSTICK LXCH BANKRUPT INDEX RMANNDX # SET SATURN RATES CA SATRATE - TS AK # ROLL + TS AK # ROLL INDEX PMANNDX CA SATRATE - TS AK1 # PITCH + TS AK1 # PITCH INDEX YMANNDX CA SATRATE - TS AK2 # YAW + TS AK2 # YAW TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY CADR NEEDLER