Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code was verified by
matching memory-bank checksums to those listed in drawing 2021152G. Note that
page numbers in the reconstructed code match those on the Luminary 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 listing.
Comments from 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.
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033061,000002: ## Copyright: Public domain.
033062,000003: ## Filename: P40-P47.agc
033063,000004: ## Purpose: A section of LUM69 revision 2.
033064,000005: ## It is part of the reconstructed source code for the flown
033065,000006: ## version of the flight software for the Lunar Module's (LM)
033066,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
033067,000008: ## been recreated from a copy of Luminary revsion 069, using
033068,000009: ## changes present in Luminary 099 which were described in
033069,000010: ## Luminary memos 75 and 78. The code has been adapted such
033070,000011: ## that the resulting bugger words exactly match those specified
033071,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
033072,000013: ## relatively high confidence that the reconstruction is correct.
033073,000014: ## Reference: pp. 759-788
033074,000015: ## Assembler: yaYUL
033075,000016: ## Contact: Ron Burkey <info@sandroid.org>.
033076,000017: ## Website: www.ibiblio.org/apollo/index.html
033077,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
033078,000019:
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Page 759
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033080,000021: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
033081,000022: # MOD 03 BY PETER ADLER MARCH 3, 1967
033082,000023: # CALLED VIA JOB FROM V37E
033083,000024:
033084,000025: # FUNCTIONAL DESCRIPTION
033085,000026:
033086,000027: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
033087,000028: # THRUSTING MANEUVER.
033088,000029:
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(There is no item #2 in the original program listing.)
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033090,000031:
033091,000032: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
033092,000033:
033093,000034: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
033094,000035: # PGNCS CONTROLLED DPS MANEUVER.
033095,000036:
033096,000037: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
033097,000038: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
033098,000039:
033099,000040: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
033100,000041: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
033101,000042:
033102,000043: # SUBROUTINES USED
033103,000044:
033104,000045: # R02 IMU STATUS CHECK
033105,000046: # S40.1 COMPUTATION OF THRUST DIRECTION
033106,000047: # S40.13 LENGTH OF BURN
033107,000048: # S40.2,3 PREFERRED IMU ORIENATTION
033108,000049: # S40.8 X PRODUCT STEERING
033109,000050: # S40.9 LAMBERT VTOGAIN
033110,000051: # R60LEM ATTITUDE MANEUVER
033111,000052: # LEMPREC EXTRAPOLATE STATE VECTOR
033112,000053: # PREREAD AVERAGE G, SERVICER
033113,000054: # ALLCOAST DAP COASTING INITIALIZATION
033114,000055: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
033115,000056: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
033116,000057: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
033117,000058: # KILLTASK, SGNAGREE, TPAGREE, ETC.
033118,000059:
033119,000060: # RESTARTS VIA GROUP 4
033120,000061:
033121,000062: # DISPLAYS
033122,000063:
033123,000064: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
033124,000065: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
033125,000066: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
033126,000067: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
033127,000068: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
033128,000069: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
033129,000070: # V05N09 POSSIBLE ALARMS
033130,000071: # V50N07 PLEASE SELECT P00
033131,000072:
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Page 760
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033133,000074: # VIA R30
033134,000075:
033135,000076: # V06N44 HAPO, PERI, TFF
033136,000077: # V06N35 TIME TO PERIGEE, HMS
033137,000078:
033138,000079: # ALARM OR ABORT EXIT MODES
033139,000080:
033140,000081: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
033141,000082: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
033142,000083:
033143,000084: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
033144,000085: # TIG BY 45 SECS.
033145,000086:
033146,000087: # ERASABLE INITIALIZATION
033147,000088: # DEBRIS
033148,000089: # OUTPUT
033149,000090:
033150,000091: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
033151,000092: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
033152,000093: # = 0 FOR AIMPT (LAMBERT) COMP
033153,000094:
033154,000095: 27,2271 COUNT* $$/P40
033155,000096: 27,2271 E7,1453 EBANK= WHICH
033156,000097:
033157,000098: 36,3147 BANK 36
033158,000099: 36,2000 SETLOC P40S
033159,000100: 36,2000 BANK
033160,000101:
033161,000102: 36,3147 05353 P40LM TC PHASCHNG
033162,000103: 36,3150 04024 OCT 04024
033163,000104:
033164,000105: 36,3151 33131 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
033165,000106: 36,3152 55453 TS WHICH
033166,000107:
033167,000108: 36,3153 30106 CA FLGWRD10
033168,000109: 36,3154 74737 MASK APSFLBIT
033169,000110: 36,3155 10000 CCS A
033170,000111: 36,3156 13722 TCF P40ALM
033171,000112: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
033172,000113: 36,3160 11175 CADR R02BOTH
033173,000114:
033174,000115: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
033175,000116: 36,3162 74737 MASK CSMDOCKD
033176,000117: 36,3163 10000 CCS A
033177,000118: 36,3164 32020 CAF THRESH1
033178,000119: 36,3165 62021 AD THRESH3
033179,000120: 36,3166 55251 TS DVTHRUSH
033180,000121: 36,3167 34751 CAF FOUR
033181,000122: 36,3170 55513 TS DVCNTR
033182,000123:
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Page 761
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033184,000125: 36,3171 06036 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
033185,000126: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
033186,000127: 36,3173 34001 FDPS
033187,000128: 36,3174 02663 NOTHROTL
033188,000129: 36,3175 03734 STORE F
033189,000130: 36,3176 77735 SLOAD
033190,000131: 36,3177 26002 DPSVEX
033191,000132: 36,3200 70476 P40IN DCOMP SR1
033192,000133: 36,3201 37742 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
033193,000134: 36,3202 56271 S40.1 # COMPUTES UT AND VGTIG
033194,000135: 36,3203 77624 CALL
033195,000136: 36,3204 56436 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
033196,000137: 36,3205 77776 EXIT
033197,000138:
033198,000139: 36,3206 00004 INHINT
033199,000140: 36,3207 04674 TC IBNKCALL
033200,000141: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
033201,000142:
033202,000143: 36,3211 03213 TC P40SXT4
033203,000144:
033204,000145:
033205,000146: # ***********************
033206,000147: 36,3212 12124 TCF BURNBABY
033207,000148: # ***********************
033208,000149:
033209,000150:
033210,000151: 36,3213 00006 P40SXT4 EXTEND
033211,000152: 36,3214 23142 QXCH P40/RET
033212,000153: 36,3215 00003 P41MANU RELINT
033213,000154:
033214,000155: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
033215,000156: 36,3217 00124 ADRES 3AXISFLG
033216,000157:
033217,000158: 36,3220 04616 TC BANKCALL
033218,000159: 36,3221 54101 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
033219,000160: 36,3222 01142 TC P40/RET
033220,000161:
033221,000162:
033222,000163: 36,3223 E7,1460 EBANK= TRKMKCNT
033223,000164: 36,3223 30005 POSTBURN CA Z
033224,000165: 36,3224 55163 TS DISPDEX
033225,000166: 36,3225 00006 EXTEND
033226,000167: 36,3226 32055 DCA ACADN85
033227,000168: 36,3227 53253 DXCH AVEGEXIT
033228,000169: 36,3230 33743 CAF V16N40
033229,000170: 36,3231 04616 TC BANKCALL
033230,000171: 36,3232 20510 CADR GOFLASHR
033231,000172: 36,3233 03256 TC TERM40
033232,000173: 36,3234 13241 TCF TIGNOW
033233,000174: 36,3235 03223 TC POSTBURN
033234,000175:
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Page 762
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033236,000177: 36,3236 05353 P40PHS1 TC PHASCHNG
033237,000178: 36,3237 00014 OCT 00014
033238,000179: 36,3240 15155 TCF ENDOFJOB
033239,000180:
033240,000181: 36,3241 00004 TIGNOW INHINT
033241,000182: 36,3242 04674 TC IBNKCALL
033242,000183: 36,3243 40153 CADR ZATTEROR
033243,000184: 36,3244 04674 TC IBNKCALL
033244,000185: 36,3245 40140 CADR SETMINDB
033245,000186: 36,3246 00003 RELINT
033246,000187: 36,3247 33744 CAF V16N85B
033247,000188: 36,3250 04616 TC BANKCALL
033248,000189: 36,3251 20340 CADR REFLASHR
033249,000190: 36,3252 03256 TC TERM40
033250,000191: 36,3253 13256 TCF TERM40
033251,000192: 36,3254 03247 TC -5
033252,000193:
033253,000194: 36,3255 13236 TCF P40PHS1
033254,000195:
033255,000196: 36,3256 00006 TERM40 EXTEND
033256,000197: 36,3257 32104 DCA SERVCADR
033257,000198: 36,3260 53253 DXCH AVEGEXIT
033258,000199: 36,3261 34755 CAF ZERO
033259,000200: 36,3262 55460 TS TRKMKCNT # ZERO RENDZVS CNTERS
033260,000201: 36,3263 30005 CA Z
033261,000202: 36,3264 55163 TS DISPDEX
033262,000203: 36,3265 00004 INHINT
033263,000204: 36,3266 04674 TC IBNKCALL
033264,000205: 36,3267 40123 CADR RESTORDB
033265,000206: 36,3270 00003 RELINT
033266,000207: 36,3271 06001 TC GOTOPOOH
033267,000208:
033268,000209: 36,3272 E7,1453 EBANK= WHICH
033269,000210: 36,3272 COUNT* $$/P41
033270,000211: 36,3272 33132 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
033271,000212: 36,3273 55453 TS WHICH
033272,000213:
033273,000214: 36,3274 04616 TC BANKCALL
033274,000215: 36,3275 11175 CADR R02BOTH
033275,000216:
033276,000217: 36,3276 06036 TC INTPRET # BOTH LM
033277,000218: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
033278,000219: 36,3300 00700 NJETSFLG
033279,000220: 36,3301 75305 P41FJET1
033280,000221: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033281,000222:
033282,000223: 36,3303 37734 P41FJET STCALL F
033283,000224: 36,3304 75310 P41IN
033284,000225: 36,3305 77745 P41FJET1 DLOAD
033285,000226:
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Page 763
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033287,000228: 36,3306 34017 FRCS2
033288,000229: 36,3307 03734 STORE F
033289,000230:
033290,000231: 36,3310 77624 P41IN CALL
033291,000232: 36,3311 56271 S40.1 # BOTH
033292,000233: 36,3312 77624 P41NORM CALL
033293,000234: 36,3313 56436 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
033294,000235: 36,3314 77776 EXIT # SET PFRATFLG.
033295,000236:
033296,000237: 36,3315 00004 INHINT
033297,000238: 36,3316 04674 TC IBNKCALL
033298,000239: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
033299,000240: 36,3320 04674 TC IBNKCALL
033300,000241: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
033301,000242: 36,3322 03213 TC P40SXT4
033302,000243:
033303,000244: 36,3323 06036 TC INTPRET
033304,000245: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033305,000246: 36,3325 03705 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
033306,000247: 36,3326 57156 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
033307,000248: 36,3327 03500 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
033308,000249: 36,3330 77776 EXIT
033309,000250:
033310,000251: 36,3331 33744 CAF V16N85B
033311,000252: 36,3332 04616 TC BANKCALL
033312,000253: 36,3333 20324 CADR GODSPRET
033313,000254:
033314,000255:
033315,000256: 36,3334 35017 CAF PRIO5
033316,000257: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
033317,000258: 36,3336 05105 TC FINDVAC
033318,000259: 36,3337 E7,1704 EBANK= VGPREV
033319,000260: 36,3337 03361 74067 2CADR DYNMDISP
033320,000261:
033321,000262: 36,3341 05327 TC 2PHSCHNG
033322,000263: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
033323,000264: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
033324,000265:
033325,000266: # ***********************
033326,000267: 36,3344 12133 TCF B*RNB*B*
033327,000268: # ***********************
033328,000269:
033329,000270:
033330,000271: 36,3345 34777 BLNKWAIT CAF 1SEC
033331,000272: 36,3346 04616 TC BANKCALL
033332,000273: 36,3347 01735 CADR DELAYJOB
033333,000274:
033334,000275: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
033335,000276: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
033336,000277:
033337,000278: # ***********************
033338,000279:
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Page 764
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033340,000281:
033341,000282: 36,3352 00006 EXTEND
033342,000283: 36,3353 13345 BZF BLNKWAIT
033343,000284:
033344,000285: 36,3354 33744 CAF V16N85B
033345,000286: 36,3355 04616 TC BANKCALL
033346,000287: 36,3356 20324 CADR GODSPRET
033347,000288:
033348,000289: 36,3357 35017 CAF PRIO5
033349,000290: 36,3360 05146 TC PRIOCHNG
033350,000291:
033351,000292: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
033352,000293: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
033353,000294: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
033354,000295: 36,3364 06036 TC INTPRET
033355,000296: 36,3365 45175 VLOAD CALL
033356,000297: 36,3366 03705 VGPREV
033357,000298: 36,3367 57156 S41.1
033358,000299: 36,3370 03500 STORE VGBODY
033359,000300: 36,3371 77776 EXIT
033360,000301: 36,3372 34777 CAF 1SEC
033361,000302: 36,3373 04616 TC BANKCALL
033362,000303: 36,3374 01735 CADR DELAYJOB
033363,000304: 36,3375 13361 TCF DYNMDISP
033364,000305:
033365,000306: 36,3376 06036 CALCN85 TC INTPRET
033366,000307: 36,3377 77624 CALL
033367,000308: 36,3400 75611 UPDATEVG
033368,000309: 36,3401 45175 VLOAD CALL
033369,000310: 36,3402 03705 VGPREV
033370,000311: 36,3403 57156 S41.1
033371,000312: 36,3404 03500 STORE VGBODY
033372,000313: 36,3405 77776 EXIT
033373,000314: 36,3406 04635 TC POSTJUMP
033374,000315: 36,3407 77525 CADR SERVEXIT
033375,000316:
033376,000317: 36,3410 COUNT* $$/P42
033377,000318: 36,3410 E7,1453 EBANK= WHICH
033378,000319:
033379,000320: 36,3410 05353 P42LM TC PHASCHNG
033380,000321: 36,3411 04024 OCT 04024
033381,000322:
033382,000323: 36,3412 33133 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
033383,000324: 36,3413 55453 TS WHICH
033384,000325:
033385,000326: 36,3414 40106 CS FLGWRD10
033386,000327: 36,3415 74737 MASK APSFLBIT
033387,000328: 36,3416 10000 CCS A
033388,000329: 36,3417 03722 TC P40ALM
033389,000330: 36,3420 04616 TC BANKCALL
033390,000331:
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Page 765
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033392,000333: 36,3421 11175 CADR R02BOTH
033393,000334: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
033394,000335: 36,3423 55251 TS DVTHRUSH
033395,000336: 36,3424 34751 CAF FOUR
033396,000337: 36,3425 55513 TS DVCNTR
033397,000338:
033398,000339: 36,3426 06036 TC INTPRET
033399,000340: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033400,000341: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
033401,000342: 36,3431 34007 FAPS
033402,000343: 36,3432 03734 STORE F
033403,000344: 36,3433 52135 SLOAD GOTO
033404,000345: 36,3434 26001 APSVEX
033405,000346: 36,3435 75200 P40IN
033406,000347:
033407,000348: 36,3436 E7,1453 EBANK= WHICH
033408,000349:
033409,000350: 36,3436 COUNT* $$/P47
033410,000351: 36,3436 04616 P47LM TC BANKCALL
033411,000352: 36,3437 11175 CADR R02BOTH
033412,000353: 36,3440 06036 TC INTPRET
033413,000354: 36,3441 77624 CALRB
033414,000355: 36,3442 27577 MIDTOAV2
033415,000356:
033416,000357: 36,3443 30155 CA MPAC +1
033417,000358: 36,3444 05173 TC TWIDDLE
033418,000359: 36,3445 03447 ADRES STARTP47
033419,000360:
033420,000361: 36,3446 15155 TCF ENDOFJOB
033421,000362:
033422,000363: 36,3447 05353 STARTP47 TC PHASCHNG
033423,000364: 36,3450 05014 OCT 05014
033424,000365: 36,3451 77777 OCT 77777
033425,000366:
033426,000367: 36,3452 00006 EXTEND
033427,000368: 36,3453 33747 DCA ACADN83
033428,000369: 36,3454 53253 DXCH AVEGEXIT
033429,000370: 36,3455 34736 CAF PRIO20
033430,000371: 36,3456 05105 TC FINDVAC
033431,000372: 36,3457 E7,1620 EBANK= DELVIMU
033432,000373: 36,3457 03513 74067 2CADR P47BODY
033433,000374: 36,3461 12333 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
033434,000375: # SEE TIG-30 IN BURNBABY.
033435,000376:
033436,000377: 36,3462 06036 CALCN83 TC INTPRET
033437,000378: 36,3463 53375 VLOAD VAD
033438,000379: 36,3464 03500 DELVCTL
033439,000380: 36,3465 03525 DELVREF
033440,000381: 36,3466 03654 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
033441,000382:
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Page 766
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033443,000384: 36,3467 77624 CALL
033444,000385: 36,3470 57156 S41.1
033445,000386: 36,3471 03621 STORE DELVIMU
033446,000387: 36,3472 77776 EXIT
033447,000388: 36,3473 05353 TC PHASCHNG
033448,000389: 36,3474 10035 OCT 10035 # REREADAC AND HERE
033449,000390:
033450,000391: 36,3475 06036 TC INTPRET
033451,000392: 36,3476 77775 VLOAD
033452,000393: 36,3477 03654 DELVSIN
033453,000394: 36,3500 03500 STORE DELVCTL
033454,000395: 36,3501 77776 EXIT
033455,000396:
033456,000397: 36,3502 04635 TC POSTJUMP
033457,000398: 36,3503 77525 CADR SERVEXIT
033458,000399:
033459,000400: 36,3504 33745 P47BOD CAF V1683
033460,000401: 36,3505 04616 TC BANKCALL
033461,000402: 36,3506 20510 CADR GOFLASHR
033462,000403: 36,3507 06001 TC GOTOPOOH
033463,000404: 36,3510 06001 TC GOTOPOOH
033464,000405:
033465,000406: 36,3511 13513 TCF P47BODY
033466,000407:
033467,000408: 36,3512 13236 TCF P40PHS1
033468,000409:
033469,000410: 36,3513 06036 P47BODY TC INTPRET
033470,000411: 36,3514 77775 VLOAD
033471,000412: 36,3515 06424 HI6ZEROS
033472,000413: 36,3516 03621 STORE DELVIMU
033473,000414: 36,3517 03500 STORE DELVCTL
033474,000415: 36,3520 77776 EXIT
033475,000416: 36,3521 03504 TC P47BOD
033476,000417:
033477,000418: 36,3522 COUNT* $$/P40
033478,000419: 36,3522 31515 IMPLBURN CA TGO +1
033479,000420: 36,3523 03710 TC GETDT
033480,000421: 36,3524 05173 TC TWIDDLE
033481,000422: 36,3525 03542 ADRES ENGOFTSK
033482,000423: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
033483,000424: 36,3527 00153 ADRES IGNFLAG
033484,000425: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
033485,000426: 36,3531 00154 ADRES ASTNFLAG
033486,000427: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
033487,000428: 36,3533 00044 ADRES IMPULSW
033488,000429: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033489,000430: 36,3535 40114 OCT 40114
033490,000431:
033491,000432: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
033492,000433: 36,3537 00062 DEC 50 B-14
033493,000434:
|
|
Page 767
|
033495,000436: 36,3540 02656 TC NOULLAGE # TURN OFF ULLAGE
033496,000437:
033497,000438: 36,3541 05261 TC TASKOVER
033498,000439:
033499,000440: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033500,000441: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033501,000442: 36,3544 05261 TC TASKOVER
033502,000443:
033503,000444: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033504,000445: 36,3546 05105 TC FINDVAC
033505,000446: 36,3547 E7,1460 EBANK= TRKMKCNT
033506,000447: 36,3547 03223 74067 2CADR POSTBURN
033507,000448:
033508,000449: 36,3551 34753 ENGINOF2 CAF BIT1
033509,000450: 36,3552 05203 TC WAITLIST
033510,000451: 36,3553 E6,1420 EBANK= OMEGAQ
033511,000452: 36,3553 03606 74066 2CADR COASTSET
033512,000453: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033513,000454: 36,3556 74745 MASK IDLEFBIT
033514,000455: 36,3557 26103 ADS FLAGWRD7
033515,000456:
033516,000457: 36,3560 02656 TC NOULLAGE
033517,000458:
033518,000459: 36,3561 00006 ENGINOF4 EXTEND
033519,000460: 36,3562 30025 DCA TIME2
033520,000461: 36,3563 53345 DXCH TEVENT
033521,000462:
033522,000463: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033523,000464: 36,3565 70101 MASK FLAGWRD5
033524,000465: 36,3566 54101 TS FLAGWRD5
033525,000466: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033526,000467: 36,3570 00006 EXTEND # SUBROUTINE.
033527,000468: 36,3571 02011 RAND DSALMOUT
033528,000469: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033529,000470: 36,3573 00006 EXTEND
033530,000471: 36,3574 01011 WRITE DSALMOUT
033531,000472:
033532,000473: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033533,000474: 36,3576 74736 MASK USEQRJTS
033534,000475: 36,3577 26111 ADS DAPBOOLS
033535,000476:
033536,000477: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033537,000478: 36,3601 54055 TS THRUST # IS TURNED OFF.
033538,000479: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033539,000480: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033540,000481: 36,3604 05014 WOR CHAN14
033541,000482:
033542,000483: 36,3605 04707 TC ISWRETRN
033543,000484:
|
|
Page 768
|
033545,000486: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033546,000487: 36,3607 40204 CADR ALLCOAST
033547,000488: 36,3610 05261 TC TASKOVER
033548,000489:
033549,000490: 36,3611 E6,1420 EBANK= OMEGAQ
033550,000491: 36,3611 45020 UPDATEVG STQ CALL
033551,000492: 36,3612 03663 QTEMP1
033552,000493: 36,3613 56472 S40.8 # X-PRODUCT STEERING
033553,000494: 36,3614 43014 BON BOFSET
033554,000495: 36,3615 01307 XDELVFLG
033555,000496: 36,3616 03663 QTEMP1
033556,000497: 36,3617 01045 CYCLESW
033557,000498: 36,3620 03663 QTEMP1
033558,000499: 36,3621 77776 EXIT
033559,000500:
033560,000501: 36,3622 10755 CCS PHASE2
033561,000502: 36,3623 13636 TCF ENDSTEER # GROUP 2 ACTIVE --> LAMBERT STILL GOING.
033562,000503:
033563,000504: 36,3624 34737 CAF PRIO10
033564,000505: 36,3625 00004 INHINT
033565,000506: 36,3626 05105 TC FINDVAC
033566,000507: 36,3627 E7,1713 EBANK= VG
033567,000508: 36,3627 02745 56067 2CADR S40.9 # LAMBERT VTOGAIN
033568,000509:
033569,000510: 36,3631 05327 TC 2PHSCHNG
033570,000511: 36,3632 00172 OCT 00172 # 2.17SPOT FOR S40.9
033571,000512: 36,3633 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
033572,000513:
033573,000514: 36,3634 05516 TC DOWNFLAG
033574,000515: 36,3635 00043 ADRES CYCLESW # VG CALCULATION OMITTED
033575,000516: 36,3636 06036 ENDSTEER TC INTPRET
033576,000517: 36,3637 77650 GOTO
033577,000518: 36,3640 03663 QTEMP1
033578,000519:
033579,000520: 36,3641 06036 STEERING TC INTPRET
033580,000521:
033581,000522: 36,3642 77624 CALL
033582,000523: 36,3643 75611 UPDATEVG
033583,000524: 36,3644 77776 EXIT
033584,000525:
033585,000526: 36,3645 E7,1513 EBANK= DVCNTR
033586,000527: 36,3645 00004 NSTEER INHINT
033587,000528: 36,3646 35016 CA EBANK7
033588,000529: 36,3647 54003 TS EBANK
033589,000530: # PHASE CHANGE IN SERVERICER NEEDED HERE *********************************
033590,000531: 36,3650 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033591,000532: 36,3651 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033592,000533: 36,3652 10000 CCS A # STEERING IS ALMOST DONE.
033593,000534:
033594,000535: 36,3653 13660 TCF +5 # IMPULSW = 0 EXIT
033595,000536:
|
|
Page 769
|
033597,000538: 36,3654 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033598,000539: 36,3655 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033599,000540: 36,3656 10000 CCS A
033600,000541: 36,3657 13662 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033601,000542: 36,3660 04635 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033602,000543: 36,3661 77525 CADR SERVEXIT
033603,000544:
033604,000545: 36,3662 04674 TC IBNKCALL
033605,000546: 36,3663 40165 CADR STOPRATE
033606,000547:
033607,000548: 36,3664 05516 TC DOWNFLAG # TURN OFF IMPULSW
033608,000549: 36,3665 00044 ADRES IMPULSW
033609,000550:
033610,000551: 36,3666 05504 TC UPFLAG
033611,000552: 36,3667 00161 ADRES IDLEFLAG # TURN OFF DVMON
033612,000553:
033613,000554: 36,3670 00004 INHINT
033614,000555: 36,3671 00006 EXTEND
033615,000556: 36,3672 31440 DCA TIG
033616,000557: 36,3673 52155 DXCH MPAC
033617,000558: 36,3674 00006 EXTEND
033618,000559: 36,3675 40025 DCS TIME2
033619,000560: 36,3676 20155 DAS MPAC
033620,000561: 36,3677 07256 TC TPAGREE
033621,000562: 36,3700 30155 CAE MPAC +1
033622,000563: 36,3701 03710 TC GETDT
033623,000564: 36,3702 05173 TC TWIDDLE
033624,000565: 36,3703 03542 ADRES ENGOFTSK
033625,000566: 36,3704 05327 TC 2PHSCHNG
033626,000567: 36,3705 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033627,000568: 36,3706 00035 OCT 00035 # SERVICER--REREADAC
033628,000569:
033629,000570: 36,3707 15155 TCF ENDOFJOB
033630,000571:
033631,000572: 36,3710 10000 GETDT CCS A
033632,000573: 36,3711 13714 TCF +3
033633,000574: 36,3712 13714 TCF +2
033634,000575: 36,3713 34755 CAF ZERO
033635,000576: 36,3714 64753 AD ONE
033636,000577: 36,3715 56001 XCH L
033637,000578: 36,3716 34755 CAF ZERO
033638,000579: 36,3717 53515 DXCH TGO
033639,000580: 36,3720 31515 CA TGO +1
033640,000581: 36,3721 00002 TC Q
033641,000582: 36,3722 05567 P40ALM TC ALARM # ASTRONAUT DOESN'T AGREE WITH STAGE
033642,000583: 36,3723 01706 OCT 01706 # VERIFY DISCRETE. HE HAS SELECTED P40,
033643,000584: 36,3724 35006 CAF V05N09 # BUT THE DAP THINKS THAT THE DESCENT UNIT
033644,000585: 36,3725 04616 TC BANKCALL # IS GONE--A SITUATION THAT WOULD MAKE A
033645,000586: 36,3726 20351 CADR GOFLASH # DPS BURN EXCEEDINGLY DIFFICULT.
033646,000587:
|
|
Page 770
|
033648,000589: 36,3727 16001 TCF GOTOPOOH # V34E TERMINATE
033649,000590: 36,3730 13724 TCF -4 # V33E PROCEED (ILLEGAL)
033650,000591: 36,3731 13724 TCF -5 # RECYCLE (ILLEGAL)
033651,000592:
033652,000593: # ************************************************************************
033653,000594:
033654,000595: 36,3732 00000 SEC15DP OCT 00000 # DON'T SEPARATE
033655,000596: 36,3733 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
033656,000597: 36,3734 00000 05670 SEC30DP 2DEC 3000 B-28
033657,000598: 36,3736 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
033658,000599: 36,3737 10624 SEC45 DEC 4500 B-14
033659,000600: 36,3740 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033660,000601: 36,3741 00764 5SEC DEC 500 B-14
033661,000602: 36,3742 05050 26SECS DEC 2600 B-14
033662,000603: 36,3743 04050 V16N40 VN 1640
033663,000604: 36,3744 04125 V16N85B VN 1685
033664,000605: 36,3745 04123 V1683 VN 1683
033665,000606: 36,3746 4777 SEC01 = 1SEC
033666,000607: 36,3746 36,2054 ACADN85 = P41TABLE +2
033667,000608:
033668,000609: 36,3746 E7,1620 EBANK= DELVIMU
033669,000610: 36,3746 03462 74067 ACADN83 2CADR CALCN83
033670,000611: # *************************************************
033671,000612:
|
|
Page 771
|
033673,000614: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
033674,000615: # MOD N02 LOG SECTION P40-P47
033675,000616: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033676,000617: # FUNCTIONAL DESCRIPTION
033677,000618: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033678,000619: # VECTOR(VGTIG).
033679,000620: # CALLING SEQUENCE
033680,000621: # L CALL
033681,000622: # L+1 S40.1
033682,000623: # NORMAL EXIT MODE
033683,000624: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033684,000625: # ERROR RETURN IF NOSOFLAG =1
033685,000626: # SUBROUTINES CALLED
033686,000627: # LEMPREC
033687,000628: # INITVEL
033688,000629: # CALCGRAV
033689,000630: # MIDGIM
033690,000631: # ALARM OR ABORT EXIT MODES
033691,000632: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
033692,000633: # ERASABLE INITIALIZATION REQUIRED
033693,000634: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
033694,000635: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
033695,000636: # F THRUST FOR ENGINE USED
033696,000637: # IF DELTA-V MANEUVER
033697,000638: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033698,000639: # INERTIAL COORDS. OF ACTIVE VEHICLE
033699,000640: # AT TIME OF IGNITION VECTOR B7M/CS
033700,000641: # DELVSAB MAG. OF DELVSIN DP B7M/CS
033701,000642: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
033702,000643: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
033703,000644: # IF AIMPT STEER
033704,000645: # TIG TIME OF IGNITION DP B28CS
033705,000646: # RTARG POSITION TARGET TIME VECTOR B29M
033706,000647: # CSTEER C FOR STEER LAW DP B2
033707,000648: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
033708,000649: # OUTPUT
033709,000650: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
033710,000651: # VGTIG INITIAL VALUE OF VELOCITY
033711,000652: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
033712,000653: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
033713,000654: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033714,000655: # -GDT FOR S40.13 VECT B7M/CS
033715,000656: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
033716,000657: # POSITION AT TIME OF IGNITION
033717,000658: # DEBRIS QTEMP1
033718,000659: # MPAC,QPRET
033719,000660: # PUSHLIST
033720,000661:
033721,000662: 14,2347 BANK 14
033722,000663: 27,2000 SETLOC P40S1
033723,000664: 27,2000 BANK
033724,000665:
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|
Page 772
|
033726,000667: 27,2271 COUNT* $$/S40.1
033727,000668: 27,2271 44014 S40.1 CLEAR STQ
033728,000669: 27,2272 03264 FIRSTFLG
033729,000670: 27,2273 03630 QTEMP
033730,000671: 27,2274 77614 DELVTEST BOFF
033731,000672: 27,2275 01347 XDELVFLG
033732,000673: 27,2276 56363 S40.1B
033733,000674: 27,2277 77201 CALCTHET SETPD VLOAD
033734,000675: 27,2300 00001 0
033735,000676: 27,2301 03646 VTIG
033736,000677: 27,2302 02335 STORE VINIT
033737,000678: 27,2303 53435 VXV UNIT
033738,000679: 27,2304 03640 RTIG
033739,000680: 27,2305 27677 STOVL UT # UP IN UT
033740,000681: 27,2306 03640 RTIG
033741,000682: 27,2307 02327 STORE RINIT
033742,000683: 27,2310 65236 VSQ PDDL
033743,000684: 27,2311 00045 36D
033744,000685: 27,2312 56205 DMP DDV
033745,000686: 27,2313 16435 THETACON
033746,000687: 27,2314 41205 DMP DMP
033747,000688: 27,2315 03662 DELVSAB
033748,000689: 27,2316 01245 WEIGHT/G
033749,000690: 27,2317 77671 DDV
033750,000691: 27,2320 03734 F
033751,000692: 27,2321 24017 STOVL 14D
033752,000693: 27,2322 03654 DELVSIN
033753,000694:
033754,000695: 27,2323 74241 DOT VXSC
033755,000696: 27,2324 03677 UT
033756,000697: 27,2325 03677 UT
033757,000698: 27,2326 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033758,000699: 27,2327 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
033759,000700: 27,2330 03654 DELVSIN
033760,000701: 27,2331 00017 14D
033761,000702: 27,2332 63356 SIN PDVL
033762,000703: 27,2333 00007 6D
033763,000704: 27,2334 53435 VXV UNIT
033764,000705: 27,2335 03677 UT
033765,000706: 27,2336 45561 VXSC STADR
033766,000707: 27,2337 50072 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
033767,000708: 27,2340 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
033768,000709: 27,2341 00017 14D
033769,000710: 27,2342 74346 COS VXSC
033770,000711: 27,2343 74255 VAD VXSC
033771,000712: 27,2344 03705 VGTIG
033772,000713: 27,2345 00045 36D
033773,000714: 27,2346 53352 VSL2 VAD
033774,000715: 27,2347 77626 STADR
033775,000716: 27,2350 74072 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
033776,000717:
|
|
Page 773
|
033778,000719: 27,2351 77656 UNIT
033779,000720: 27,2352 27677 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
033780,000721: 27,2353 03705 VGTIG
033781,000722: 27,2354 45006 PUSH CALL
033782,000723: 27,2355 20021 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033783,000724: 27,2356 77775 VLOAD
033784,000725: 27,2357 06424 ZEROVECS
033785,000726: 27,2360 03671 STORE BDT
033786,000727: 27,2361 77650 GOTO
033787,000728: 27,2362 03630 QTEMP
033788,000729: 27,2363 77745 S40.1B DLOAD
033789,000730: 27,2364 03440 TIG
033790,000731: 27,2365 00041 STORE TDEC1
033791,000732: 27,2366 77621 BDSU
033792,000733: 27,2367 03627 TPASS4
033793,000734: 27,2370 37450 STCALL DELLT4 # INTERCEPT TIME - TIG.
033794,000735: 27,2371 27057 LEMPREC
033795,000736: 27,2372 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
033796,000737: 27,2373 00001 RATT
033797,000738: 27,2374 00001 0
033798,000739: 27,2375 03640 STORE RTIG
033799,000740: 27,2376 26327 STOVL RINIT
033800,000741: 27,2377 00007 VATT
033801,000742: 27,2400 03646 STORE VTIG
033802,000743: 27,2401 02335 STORE VINIT
033803,000744: 27,2402 65345 DLOAD PDDL # NUMIT = 0
033804,000745: 27,2403 06424 ZEROVECS
033805,000746: 27,2404 16431 EPS1
033806,000747: 27,2405 43214 BOFF DAD
033807,000748: 27,2406 03745 NORMSW
033808,000749: 27,2407 56411 SMALLEPS
033809,000750: 27,2410 16433 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
033810,000751: 27,2411 66006 SMALLEPS PUSH SXA,1
033811,000752: 27,2412 03375 RTX1
033812,000753: 27,2413 45134 SXA,2 CALL
033813,000754: 27,2414 03376 RTX2
033814,000755: 27,2415 22000 INITVEL
033815,000756: 27,2416 41575 VLOAD PUSH
033816,000757: 27,2417 03366 DELVEET3 # VGTIG = VR - VN.
033817,000758: 27,2420 03705 STORE VGTIG
033818,000759: 27,2421 77656 UNIT # UT = UNIT (VGTIG)
033819,000760: 27,2422 17677 STODL UT
033820,000761: 27,2423 00045 36D
033821,000762: 27,2424 37662 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
033822,000763: 27,2425 20021 GET.LVC # VERTICAL COORDINATES.
033823,000764: 27,2426 77650 GOTO
033824,000765: 27,2427 03630 QTEMP
033825,000766:
033826,000767: 27,2430 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
033827,000768:
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|
Page 774
|
033829,000770: 27,2432 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
033830,000771: 27,2434 00024 13714 THETACON 2DEC .31830989 B-8
033831,000772:
|
|
Page 775
|
033833,000774: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
033834,000775:
033835,000776: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033836,000777:
033837,000778: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
033838,000779:
033839,000780: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
033840,000781:
033841,000782: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033842,000783:
033843,000784: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033844,000785: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033845,000786: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033846,000787: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
033847,000788: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033848,000789:
033849,000790:
033850,000791: # CALLING SEQUENCE:
033851,000792: # L CALL INTERPRETIVE CALL.
033852,000793: # L +1 S40.2,3
033853,000794: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
033854,000795:
033855,000796: # SUBROUTINES CALLED: NONE.
033856,000797:
033857,000798: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
033858,000799:
033859,000800: # ALARM/ABORT MODES: NONE.
033860,000801:
033861,000802: # INPUT:
033862,000803:
033863,000804: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033864,000805: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
033865,000806: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
033866,000807:
033867,000808: # OUTPUT:
033868,000809:
033869,000810: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
033870,000811: # : YSCREF : IN REFERENCE COORDINATES
033871,000812: # : ZSCREF : (PREFERRED IMU ORIENTATION).
033872,000813: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033873,000814: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033874,000815: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033875,000816:
033876,000817: # DEBRIS: NONE.
033877,000818:
|
|
Page 776
|
033879,000820:
033880,000821: 27,2436 COUNT* $$/S40.2
033881,000822: 27,2436 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033882,000823: 27,2437 03677 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
033883,000824: 27,2440 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
033884,000825: 27,2441 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
033885,000826: 27,2442 27767 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033886,000827: 27,2443 06422 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
033887,000828: 27,2444 27761 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033888,000829:
033889,000830: 27,2445 03677 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033890,000831: 27,2446 03605 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
033891,000832: 27,2447 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
033892,000833: 27,2450 03640 RTIG # YSCREF = UNIT(UT X RTIG)
033893,000834: 27,2451 46125 PDDL BHIZ
033894,000835: 27,2452 00045 36D # TEST MAGNITUDE OF UT X RTIG
033895,000836: 27,2453 56464 FIXY # IF SMALL, USE UT X VTIG AS YSC
033896,000837: 27,2454 45575 STORY VLOAD STADR
033897,000838: 27,2455 74164 STORE YSCREF
033898,000839: 27,2456 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
033899,000840: 27,2457 03605 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033900,000841: 27,2460 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
033901,000842: 27,2461 03621 STORE ZSCREF # = + (XSCREF X YSCREF)
033902,000843:
033903,000844: 27,2462 43414 SET RVQ
033904,000845: 27,2463 01073 PFRATFLG
033905,000846: 27,2464 47375 FIXY VLOAD VXV # IN THIS CASE,
033906,000847: 27,2465 03605 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
033907,000848: 27,2466 03646 VTIG
033908,000849: 27,2467 41456 UNIT PUSH
033909,000850: 27,2470 77650 GOTO
033910,000851: 27,2471 56454 STORY
033911,000852:
|
|
Page 777
|
033913,000854: # SUBROUTINE S40.8
033914,000855:
033915,000856: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
033916,000857:
033917,000858: # DESCRIPTION
033918,000859:
033919,000860: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033920,000861: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033921,000862: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
033922,000863:
033923,000864: # CALLING SEQUENCE
033924,000865:
033925,000866: # L-1 CALL
033926,000867: # L S40.8
033927,000868: # L+1 INTERPRETIVE RETURN
033928,000869:
033929,000870: # ALARM
033930,000871:
033931,000872: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033932,000873: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
033933,000874:
033934,000875: # INPUT AND INITIALIZATION
033935,000876:
033936,000877: # VGPREV REFERENCE 2(7) M/CS
033937,000878: # DELVREF REFERENCE 2(7) M/CS
033938,000879: # BDT REFERENCE 2(7) M/CS
033939,000880: # TDECAY TAIL-OFF TIME 2(28) CS
033940,000881: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033941,000882: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033942,000883: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033943,000884:
033944,000885: # NOTE: VGTIG EQUALS VGPREV
033945,000886:
033946,000887: # OUTPUT
033947,000888:
033948,000889: # STEERSW SEE INPUT
033949,000890: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033950,000891: # TGO TIME TO CUT-OFF 2(28) CS
033951,000892: # SEE FINDCDUW FOR STEERING OUTPUTS.
033952,000893:
033953,000894: # SUBROUTINE CALLED
033954,000895:
033955,000896: # FINDCDUW
033956,000897:
033957,000898: # DEBRIS
033958,000899:
033959,000900: # MPACS, PUSHLIST
033960,000901:
033961,000902: 27,2472 COUNT* $$/S40.8
033962,000903:
|
|
Page 778
|
033964,000905: 27,2472 E6,1420 EBANK= OMEGAQ
033965,000906: 27,2472 43175 S40.8 VLOAD BON
033966,000907: 27,2473 03705 VGPREV
033967,000908: 27,2474 01307 XDELVFLG
033968,000909: 27,2475 56502 VGNEW
033969,000910: 27,2476 53214 BOFF VAD
033970,000911: 27,2477 03344 FIRSTFLG
033971,000912: 27,2500 56502 VGNEW
033972,000913: 27,2501 03671 BDT
033973,000914: 27,2502 77651 VGNEW VSU
033974,000915: 27,2503 03525 DELVREF
033975,000916: 27,2504 03714 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
033976,000917: 27,2505 76521 MXV VSL1
033977,000918: 27,2506 01734 REFSMMAT
033978,000919: 27,2507 03252 STORE UNFC/2
033979,000920: 27,2510 77214 BON VLOAD
033980,000921: 27,2511 03304 FIRSTFLG
033981,000922: 27,2512 56515 BDTOK
033982,000923: 27,2513 06424 HI6ZEROS
033983,000924: 27,2514 03671 STORE BDT
033984,000925: 27,2515 51575 BDTOK VLOAD ABVAL
033985,000926: 27,2516 03714 VG
033986,000927: 27,2517 03662 STORE VGDISP
033987,000928: 27,2520 77201 TGDCALC SETPD VLOAD
033988,000929: 27,2521 00001 0
033989,000930: 27,2522 03714 VG
033990,000931: 27,2523 27705 STOVL VGPREV
033991,000932: 27,2524 03525 DELVREF
033992,000933: 27,2525 57414 BOFF VCOMP
033993,000934: 27,2526 01344 STEERSW
033994,000935: 27,2527 00052 QPRET
033995,000936: 27,2530 77656 UNIT
033996,000937: 27,2531 41441 DOT PUSH
033997,000938: 27,2532 03714 VG
033998,000939: 27,2533 56244 BPL DDV
033999,000940: 27,2534 56562 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
034000,000941: 27,2535 03742 VEX
034001,000942: 27,2536 41215 DAD DMP
034002,000943: 27,2537 06422 DPHALF
034003,000944: 27,2540 56261 SR DDV
034004,000945: 27,2541 20613 10D
034005,000946: 27,2542 00045 36D
034006,000947: 27,2543 43205 DMP DAD
034007,000948: 27,2544 16571 -FOURDT
034008,000949: 27,2545 03740 TDECAY
034009,000950: 27,2546 03515 STORE TGO
034010,000951: 27,2547 77615 DAD
034011,000952: 27,2550 01235 PIPTIME
034012,000953: 27,2551 17440 STODL TIG
034013,000954: 27,2552 03515 TGO
034014,000955:
|
|
Page 779
|
034016,000957: 27,2553 51025 DSU BPL
034017,000958: 27,2554 16573 FOURSECS # 400 CS
034018,000959: 27,2555 61062 FINDCDUW -2
034019,000960: 27,2556 43014 SET CLRGO
034020,000961: 27,2557 01066 IMPULSW
034021,000962: 27,2560 01224 STEERSW
034022,000963: 27,2561 00052 QPRET
034023,000964:
034024,000965:
034025,000966: 27,2562 77776 ALARMIT EXIT
034026,000967: 27,2563 05567 TC ALARM
034027,000968: 27,2564 01407 OCT 01407
034028,000969: 27,2565 06036 TC INTPRET
034029,000970: 27,2566 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
034030,000971: 27,2567 61062 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
034031,000972:
034032,000973: 27,2570 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
034033,000974: 27,2572 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28)CS
034034,000975: 27,2574 E7,1741 2VEXHUST = VEX
034035,000976:
|
|
Page 780
|
034037,000978: # NAME S40.13 - TIMEBURN
034038,000979: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
034039,000980: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
034040,000981: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
034041,000982: # BURN
034042,000983: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
034043,000984: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
034044,000985: # SIGNAL
034045,000986: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
034046,000987: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
034047,000988: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
034048,000989: # F APS ENGINE THRUST IN M.NEWTONS AT +7
034049,000990: # AND ALSO FOR RCS ENGINE
034050,000991: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034051,000992: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
034052,000993: # REQUIRE MODIFICATION FOR SATURN BURNS.
034053,000994: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
034054,000995: # =0 DPS
034055,000996: # =1 APS
034056,000997: # OUTPUT IMPULSW ZERO FOR STEERING
034057,000998: # ONE FOR ATTITUDE HOLD
034058,000999: # NOTHROTL ZERO FOR THROTTLING
034059,001000: # ONE TO INHIBIT THROTTLING
034060,001001: # TGO TIME TO BURN IN CS
034061,001002: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
034062,001003: # FORCE
034063,001004:
034064,001005:
034065,001006: 27,2574 E7,1514 EBANK= TGO
034066,001007: 27,2574 COUNT* $$/40.13
034067,001008: 27,2574 06036 S40.13 TC INTPRET
034068,001009: 27,2575 43001 SETPD CLEAR
034069,001010: 27,2576 00001 00D
034070,001011: 27,2577 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
034071,001012: 27,2600 51575 VLOAD ABVAL
034072,001013: 27,2601 03705 VGTIG # VELOCITY TO BE GAINED AT +7
034073,001014: 27,2602 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
034074,001015: 27,2603 16742 7SEC # 700 CS AT + 18
034075,001016: 27,2604 34017 FRCS2
034076,001017: 27,2605 62471 DDV SL2 # SCALE
034077,001018: 27,2606 01245 WEIGHT/G
034078,001019: 27,2607 41421 BDSU PUSH
034079,001020: 27,2610 43014 BOFF SET
034080,001021: 27,2611 05342 APSFLAG
034081,001022: 27,2612 56662 S40.13D # FOR DPS ENGINE
034082,001023: 27,2613 02463 NOTHROTL
034083,001024: 27,2614 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
034084,001025: 27,2615 16001 K1VAL # M.NEWTONS-CS AT +24
034085,001026: 27,2616 01245 WEIGHT/G
034086,001027: 27,2617 50021 BDSU BMN
034087,001028:
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|
Page 781
|
034089,001030: 27,2620 00001 00D
034090,001031: 27,2621 56644 S40.131 # TGO LESS THAN 100 CS
034091,001032: 27,2622 41325 PDDL DMP # 02D = TEMP1 AT +7
034092,001033: 27,2623 03736 MDOT
034093,001034:
034094,001035: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034095,001036: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
034096,001037: # REQUIRE ADJUSTMENT
034097,001038:
034098,001039: 27,2624 16734 3.5SEC # 350 CS AT +14
034099,001040: 27,2625 65221 BDSU PDDL
034100,001041: 27,2626 01245 WEIGHT/G
034101,001042: 27,2627 03734 F
034102,001043: 27,2630 60405 DMP SR2 # SCALE
034103,001044: 27,2631 16736 5SECS
034104,001045: 27,2632 41471 DDV PUSH # 04D = TEMP2
034105,001046: 27,2633 51021 BDSU BPL
034106,001047: 27,2634 00003 02D
034107,001048: 27,2635 56662 S40.13D
034108,001049: 27,2636 55345 DLOAD BDDV
034109,001050: 27,2637 43205 DMP DAD
034110,001051: 27,2640 16736 5SECS
034111,001052: 27,2641 16732 1SEC2D # 100 CS AT +14
034112,001053: 27,2642 77650 GOTO
034113,001054: 27,2643 56652 S40.132
034114,001055: 27,2644 41345 S40.131 DLOAD DMP
034115,001056: 27,2645 01245 WEIGHT/G
034116,001057: 27,2646 41542 SR1 PUSH
034117,001058: 27,2647 56215 DAD DDV
034118,001059: 27,2650 16003 K2VAL # M.NEWTON CS AT +24
034119,001060: 27,2651 16005 K3VAL # M.NEWTON CS AT +10
034120,001061: 27,2652 77414 S40.132 SET EXIT
034121,001062: 27,2653 01066 IMPULSW
034122,001063: 27,2654 07256 S40.132* TC TPAGREE
034123,001064: 27,2655 30154 CA MPAC
034124,001065: 27,2656 56001 XCH L
034125,001066: 27,2657 34755 CA ZERO
034126,001067: 27,2660 53515 DXCH TGO
034127,001068: 27,2661 12704 TCF S40.134
034128,001069:
034129,001070: 27,2662 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
034130,001071: 27,2663 00001 00D
034131,001072: 27,2664 01245 WEIGHT/G
034132,001073: 27,2665 43006 PUSH BON
034133,001074: 27,2666 05302 APSFLAG
034134,001075: 27,2667 56725 APSTGO
034135,001076: 27,2670 43071 DDV CLEAR
034136,001077: 27,2671 16007 S40.136
034137,001078: 27,2672 02663 NOTHROTL
034138,001079: 27,2673 41400 BOV PUSH
034139,001080:
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|
Page 782
|
034141,001082: 27,2674 56707 S40.130V
034142,001083: 27,2675 51025 S40.137 DSU BPL
034143,001084: 27,2676 16740 6SEC # 600.0 CS AT +14
034144,001085: 27,2677 56715 S40.138
034145,001086: 27,2700 52015 DAD GOTO
034146,001087: 27,2701 16740 6SEC
034147,001088: 27,2702 56652 S40.132
034148,001089: 27,2703 77776 S40.133 EXIT
034149,001090: 27,2704 05353 S40.134 TC PHASCHNG
034150,001091: 27,2705 00003 OCT 00003
034151,001092: 27,2706 05155 TC ENDOFJOB
034152,001093: 27,2707 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
034153,001094: 27,2710 77671 DDV
034154,001095: 27,2711 16011 S40.136_ # S40.136 SHIFTED LEFT 10
034155,001096: 27,2712 03515 STORE TGO
034156,001097: 27,2713 77776 EXIT
034157,001098: 27,2714 12704 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
034158,001099:
034159,001100: 27,2715 51025 S40.138 DSU BPL
034160,001101: 27,2716 16744 89SECS
034161,001102: 27,2717 56722 STORETGO
034162,001103: 27,2720 77614 SET
034163,001104: 27,2721 02463 NOTHROTL
034164,001105: 27,2722 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
034165,001106: 27,2723 77776 EXIT
034166,001107: 27,2724 12654 TCF S40.132*
034167,001108:
034168,001109: 27,2725 62471 APSTGO DDV SL2
034169,001110: 27,2726 34007 FAPS
034170,001111: 27,2727 77650 GOTO
034171,001112: 27,2730 56723 STORETGO +1
034172,001113: 27,2731 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
034173,001114: 27,2733 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
034174,001115: 27,2735 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
034175,001116: 27,2737 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
034176,001117: 27,2741 00053 30000 7SEC 2DEC 700.0 B-18 # 700.0 CS AT + 18
034177,001118: 27,2743 21304 00000 89SECS 2DEC 8900.0 B-14
034178,001119: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
034179,001120: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
034180,001121: # COMPUTATION CYCLES (4 SECONDS).
034181,001122: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
034182,001123: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
034183,001124: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
034184,001125: # CALLING SEQ VIA FINDVAC AS NEW JOB.
034185,001126:
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|
Page 783
|
034187,001128: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
034188,001129: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
034189,001130: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
034190,001131: # METERS/CS AT +7.
034191,001132: # TIG - TIME OF IGNITION IN CS AT +28.
034192,001133: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
034193,001134: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
034194,001135: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
034195,001136: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
034196,001137: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
034197,001138: # METERS/CS AT +7.
034198,001139: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
034199,001140: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
034200,001141: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
034201,001142: # BDT - B VECTOR IN METERS/CS AT +7.
034202,001143: # SUBROUTINES USED - INITVEL
034203,001144:
034204,001145: 27,2745 E7,1704 EBANK= VGPREV
034205,001146: 27,2745 COUNT* $$/S40.9
034206,001147: 27,2745 06036 S40.9 TC INTPRET
034207,001148: 27,2746 77201 SETPD VLOAD
034208,001149: 27,2747 00001 00D
034209,001150: 27,2750 01221 RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
034210,001151: 27,2751 26327 STOVL RINIT
034211,001152: 27,2752 01227 VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
034212,001153: 27,2753 16335 STODL VINIT
034213,001154: 27,2754 01235 PIPTIME
034214,001155: 27,2755 03730 STORE TNIT
034215,001156: 27,2756 77621 BDSU
034216,001157: 27,2757 03627 TPASS4
034217,001158: 27,2760 03450 STORE DELLT4 # T2 - T1
034218,001159: 27,2761 71214 SET DLOAD
034219,001160: 27,2762 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
034220,001161: 27,2763 06424 HI6ZEROS
034221,001162: 27,2764 77725 PDDL
034222,001163: 27,2765 16431 EPS1
034223,001164: 27,2766 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
034224,001165: 27,2767 03745 NORMSW
034225,001166: 27,2770 56772 EPSSMALL
034226,001167: 27,2771 16433 EPS2
034227,001168: 27,2772 77606 EPSSMALL PUSH
034228,001169: 27,2773 45014 S40.92 BOFSET CALL
034229,001170: 27,2774 03044 FIRSTFLG
034230,001171: 27,2775 57102 INITINIT
034231,001172: 27,2776 22002 HAVEGUES
034232,001173: 27,2777 52375 VLOAD VSU
034233,001174: 27,3000 02343 VIPRIME
034234,001175: 27,3001 03722 VRPREV
034235,001176: 27,3002 45325 PDDL DSU
034236,001177: 27,3003 03730 TNIT
034237,001178: 27,3004 03732 TNITPREV
034238,001179:
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|
Page 784
|
034240,001181: 27,3005 74265 BDDV VXSC
034241,001182: 27,3006 17101 100B28
034242,001183: 27,3007 76451 VSU VSL1
034243,001184: 27,3010 01237 GDT/2
034244,001185: 27,3011 03671 STORE BDT
034245,001186: 27,3012 53135 FIRSTTME SLOAD BZE
034246,001187: 27,3013 03377 RTX2
034247,001188: 27,3014 57020 GETGOBL
034248,001189: 27,3015 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
034249,001190: 27,3016 03366 DELVEET3
034250,001191: 27,3017 57034 NOGOBL
034251,001192: 27,3020 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
034252,001193: 27,3021 01221 RN
034253,001194: 27,3022 45345 DLOAD DSU
034254,001195: 27,3023 01235 PIPTIME # 2
034255,001196: 27,3024 03510 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
034256,001197: 27,3025 56205 DMP DDV # OBL
034257,001198: 27,3026 16013 EARTHMU
034258,001199: 27,3027 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
034259,001200: 27,3030 53361 VXSC VAD
034260,001201: 27,3031 03517 UNITGOBL
034261,001202: 27,3032 03366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
034262,001203: 27,3033 03366 STORE DELVEET3 # VG = VR + GOBL - VN
034263,001204: 27,3034 77646 NOGOBL ABVAL
034264,001205: 27,3035 17662 STODL VGDISP
034265,001206: 27,3036 03730 TNIT
034266,001207: 27,3037 03732 STORE TNITPREV
034267,001208: 27,3040 77776 EXIT
034268,001209: 27,3041 05353 TC PHASCHNG
034269,001210: 27,3042 05022 OCT 05022
034270,001211: 27,3043 14000 OCT 14000
034271,001212: 27,3044 06036 TC INTPRET
034272,001213: 27,3045 77775 VLOAD
034273,001214: 27,3046 02343 VIPRIME # VR(T)
034274,001215: 27,3047 03722 STORE VRPREV
034275,001216: 27,3050 77776 EXIT
034276,001217: 27,3051 05353 TC PHASCHNG
034277,001218: 27,3052 04022 OCT 04022
034278,001219: 27,3053 06036 TC INTPRET
034279,001220: 27,3054 77214 BON VLOAD
034280,001221: 27,3055 01305 CYCLESW
034281,001222: 27,3056 57064 S40.91
034282,001223: 27,3057 03366 DELVEET3
034283,001224: 27,3060 03705 STORE VGPREV
034284,001225: 27,3061 52014 SET GOTO
034285,001226: 27,3062 01065 CYCLESW
034286,001227: 27,3063 57074 ENDS40.9
034287,001228: 27,3064 53375 S40.91 VLOAD VAD # EXTRAPOLATE FOR V TO GAIN
034288,001229: 27,3065 03366 DELVEET3
034289,001230: 27,3066 03671 BDT
034290,001231:
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Page 785
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034292,001233: 27,3067 77651 VSU
034293,001234: 27,3070 03525 DELVREF
034294,001235: 27,3071 03705 STORE VGPREV
034295,001236: 27,3072 77646 ABVAL
034296,001237: 27,3073 03662 STORE VGDISP # FOR DISPLAY PURPOSES
034297,001238: 27,3074 77776 ENDS40.9 EXIT
034298,001239: 27,3075 05353 TC PHASCHNG
034299,001240: 27,3076 00002 OCT 2
034300,001241: 27,3077 05155 TC ENDOFJOB
034301,001242: 27,3100 00000 00144 100B28 2DEC 100 B-28
034302,001243: 27,3102 77624 INITINIT CALL
034303,001244: 27,3103 22002 HAVEGUES
034304,001245: 27,3104 77650 GOTO
034305,001246: 27,3105 57012 FIRSTTME
034306,001247: # MOD 0 24 FEB 67 PETER ADLER
034307,001248: # FUNCTION:
034308,001249: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034309,001250: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034310,001251: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034311,001252: # CALLING SEQUENCE:
034312,001253: # VIA WAITLIST FROM R03
034313,001254: # INPUT:
034314,001255: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
034315,001256: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
034316,001257: # SUBROUTINES USED:
034317,001258: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034318,001259:
034319,001260: 27,3106 COUNT* $$/S40.6
034320,001261: 27,3106 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
034321,001262:
034322,001263: 27,3106 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034323,001264: 27,3107 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
034324,001265:
034325,001266: 27,3110 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
034326,001267: 27,3111 00006 EXTEND
034327,001268: 27,3112 03012 WAND CHAN12
034328,001269: 27,3113 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
034329,001270: 27,3114 00006 EXTEND
034330,001271: 27,3115 05012 WOR CHAN12
034331,001272: 27,3116 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034332,001273: 27,3117 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
034333,001274: 27,3120 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
034334,001275: 27,3121 00006 EXTEND
034335,001276: 27,3122 03012 WAND CHAN12
034336,001277: 27,3123 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034337,001278: 27,3124 00006 EXTEND
034338,001279: 27,3125 05012 WOR CHAN12
034339,001280: 27,3126 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034340,001281: 27,3127 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034341,001282:
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Page 786
|
034343,001284: 27,3130 03147 ADRES PITCHOFF
034344,001285:
034345,001286: 27,3131 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034346,001287: 27,3132 05224 TC VARDELAY # UNTIL THEN
034347,001288: 27,3133 44740 CS BIT12
034348,001289: 27,3134 00006 EXTEND
034349,001290: 27,3135 03012 WAND CHAN12 # SHUT OFF ROLL
034350,001291: 27,3136 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034351,001292: 27,3137 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034352,001293: 27,3140 00006 EXTEND
034353,001294: 27,3141 13153 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034354,001295: 27,3142 34737 CAF PRIO10 # RETURN TO R03
034355,001296: 27,3143 05072 TC NOVAC
034356,001297: 27,3144 E7,1467 EBANK= WHOCARES
034357,001298: 27,3144 02320 02067 2CADR TRIMDONE
034358,001299: 27,3146 05261 TC TASKOVER
034359,001300: 27,3147 44742 PITCHOFF CS BIT10
034360,001301: 27,3150 00006 EXTEND
034361,001302: 27,3151 03012 WAND CHAN12 # SHUT OFF PITCH
034362,001303: 27,3152 13136 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034363,001304: 27,3153 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034364,001305: 27,3154 00137 ADRES GMBDRVSW
034365,001306: 27,3155 05261 TC TASKOVER
034366,001307:
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Page 787
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034368,001309: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034369,001310:
034370,001311: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034371,001312:
034372,001313: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034373,001314:
034374,001315: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034375,001316: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034376,001317: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034377,001318: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034378,001319: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034379,001320: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034380,001321: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034381,001322: # CALLER WITH C(MPAC) = VELOCITY(LM).
034382,001323:
034383,001324:
034384,001325: # CALLING SEQUENCE:
034385,001326: # L VLOAD CALL
034386,001327: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
034387,001328: # L +2 S41.1
034388,001329: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
034389,001330:
034390,001331: # SUBROUTINES CALLED:
034391,001332:
034392,001333: # 1. CDUTRIG,
034393,001334: # WHICH CALLS CDULOGIC.
034394,001335: # 2. *SMNB*
034395,001336:
034396,001337: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034397,001338:
034398,001339: # ALARM/ABORT MODES: NONE.
034399,001340:
034400,001341: # RESTART PROTECTION: NONE.
034401,001342:
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034403,001344: # INPUT:
034404,001345:
034405,001346: # 1. REFSMMAT.
034406,001347: # 2. CDUX, CDUY, CDUZ.
034407,001348: # 3. VELOCITY (REF) IN MPAC.
034408,001349:
034409,001350: # OUTPUT:
034410,001351:
034411,001352: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034412,001353: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034413,001354: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034414,001355: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034415,001356:
034416,001357: # DEBRIS: NONE.
034417,001358:
034418,001359: # CHECKOUT STATUS: CODED.
034419,001360:
034420,001361: 27,3156 COUNT* $$/S41.1
034421,001362: 27,3156 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034422,001363: 27,3157 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034423,001364: 27,3160 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034424,001365: 27,3161 47552 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034425,001366: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc