Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 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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031980,000002: ## Copyright: Public domain.
031981,000003: ## Filename: P40-P47.agc
031982,000004: ## Purpose: A section of Luminary revision 97.
031983,000005: ## It is part of the reconstructed source code for the
031984,000006: ## original release of the flight software for the Lunar
031985,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
031986,000008: ## The code has been recreated from a copy of Luminary 99
031987,000009: ## revision 001, using asterisks indicating changed lines in
031988,000010: ## the listing and Luminary Memos #83 and #85, which list
031989,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
031990,000012: ## code has been adapted such that the resulting bugger words
031991,000013: ## exactly match those specified for Luminary 97 in NASA drawing
031992,000014: ## 2021152D, which gives relatively high confidence that the
031993,000015: ## reconstruction is correct.
031994,000016: ## Reference: pp. 752-784
031995,000017: ## Assembler: yaYUL
031996,000018: ## Contact: Ron Burkey <info@sandroid.org>.
031997,000019: ## Website: www.ibiblio.org/apollo/index.html
031998,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
031999,000021:
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Page 752
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032001,000023: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
032002,000024: # MOD 03 BY PETER ADLER MARCH 3, 1967
032003,000025: # CALLED VIA JOB FROM V37E
032004,000026:
032005,000027: # FUNCTIONAL DESCRIPTION
032006,000028:
032007,000029: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032008,000030: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009.
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032010,000032: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032011,000033: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032012,000034: # PGNCS CONTROLLED DPS MANEUVER.
032013,000035: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032014,000036: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032015,000037:
032016,000038: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032017,000039: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032018,000040:
032019,000041: # SUBROUTINES USED
032020,000042:
032021,000043: # R02 IMU STATUS CHECK
032022,000044: # S40.1 COMPUTATION OF THRUST DIRECTION
032023,000045: # S40.13 LENGTH OF BURN
032024,000046: # S40.2,3 PREFERRED IMU ORIENATTION
032025,000047: # S40.8 X PRODUCT STEERING
032026,000048: # S40.9 LAMBERT VTOGAIN
032027,000049: # R60LEM ATTITUDE MANEUVER
032028,000050: # LEMPREC EXTRAPOLATE STATE VECTOR
032029,000051: # PREREAD AVERAGE G, SERVICER
032030,000052: # ALLCOAST DAP COASTING INITIALIZATION
032031,000053: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
032032,000054: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032033,000055: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032034,000056: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032035,000057:
032036,000058: # RESTARTS VIA GROUP 4
032037,000059:
032038,000060: # DISPLAYS
032039,000061:
032040,000062: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032041,000063: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032042,000064: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032043,000065: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032044,000066: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032045,000067: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032046,000068: # V05N09 POSSIBLE ALARMS
032047,000069: # V50N07 PLEASE SELECT P00
032048,000070:
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Page 753
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032050,000072: # VIA R30
032051,000073:
032052,000074: # V06N44 HAPO, PERI, TFF
032053,000075: # V06N35 TIME TO PERIGEE, HMS
032054,000076:
032055,000077: # ALARM OR ABORT EXIT MODES
032056,000078:
032057,000079: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032058,000080: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032059,000081:
032060,000082: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032061,000083: # TIG BY 45 SECS.
032062,000084:
032063,000085: # ERASABLE INITIALIZATION
032064,000086:
032065,000087: # DEBRIS
032066,000088:
032067,000089: # OUTPUT
032068,000090:
032069,000091: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032070,000092: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032071,000093: # = 0 FOR AIMPT (LAMBERT) COMP
032072,000094:
032073,000095: 27,2246 COUNT* $$/P40
032074,000096: 27,2246 E7,1455 EBANK= WHICH
032075,000097:
032076,000098: 36,3147 BANK 36
032077,000099: 36,2000 SETLOC P40S
032078,000100: 36,2000 BANK
032079,000101:
032080,000102: 36,3147 05353 P40LM TC PHASCHNG
032081,000103: 36,3150 04024 OCT 04024
032082,000104:
032083,000105: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032084,000106: 36,3152 55455 TS WHICH
032085,000107:
032086,000108: 36,3153 30106 CA FLGWRD10
032087,000109: 36,3154 74737 MASK APSFLBIT
032088,000110: 36,3155 10000 CCS A
032089,000111: 36,3156 13121 TCF P40ALM
032090,000112: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032091,000113: 36,3160 11254 CADR R02BOTH
032092,000114:
032093,000115: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
032094,000116: 36,3162 74737 MASK CSMDOCKD
032095,000117: 36,3163 10000 CCS A
032096,000118: 36,3164 32020 CAF THRESH1
032097,000119: 36,3165 62021 AD THRESH3
032098,000120: 36,3166 55251 TS DVTHRUSH
032099,000121: 36,3167 34751 CAF FOUR
032100,000122: 36,3170 55515 TS DVCNTR
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Page 754
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032102,000124: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032103,000125: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032104,000126: 36,3173 34001 FDPS
032105,000127: 36,3174 02663 NOTHROTL
032106,000128: 36,3175 03735 STORE F
032107,000129: 36,3176 77735 SLOAD
032108,000130: 36,3177 26002 DPSVEX
032109,000131: 36,3200 70476 P40IN DCOMP SR1
032110,000132: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032111,000133: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
032112,000134: 36,3203 77624 CALL
032113,000135: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032114,000136: 36,3205 77776 EXIT
032115,000137:
032116,000138: 36,3206 00004 INHINT
032117,000139: 36,3207 04674 TC IBNKCALL
032118,000140: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032119,000141:
032120,000142: 36,3211 03213 TC P40SXT4
032121,000143:
032122,000144: # ***********************
032123,000145:
032124,000146: 36,3212 12126 TCF BURNBABY
032125,000147:
032126,000148: # ***********************
032127,000149:
032128,000150: 36,3213 00006 P40SXT4 EXTEND
032129,000151: 36,3214 23142 QXCH P40/RET
032130,000152: 36,3215 00003 P41MANU RELINT
032131,000153:
032132,000154: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032133,000155: 36,3217 00124 ADRES 3AXISFLG
032134,000156:
032135,000157: 36,3220 04616 TC BANKCALL
032136,000158: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032137,000159: 36,3222 01142 TC P40/RET
032138,000160:
032139,000161: 36,3223 E7,1462 EBANK= TRKMKCNT
032140,000162: 36,3223 30005 POSTBURN CA Z
032141,000163: 36,3224 55163 TS DISPDEX
032142,000164: 36,3225 00006 EXTEND
032143,000165: 36,3226 32056 DCA ACADN85
032144,000166: 36,3227 53253 DXCH AVEGEXIT
032145,000167: 36,3230 33760 CAF V16N40
032146,000168: 36,3231 04616 TC BANKCALL
032147,000169: 36,3232 20635 CADR GOFLASHR
032148,000170: 36,3233 03256 TC TERM40
032149,000171: 36,3234 13241 TCF TIGNOW
032150,000172: 36,3235 03223 TC POSTBURN
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Page 755
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032152,000174: 36,3236 05353 P40PHS1 TC PHASCHNG
032153,000175: 36,3237 00014 OCT 00014
032154,000176: 36,3240 15155 TCF ENDOFJOB
032155,000177:
032156,000178: 36,3241 00004 TIGNOW INHINT
032157,000179: 36,3242 04674 TC IBNKCALL
032158,000180: 36,3243 40153 CADR ZATTEROR
032159,000181: 36,3244 04674 TC IBNKCALL
032160,000182: 36,3245 40140 CADR SETMINDB
032161,000183: 36,3246 00003 RELINT
032162,000184: 36,3247 33761 CAF V16N85B
032163,000185: 36,3250 04616 TC BANKCALL
032164,000186: 36,3251 20462 CADR REFLASHR
032165,000187: 36,3252 03256 TC TERM40
032166,000188: 36,3253 13256 TCF TERM40
032167,000189: 36,3254 03247 TC -5
032168,000190:
032169,000191: 36,3255 13236 TCF P40PHS1
032170,000192:
032171,000193: 36,3256 00006 TERM40 EXTEND
032172,000194: 36,3257 32106 DCA SERVCADR
032173,000195: 36,3260 53253 DXCH AVEGEXIT
032174,000196: 36,3261 34755 CAF ZERO
032175,000197: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032176,000198: 36,3263 30005 CA Z
032177,000199: 36,3264 55163 TS DISPDEX
032178,000200: 36,3265 00004 INHINT
032179,000201: 36,3266 04674 TC IBNKCALL
032180,000202: 36,3267 40123 CADR RESTORDB
032181,000203: 36,3270 00003 RELINT
032182,000204: 36,3271 06001 TC GOTOPOOH
032183,000205:
032184,000206: 36,3272 E7,1455 EBANK= WHICH
032185,000207: 36,3272 COUNT* $$/P41
032186,000208: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032187,000209: 36,3273 55455 TS WHICH
032188,000210:
032189,000211: 36,3274 04616 TC BANKCALL
032190,000212: 36,3275 11254 CADR R02BOTH
032191,000213:
032192,000214: 36,3276 06037 TC INTPRET # BOTH LM
032193,000215: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032194,000216: 36,3300 00700 NJETSFLG
032195,000217: 36,3301 75305 P41FJET1
032196,000218: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032197,000219:
032198,000220: 36,3303 37735 P41FJET STCALL F
032199,000221: 36,3304 75310 P41IN
032200,000222: 36,3305 77745 P41FJET1 DLOAD
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Page 756
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032202,000224: 36,3306 34017 FRCS2
032203,000225: 36,3307 03735 STORE F
032204,000226:
032205,000227: 36,3310 77624 P41IN CALL
032206,000228: 36,3311 56246 S40.1 # BOTH
032207,000229: 36,3312 77624 P41NORM CALL
032208,000230: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032209,000231: 36,3314 77776 EXIT # SET PFRATFLG.
032210,000232:
032211,000233: 36,3315 00004 INHINT
032212,000234: 36,3316 04674 TC IBNKCALL
032213,000235: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032214,000236: 36,3320 04674 TC IBNKCALL
032215,000237: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032216,000238: 36,3322 03213 TC P40SXT4
032217,000239:
032218,000240: 36,3323 06037 TC INTPRET
032219,000241: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032220,000242: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032221,000243: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032222,000244: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032223,000245: 36,3330 77776 EXIT
032224,000246:
032225,000247: 36,3331 33761 CAF V16N85B
032226,000248: 36,3332 04616 TC BANKCALL
032227,000249: 36,3333 20446 CADR GODSPRET
032228,000250:
032229,000251: 36,3334 35017 CAF PRIO5
032230,000252: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032231,000253: 36,3336 05105 TC FINDVAC
032232,000254: 36,3337 E7,1700 EBANK= VGPREV
032233,000255: 36,3337 03361 74067 2CADR DYNMDISP
032234,000256:
032235,000257: 36,3341 05327 TC 2PHSCHNG
032236,000258: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032237,000259: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032238,000260:
032239,000261: # ***********************
032240,000262:
032241,000263: 36,3344 12135 TCF B*RNB*B*
032242,000264:
032243,000265: # ***********************
032244,000266:
032245,000267: 36,3345 34777 BLNKWAIT CAF 1SEC
032246,000268: 36,3346 04616 TC BANKCALL
032247,000269: 36,3347 01735 CADR DELAYJOB
032248,000270:
032249,000271: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032250,000272: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032251,000273:
032252,000274: # ***********************
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Page 757
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032254,000276:
032255,000277: 36,3352 00006 EXTEND
032256,000278: 36,3353 13345 BZF BLNKWAIT
032257,000279:
032258,000280: 36,3354 33761 CAF V16N85B
032259,000281: 36,3355 04616 TC BANKCALL
032260,000282: 36,3356 20446 CADR GODSPRET
032261,000283:
032262,000284: 36,3357 35017 CAF PRIO5
032263,000285: 36,3360 05146 TC PRIOCHNG
032264,000286:
032265,000287: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032266,000288: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032267,000289: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032268,000290: 36,3364 06037 TC INTPRET
032269,000291: 36,3365 45175 VLOAD CALL
032270,000292: 36,3366 03701 VGPREV
032271,000293: 36,3367 57267 S41.1
032272,000294: 36,3370 03502 STORE VGBODY
032273,000295: 36,3371 77776 EXIT
032274,000296: 36,3372 34777 CAF 1SEC
032275,000297: 36,3373 04616 TC BANKCALL
032276,000298: 36,3374 01735 CADR DELAYJOB
032277,000299: 36,3375 13361 TCF DYNMDISP
032278,000300:
032279,000301: 36,3376 06037 CALCN85 TC INTPRET
032280,000302: 36,3377 77624 CALL
032281,000303: 36,3400 75611 UPDATEVG
032282,000304: 36,3401 45175 VLOAD CALL
032283,000305: 36,3402 03701 VGPREV
032284,000306: 36,3403 57267 S41.1
032285,000307: 36,3404 03502 STORE VGBODY
032286,000308: 36,3405 77776 EXIT
032287,000309: 36,3406 04635 TC POSTJUMP
032288,000310: 36,3407 65770 CADR SERVEXIT
032289,000311:
032290,000312: 36,3410 COUNT* $$/P42
032291,000313: 36,3410 E7,1455 EBANK= WHICH
032292,000314:
032293,000315: 36,3410 05353 P42LM TC PHASCHNG
032294,000316: 36,3411 04024 OCT 04024
032295,000317:
032296,000318: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032297,000319: 36,3413 55455 TS WHICH
032298,000320:
032299,000321: 36,3414 40106 CS FLGWRD10
032300,000322: 36,3415 74737 MASK APSFLBIT
032301,000323: 36,3416 10000 CCS A
032302,000324: 36,3417 03121 TC P40ALM
032303,000325: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758
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032305,000327: 36,3421 11254 CADR R02BOTH
032306,000328: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032307,000329: 36,3423 55251 TS DVTHRUSH
032308,000330: 36,3424 34751 CAF FOUR
032309,000331: 36,3425 55515 TS DVCNTR
032310,000332:
032311,000333: 36,3426 06037 TC INTPRET
032312,000334: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032313,000335: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032314,000336: 36,3431 34007 FAPS
032315,000337: 36,3432 03735 STORE F
032316,000338: 36,3433 52135 SLOAD GOTO
032317,000339: 36,3434 26001 APSVEX
032318,000340: 36,3435 75200 P40IN
032319,000341:
032320,000342: 36,3436 E7,1455 EBANK= WHICH
032321,000343:
032322,000344: 36,3436 COUNT* $$/P47
032323,000345: 36,3436 04616 P47LM TC BANKCALL
032324,000346: 36,3437 11254 CADR R02BOTH
032325,000347: 36,3440 06037 TC INTPRET
032326,000348: 36,3441 77624 CALRB
032327,000349: 36,3442 27553 MIDTOAV2
032328,000350:
032329,000351: 36,3443 30155 CA MPAC +1
032330,000352: 36,3444 05173 TC TWIDDLE
032331,000353: 36,3445 03447 ADRES STARTP47
032332,000354:
032333,000355: 36,3446 15155 TCF ENDOFJOB
032334,000356:
032335,000357: 36,3447 05353 STARTP47 TC PHASCHNG
032336,000358: 36,3450 05014 OCT 05014
032337,000359: 36,3451 77777 OCT 77777
032338,000360:
032339,000361: 36,3452 00006 EXTEND
032340,000362: 36,3453 33764 DCA ACADN83
032341,000363: 36,3454 53253 DXCH AVEGEXIT
032342,000364: 36,3455 34736 CAF PRIO20
032343,000365: 36,3456 05105 TC FINDVAC
032344,000366: 36,3457 E7,1622 EBANK= DELVIMU
032345,000367: 36,3457 03513 74067 2CADR P47BODY
032346,000368:
032347,000369: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032348,000370: # SEE TIG-30 IN BURNBABY.
032349,000371:
032350,000372: 36,3462 06037 CALCN83 TC INTPRET
032351,000373: 36,3463 53375 VLOAD VAD
032352,000374: 36,3464 03502 DELVCTL
032353,000375: 36,3465 03527 DELVREF
032354,000376: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759
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032356,000378: 36,3467 77624 CALL
032357,000379: 36,3470 57267 S41.1
032358,000380: 36,3471 03623 STORE DELVIMU
032359,000381: 36,3472 77776 EXIT
032360,000382: 36,3473 05353 TC PHASCHNG
032361,000383: 36,3474 10035 OCT 10035 # REREADAC AND HERE
032362,000384:
032363,000385: 36,3475 06037 TC INTPRET
032364,000386: 36,3476 77775 VLOAD
032365,000387: 36,3477 03656 DELVSIN
032366,000388: 36,3500 03502 STORE DELVCTL
032367,000389: 36,3501 77776 EXIT
032368,000390:
032369,000391: 36,3502 04635 TC POSTJUMP
032370,000392: 36,3503 65770 CADR SERVEXIT
032371,000393:
032372,000394: 36,3504 33762 P47BOD CAF V1683
032373,000395: 36,3505 04616 TC BANKCALL
032374,000396: 36,3506 20635 CADR GOFLASHR
032375,000397: 36,3507 06001 TC GOTOPOOH
032376,000398: 36,3510 06001 TC GOTOPOOH
032377,000399:
032378,000400: 36,3511 13513 TCF P47BODY
032379,000401:
032380,000402: 36,3512 13236 TCF P40PHS1
032381,000403:
032382,000404: 36,3513 06037 P47BODY TC INTPRET
032383,000405: 36,3514 77775 VLOAD
032384,000406: 36,3515 06522 HI6ZEROS
032385,000407: 36,3516 03623 STORE DELVIMU
032386,000408: 36,3517 03502 STORE DELVCTL
032387,000409: 36,3520 77776 EXIT
032388,000410: 36,3521 03504 TC P47BOD
032389,000411:
032390,000412: 36,3522 COUNT* $$/P40
032391,000413: 36,3522 31517 IMPLBURN CA TGO +1
032392,000414: 36,3523 03735 TC GETDT
032393,000415: 36,3524 05173 TC TWIDDLE
032394,000416: 36,3525 03542 ADRES ENGOFTSK
032395,000417: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032396,000418: 36,3527 00153 ADRES IGNFLAG
032397,000419: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032398,000420: 36,3531 00154 ADRES ASTNFLAG
032399,000421: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
032400,000422: 36,3533 00044 ADRES IMPULSW
032401,000423: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032402,000424: 36,3535 40114 OCT 40114
032403,000425:
032404,000426: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
032405,000427: 36,3537 00062 DEC 50 B-14
|
|
Page 760
|
032407,000429: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
032408,000430:
032409,000431: 36,3541 05261 TC TASKOVER
032410,000432:
032411,000433: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032412,000434: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032413,000435: 36,3544 05261 TC TASKOVER
032414,000436:
032415,000437: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032416,000438: 36,3546 05105 TC FINDVAC
032417,000439: 36,3547 E7,1462 EBANK= TRKMKCNT
032418,000440: 36,3547 03223 74067 2CADR POSTBURN
032419,000441:
032420,000442: 36,3551 34753 ENGINOF2 CAF BIT1
032421,000443: 36,3552 05203 TC WAITLIST
032422,000444: 36,3553 E6,1422 EBANK= OMEGAQ
032423,000445: 36,3553 03606 74066 2CADR COASTSET
032424,000446:
032425,000447: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032426,000448: 36,3556 74745 MASK IDLEFBIT
032427,000449: 36,3557 26103 ADS FLAGWRD7
032428,000450:
032429,000451: 36,3560 02653 TC NOULLAGE
032430,000452:
032431,000453: 36,3561 00006 ENGINOF4 EXTEND
032432,000454: 36,3562 30025 DCA TIME2
032433,000455: 36,3563 53345 DXCH TEVENT
032434,000456:
032435,000457: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032436,000458: 36,3565 70101 MASK FLAGWRD5
032437,000459: 36,3566 54101 TS FLAGWRD5
032438,000460: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032439,000461: 36,3570 00006 EXTEND # SUBROUTINE.
032440,000462: 36,3571 02011 RAND DSALMOUT
032441,000463: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032442,000464: 36,3573 00006 EXTEND
032443,000465: 36,3574 01011 WRITE DSALMOUT
032444,000466:
032445,000467: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032446,000468: 36,3576 74736 MASK USEQRJTS
032447,000469: 36,3577 26111 ADS DAPBOOLS
032448,000470:
032449,000471: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032450,000472: 36,3601 54055 TS THRUST # IS TURNED OFF.
032451,000473: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032452,000474: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
032453,000475: 36,3604 05014 WOR CHAN14
032454,000476:
032455,000477: 36,3605 04707 TC ISWRETRN
|
|
Page 761
|
032457,000479: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032458,000480: 36,3607 40204 CADR ALLCOAST
032459,000481: 36,3610 05261 TC TASKOVER
032460,000482:
032461,000483: 36,3611 E6,1422 EBANK= OMEGAQ
032462,000484: 36,3611 45020 UPDATEVG STQ CALL
032463,000485: 36,3612 03665 QTEMP1
032464,000486: 36,3613 56447 S40.8 # X-PRODUCT STEERING
032465,000487: 36,3614 43014 BON BON
032466,000488: 36,3615 01307 XDELVFLG
032467,000489: 36,3616 03665 QTEMP1
032468,000490: 36,3617 03705 NORMSW
032469,000491: 36,3620 75633 180SETUP
032470,000492: 36,3621 45345 DLOAD DSU
032471,000493: 36,3622 01235 PIPTIME
032472,000494: 36,3623 03763 TIGSAVE
032473,000495: 36,3624 50025 DSU BMN
032474,000496: 36,3625 03432 TNEWA
032475,000497: 36,3626 75656 GETRANS
032476,000498: 36,3627 43345 DLOAD DAD
032477,000499: 36,3630 03763 TIGSAVE
032478,000500: 36,3631 03432 TNEWA
032479,000501: 36,3632 03765 STORE TIGSAVEP
032480,000502: 36,3633 77776 180SETUP EXIT
032481,000503: 36,3634 10755 CCS PHASE2
032482,000504: 36,3635 13663 TCF NO.9
032483,000505: 36,3636 34737 CAF PRIO10
032484,000506: 36,3637 00004 INHINT
032485,000507: 36,3640 05105 TC FINDVAC
032486,000508: 36,3641 E7,1706 EBANK= VG
032487,000509: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032488,000510:
032489,000511: 36,3643 05327 TC 2PHSCHNG
032490,000512: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
032491,000513: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032492,000514:
032493,000515: 36,3646 06037 ENDSTEER TC INTPRET
032494,000516: 36,3647 77745 DLOAD
032495,000517: 36,3650 03765 TIGSAVEP
032496,000518: 36,3651 27763 STOVL TIGSAVE
032497,000519: 36,3652 01221 RN
032498,000520: 36,3653 26323 STOVL RINIT
032499,000521: 36,3654 01227 VN
032500,000522: 36,3655 02331 STORE VINIT
032501,000523: 36,3656 45345 GETRANS DLOAD DSU
032502,000524: 36,3657 03631 TPASS4
032503,000525: 36,3660 01235 PIPTIME
032504,000526: 36,3661 37452 STCALL DELLT4
032505,000527: 36,3662 03665 QTEMP1
032506,000528:
|
|
Page 762
|
032508,000530: 36,3663 06037 NO.9 TC INTPRET
032509,000531: 36,3664 77650 GOTO
032510,000532: 36,3665 03665 QTEMP1
032511,000533: 36,3666 06037 STEERING TC INTPRET
032512,000534:
032513,000535: 36,3667 77624 CALL
032514,000536: 36,3670 75611 UPDATEVG
032515,000537: 36,3671 77776 EXIT
032516,000538:
032517,000539: 36,3672 E7,1515 EBANK= DVCNTR
032518,000540: 36,3672 00004 NSTEER INHINT
032519,000541: 36,3673 35016 CA EBANK7
032520,000542: 36,3674 54003 TS EBANK
032521,000543: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032522,000544: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032523,000545: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
032524,000546:
032525,000547: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
032526,000548: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032527,000549: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032528,000550: 36,3703 10000 CCS A
032529,000551: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032530,000552: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032531,000553: 36,3706 65770 CADR SERVEXIT
032532,000554:
032533,000555: 36,3707 04674 TC IBNKCALL
032534,000556: 36,3710 40165 CADR STOPRATE
032535,000557:
032536,000558: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
032537,000559: 36,3712 00044 ADRES IMPULSW
032538,000560:
032539,000561: 36,3713 05504 TC UPFLAG
032540,000562: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
032541,000563:
032542,000564: 36,3715 00004 INHINT
032543,000565: 36,3716 00006 EXTEND
032544,000566: 36,3717 31442 DCA TIG
032545,000567: 36,3720 52155 DXCH MPAC
032546,000568: 36,3721 00006 EXTEND
032547,000569: 36,3722 40025 DCS TIME2
032548,000570: 36,3723 20155 DAS MPAC
032549,000571: 36,3724 07257 TC TPAGREE
032550,000572: 36,3725 30155 CAE MPAC +1
032551,000573: 36,3726 03735 TC GETDT
032552,000574: 36,3727 05173 TC TWIDDLE
032553,000575: 36,3730 03542 ADRES ENGOFTSK
032554,000576: 36,3731 05327 TC 2PHSCHNG
032555,000577: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032556,000578: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763
|
032558,000580: 36,3734 15155 TCF ENDOFJOB
032559,000581:
032560,000582: 36,3735 10000 GETDT CCS A
032561,000583: 36,3736 13741 TCF +3
032562,000584: 36,3737 13741 TCF +2
032563,000585: 36,3740 34755 CAF ZERO
032564,000586: 36,3741 64753 AD ONE
032565,000587: 36,3742 56001 XCH L
032566,000588: 36,3743 34755 CAF ZERO
032567,000589: 36,3744 53517 DXCH TGO
032568,000590: 36,3745 31517 CA TGO +1
032569,000591: 36,3746 00002 TC Q
032570,000592:
032571,000593: # ************************************************************************
032572,000594:
032573,000595: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032574,000596: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032575,000597: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
032576,000598:
032577,000599: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032578,000600: 36,3754 10624 SEC45 DEC 4500 B-14
032579,000601: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032580,000602: 36,3756 00764 5SEC DEC 500 B-14
032581,000603: 36,3757 05050 26SECS DEC 2600 B-14
032582,000604: 36,3760 04050 V16N40 VN 1640
032583,000605: 36,3761 04125 V16N85B VN 1685
032584,000606: 36,3762 04123 V1683 VN 1683
032585,000607: 36,3763 4777 SEC01 = 1SEC
032586,000608: 36,3763 36,2055 ACADN85 = P41TABLE +2
032587,000609:
032588,000610: 36,3763 E7,1622 EBANK= DELVIMU
032589,000611: 36,3763 03462 74067 ACADN83 2CADR CALCN83
032590,000612:
032591,000613: # *************************************************
|
|
Page 764
|
032593,000615: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032594,000616: # MOD N02 LOG SECTION P40-P47
032595,000617: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032596,000618:
032597,000619: # FUNCTIONAL DESCRIPTION
032598,000620: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032599,000621: # VECTOR(VGTIG).
032600,000622:
032601,000623: # CALLING SEQUENCE
032602,000624: # L CALL
032603,000625: # L+1 S40.1
032604,000626:
032605,000627: # NORMAL EXIT MODE
032606,000628: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032607,000629: # ERROR RETURN IF NOSOFLAG =1
032608,000630:
032609,000631: # SUBROUTINES CALLED
032610,000632: # LEMPREC
032611,000633: # INITVEL
032612,000634: # CALCGRAV
032613,000635: # MIDGIM
032614,000636:
032615,000637: # ALARM OR ABORT EXIT MODES
032616,000638: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032617,000639:
032618,000640: # ERASABLE INITIALIZATION REQUIRED
032619,000641: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032620,000642: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032621,000643: # F THRUST FOR ENGINE USED
032622,000644: # IF DELTA-V MANEUVER
032623,000645: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032624,000646: # INERTIAL COORDS. OF ACTIVE VEHICLE
032625,000647: # AT TIME OF IGNITION VECTOR B7 M/CS
032626,000648: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032627,000649: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032628,000650: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032629,000651: # IF AIMPT STEER
032630,000652: # TIG TIME OF IGNITION DP B28 CS
032631,000653: # RTARG POSITION TARGET TIME VECTOR B29 M
032632,000654: # CSTEER C FOR STEER LAW DP B2
032633,000655: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032634,000656:
032635,000657: # OUTPUT
032636,000658: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032637,000659: # VGTIG INITIAL VALUE OF VELOCITY
032638,000660: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032639,000661: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032640,000662: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032641,000663: # -GDT FOR S40.13 VECT B7 M/CS
032642,000664: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032643,000665: # POSITION AT TIME OF IGNITION
032644,000666:
032645,000667: # DEBRIS QTEMP1
032646,000668: # MPAC, QPRET
032647,000669: # PUSHLIST
032648,000670:
032649,000671: 14,2347 BANK 14
032650,000672: 27,2000 SETLOC P40S1
032651,000673: 27,2000 BANK
|
|
Page 765
|
032653,000675: 27,2246 COUNT* $$/S40.1
032654,000676: 27,2246 71220 S40.1 STQ DLOAD
032655,000677: 27,2247 03632 QTEMP
032656,000678: 27,2250 03442 TIG
032657,000679: 27,2251 03763 STORE TIGSAVE
032658,000680: 27,2252 77614 DELVTEST BOFF
032659,000681: 27,2253 01347 XDELVFLG
032660,000682: 27,2254 56336 S40.1B
032661,000683: 27,2255 77201 CALCTHET SETPD VLOAD
032662,000684: 27,2256 00001 0
032663,000685: 27,2257 03650 VTIG
032664,000686: 27,2260 02331 STORE VINIT
032665,000687: 27,2261 53435 VXV UNIT
032666,000688: 27,2262 03642 RTIG
032667,000689: 27,2263 27673 STOVL UT # UP IN UT
032668,000690: 27,2264 03642 RTIG
032669,000691: 27,2265 02323 STORE RINIT
032670,000692: 27,2266 65236 VSQ PDDL
032671,000693: 27,2267 00045 36D
032672,000694: 27,2270 56205 DMP DDV
032673,000695: 27,2271 16412 THETACON
032674,000696: 27,2272 41205 DMP DMP
032675,000697: 27,2273 03664 DELVSAB
032676,000698: 27,2274 01245 WEIGHT/G
032677,000699: 27,2275 77671 DDV
032678,000700: 27,2276 03735 F
032679,000701: 27,2277 24017 STOVL 14D
032680,000702: 27,2300 03656 DELVSIN
032681,000703:
032682,000704: 27,2301 74241 DOT VXSC
032683,000705: 27,2302 03673 UT
032684,000706: 27,2303 03673 UT
032685,000707: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032686,000708: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032687,000709: 27,2306 03656 DELVSIN
032688,000710: 27,2307 00017 14D
032689,000711: 27,2310 63356 SIN PDVL
032690,000712: 27,2311 00007 6D
032691,000713: 27,2312 53435 VXV UNIT
032692,000714: 27,2313 03673 UT
032693,000715: 27,2314 45561 VXSC STADR
032694,000716: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032695,000717: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032696,000718: 27,2317 00017 14D
032697,000719: 27,2320 74346 COS VXSC
032698,000720: 27,2321 74255 VAD VXSC
032699,000721: 27,2322 03701 VGTIG
032700,000722: 27,2323 00045 36D
032701,000723: 27,2324 53352 VSL2 VAD
032702,000724: 27,2325 77626 STADR
|
|
Page 766
|
032704,000726: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032705,000727:
032706,000728: 27,2327 77656 UNIT
032707,000729: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032708,000730: 27,2331 03701 VGTIG
032709,000731: 27,2332 45006 PUSH CALL
032710,000732: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032711,000733: 27,2334 77650 GOTO
032712,000734: 27,2335 03632 QTEMP
032713,000735: 27,2336 77745 S40.1B DLOAD
032714,000736: 27,2337 03442 TIG
032715,000737: 27,2340 00041 STORE TDEC1
032716,000738: 27,2341 77621 BDSU
032717,000739: 27,2342 03631 TPASS4
032718,000740: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032719,000741: 27,2344 27057 LEMPREC
032720,000742: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032721,000743: 27,2346 00001 RATT
032722,000744: 27,2347 00001 0
032723,000745: 27,2350 03642 STORE RTIG
032724,000746: 27,2351 02323 STORE RINIT
032725,000747: 27,2352 77656 UNIT
032726,000748: 27,2353 27537 STOVL UNIT/R/
032727,000749: 27,2354 00007 VATT
032728,000750: 27,2355 03650 STORE VTIG
032729,000751: 27,2356 02331 STORE VINIT
032730,000752: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032731,000753: 27,2360 06522 ZEROVECS
032732,000754: 27,2361 16406 EPS1
032733,000755: 27,2362 43214 BOFF DAD
032734,000756: 27,2363 03745 NORMSW
032735,000757: 27,2364 56366 SMALLEPS
032736,000758: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032737,000759: 27,2366 66006 SMALLEPS PUSH SXA,1
032738,000760: 27,2367 02776 RTX1
032739,000761: 27,2370 45134 SXA,2 CALL
032740,000762: 27,2371 02777 RTX2
032741,000763: 27,2372 22000 INITVEL
032742,000764: 27,2373 41575 VLOAD PUSH
032743,000765: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032744,000766: 27,2375 03701 STORE VGTIG
032745,000767: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032746,000768: 27,2377 17673 STODL UT
032747,000769: 27,2400 00045 36D
032748,000770: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032749,000771: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
032750,000772: 27,2403 77650 GOTO
032751,000773: 27,2404 03632 QTEMP
032752,000774:
032753,000775: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032754,000776:
|
|
Page 767
|
032756,000778: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032757,000779:
032758,000780: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032759,000781:
|
|
Page 768
|
032761,000783: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032762,000784: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032763,000785: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032764,000786: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032765,000787: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032766,000788:
032767,000789: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032768,000790: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032769,000791: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032770,000792: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032771,000793: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032772,000794:
032773,000795: # CALLING SEQUENCE:
032774,000796: # L CALL INTERPRETIVE CALL.
032775,000797: # L +1 S40.2,3
032776,000798: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032777,000799:
032778,000800: # SUBROUTINES CALLED: NONE.
032779,000801:
032780,000802: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032781,000803:
032782,000804: # ALARM/ABORT MODES: NONE.
032783,000805:
032784,000806: # INPUT:
032785,000807: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032786,000808: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032787,000809: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032788,000810:
032789,000811: # OUTPUT:
032790,000812: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032791,000813: # :YSCREF: IN REFERENCE COORDINATES
032792,000814: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032793,000815: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032794,000816: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032795,000817: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032796,000818:
032797,000819: # DEBRIS: NONE.
|
|
Page 769
|
032799,000821:
032800,000822: 27,2413 COUNT* $$/S40.2
032801,000823: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032802,000824: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032803,000825: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032804,000826: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032805,000827: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032806,000828: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032807,000829: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032808,000830:
032809,000831: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032810,000832: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032811,000833: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032812,000834: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032813,000835: 27,2426 46125 PDDL BHIZ
032814,000836: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032815,000837: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032816,000838: 27,2431 45575 STORY VLOAD STADR
032817,000839: 27,2432 74162 STORE YSCREF
032818,000840: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032819,000841: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032820,000842: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032821,000843: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032822,000844:
032823,000845: 27,2437 43414 SET RVQ
032824,000846: 27,2440 01073 PFRATFLG
032825,000847: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032826,000848: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032827,000849: 27,2443 03650 VTIG
032828,000850: 27,2444 41456 UNIT PUSH
032829,000851: 27,2445 77650 GOTO
032830,000852: 27,2446 56431 STORY
|
|
Page 770
|
032832,000854: # SUBROUTINE S40.8
032833,000855: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032834,000856:
032835,000857: # DESCRIPTION
032836,000858: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032837,000859: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032838,000860: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032839,000861:
032840,000862: # CALLING SEQUENCE
032841,000863: # L-1 CALL
032842,000864: # L S40.8
032843,000865: # L+1 INTERPRETIVE RETURN
032844,000866:
032845,000867: # ALARM
032846,000868: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032847,000869: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032848,000870:
032849,000871: # INPUT AND INITIALIZATION
032850,000872: # VGPREV REFERENCE 2(7) M/CS
032851,000873: # DELVREF REFERENCE 2(7) M/CS
032852,000874: # BDT REFERENCE 2(7) M/CS
032853,000875: # TDECAY TAIL-OFF TIME 2(28) CS
032854,000876: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032855,000877: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032856,000878: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032857,000879:
032858,000880: # NOTE: VGTIG EQUALS VGPREV
032859,000881:
032860,000882: # OUTPUT
032861,000883: # STEERSW SEE INPUT
032862,000884: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032863,000885: # TGO TIME TO CUT-OFF 2(28) CS
032864,000886: # SEE FINDCDUW FOR STEERING OUTPUTS.
032865,000887:
032866,000888: # SUBROUTINE CALLED
032867,000889: # FINDCDUW
032868,000890:
032869,000891: # DEBRIS
032870,000892: # MPACS, PUSHLIST
032871,000893:
032872,000894: 27,2447 COUNT* $$/S40.8
|
|
Page 771
|
032874,000896: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032875,000897: 27,2450 01347 XDELVFLG
032876,000898: 27,2451 56731 RASTEER1
032877,000899: 27,2452 52375 VLOAD VSU
032878,000900: 27,2453 03701 VGPREV
032879,000901: 27,2454 03527 DELVREF
032880,000902: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032881,000903: 27,2456 76521 MXV VSL1
032882,000904: 27,2457 01734 REFSMMAT
032883,000905: 27,2460 03254 STORE UNFC/2
032884,000906: 27,2461 51575 BDTOK VLOAD ABVAL
032885,000907: 27,2462 03707 VG
032886,000908: 27,2463 03664 STORE VGDISP
032887,000909: 27,2464 77201 TGDCALC SETPD VLOAD
032888,000910: 27,2465 00001 0
032889,000911: 27,2466 03707 VG
032890,000912: 27,2467 27701 STOVL VGPREV
032891,000913: 27,2470 03527 DELVREF
032892,000914: 27,2471 57414 BOFF VCOMP
032893,000915: 27,2472 01344 STEERSW
032894,000916: 27,2473 00052 QPRET
032895,000917: 27,2474 77656 UNIT
032896,000918: 27,2475 41441 DOT PUSH
032897,000919: 27,2476 03707 VG
032898,000920: 27,2477 56244 BPL DDV
032899,000921: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032900,000922: 27,2501 03743 VEX
032901,000923: 27,2502 41215 DAD DMP
032902,000924: 27,2503 06520 DPHALF
032903,000925: 27,2504 56261 SR DDV
032904,000926: 27,2505 20613 10D
032905,000927: 27,2506 00045 36D
032906,000928: 27,2507 43205 DMP DAD
032907,000929: 27,2510 16535 -FOURDT
032908,000930: 27,2511 03741 TDECAY
032909,000931: 27,2512 03517 STORE TGO
032910,000932: 27,2513 77615 DAD
032911,000933: 27,2514 01235 PIPTIME
032912,000934: 27,2515 17442 STODL TIG
032913,000935: 27,2516 03517 TGO
032914,000936: 27,2517 51025 DSU BPL
032915,000937: 27,2520 16537 FOURSECS # 400 CS
032916,000938: 27,2521 61111 FINDCDUW -2
032917,000939: 27,2522 43014 SET CLRGO
032918,000940: 27,2523 01066 IMPULSW
032919,000941: 27,2524 01224 STEERSW
032920,000942: 27,2525 00052 QPRET
032921,000943:
032922,000944: 27,2526 77776 ALARMIT EXIT
032923,000945:
|
|
Page 772
|
032925,000947: 27,2527 05567 TC ALARM
032926,000948: 27,2530 01407 OCT 01407
032927,000949: 27,2531 06037 TC INTPRET
032928,000950: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032929,000951: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032930,000952:
032931,000953: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032932,000954: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032933,000955: 27,2540 E7,1742 2VEXHUST = VEX
032934,000956:
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|
Page 773
|
032936,000958: # NAME S40.13 - TIMEBURN
032937,000959:
032938,000960: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032939,000961: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032940,000962: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032941,000963: # BURN
032942,000964: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032943,000965: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032944,000966: # SIGNAL
032945,000967:
032946,000968: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032947,000969:
032948,000970: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032949,000971: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032950,000972: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032951,000973: # AND ALSO FOR RCS ENGINE
032952,000974: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032953,000975: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032954,000976: # REQUIRE MODIFICATION FOR SATURN BURNS.
032955,000977: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032956,000978: # =0 DPS
032957,000979: # =1 APS
032958,000980:
032959,000981: # OUTPUT IMPULSW ZERO FOR STEERING
032960,000982: # ONE FOR ATTITUDE HOLD
032961,000983: # NOTHROTL ZERO FOR THROTTLING
032962,000984: # ONE TO INHIBIT THROTTLING
032963,000985: # TGO TIME TO BURN IN CS
032964,000986:
032965,000987: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032966,000988: # FORCE
032967,000989:
032968,000990: 27,2540 E7,1516 EBANK= TGO
032969,000991: 27,2540 COUNT* $$/40.13
032970,000992: 27,2540 06037 S40.13 TC INTPRET
032971,000993: 27,2541 43001 SETPD CLEAR
032972,000994: 27,2542 00001 00D
032973,000995: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032974,000996: 27,2544 51575 VLOAD ABVAL
032975,000997: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032976,000998: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032977,000999: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032978,001000: 27,2550 34017 FRCS2
032979,001001: 27,2551 72471 DDV SL1 # SCALE
032980,001002: 27,2552 01245 WEIGHT/G
032981,001003: 27,2553 41421 BDSU PUSH
032982,001004: 27,2554 43014 BOFF SET
032983,001005: 27,2555 05342 APSFLAG
032984,001006: 27,2556 56626 S40.13D # FOR DPS ENGINE
032985,001007: 27,2557 02463 NOTHROTL
032986,001008: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032987,001009: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032988,001010: 27,2562 01245 WEIGHT/G
032989,001011: 27,2563 50021 BDSU BMN
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|
Page 774
|
032991,001013: 27,2564 00001 00D
032992,001014: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032993,001015: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032994,001016: 27,2567 03737 MDOT
032995,001017:
032996,001018: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032997,001019: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032998,001020: # REQUIRE ADJUSTMENT
032999,001021:
033000,001022: 27,2570 16700 3.5SEC # 350 CS AT +14
033001,001023: 27,2571 65221 BDSU PDDL
033002,001024: 27,2572 01245 WEIGHT/G
033003,001025: 27,2573 03735 F
033004,001026: 27,2574 60405 DMP SR2 # SCALE
033005,001027: 27,2575 16702 5SECS
033006,001028: 27,2576 41471 DDV PUSH # 04D = TEMP2
033007,001029: 27,2577 51021 BDSU BPL
033008,001030: 27,2600 00003 02D
033009,001031: 27,2601 56626 S40.13D
033010,001032: 27,2602 55345 DLOAD BDDV
033011,001033: 27,2603 43205 DMP DAD
033012,001034: 27,2604 16702 5SECS
033013,001035: 27,2605 16676 1SEC2D # 100 CS AT +14
033014,001036: 27,2606 77650 GOTO
033015,001037: 27,2607 56616 S40.132
033016,001038: 27,2610 41345 S40.131 DLOAD DMP
033017,001039: 27,2611 01245 WEIGHT/G
033018,001040: 27,2612 41542 SR1 PUSH
033019,001041: 27,2613 56215 DAD DDV
033020,001042: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
033021,001043: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
033022,001044: 27,2616 77414 S40.132 SET EXIT
033023,001045: 27,2617 01066 IMPULSW
033024,001046: 27,2620 07257 S40.132* TC TPAGREE
033025,001047: 27,2621 30154 CA MPAC
033026,001048: 27,2622 56001 XCH L
033027,001049: 27,2623 34755 CA ZERO
033028,001050: 27,2624 53517 DXCH TGO
033029,001051: 27,2625 12650 TCF S40.134
033030,001052:
033031,001053: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033032,001054: 27,2627 00001 00D
033033,001055: 27,2630 01245 WEIGHT/G
033034,001056: 27,2631 43006 PUSH BON
033035,001057: 27,2632 05302 APSFLAG
033036,001058: 27,2633 56671 APSTGO
033037,001059: 27,2634 43071 DDV CLEAR
033038,001060: 27,2635 16007 S40.136
033039,001061: 27,2636 02663 NOTHROTL
033040,001062: 27,2637 41400 BOV PUSH
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|
Page 775
|
033042,001064: 27,2640 56653 S40.130V
033043,001065: 27,2641 51025 S40.137 DSU BPL
033044,001066: 27,2642 16704 6SEC # 600.0 CS AT +14
033045,001067: 27,2643 56661 S40.138
033046,001068: 27,2644 52015 DAD GOTO
033047,001069: 27,2645 16704 6SEC
033048,001070: 27,2646 56616 S40.132
033049,001071: 27,2647 77776 S40.133 EXIT
033050,001072: 27,2650 05353 S40.134 TC PHASCHNG
033051,001073: 27,2651 00003 OCT 00003
033052,001074: 27,2652 05155 TC ENDOFJOB
033053,001075: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033054,001076: 27,2654 77671 DDV
033055,001077: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033056,001078: 27,2656 03517 STORE TGO
033057,001079: 27,2657 77776 EXIT
033058,001080: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033059,001081:
033060,001082: 27,2661 51025 S40.138 DSU BPL
033061,001083: 27,2662 16706 89SECS
033062,001084: 27,2663 56666 STORETGO
033063,001085: 27,2664 77614 SET
033064,001086: 27,2665 02463 NOTHROTL
033065,001087: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033066,001088: 27,2667 77776 EXIT
033067,001089: 27,2670 12620 TCF S40.132*
033068,001090:
033069,001091: 27,2671 62471 APSTGO DDV SL2
033070,001092: 27,2672 34007 FAPS
033071,001093: 27,2673 77650 GOTO
033072,001094: 27,2674 56667 STORETGO +1
033073,001095: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033074,001096:
033075,001097: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033076,001098:
033077,001099: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033078,001100:
033079,001101: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033080,001102:
033081,001103: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
033082,001104:
033083,001105: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033084,001106: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033085,001107: # COMPUTATION CYCLES (4 SECONDS).
033086,001108: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033087,001109: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033088,001110: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033089,001111:
033090,001112: # CALLING SEQ VIA FINDVAC AS NEW JOB.
033091,001113:
033092,001114: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033093,001115: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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|
Page 776
|
033095,001117: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033096,001118: # METERS/CS AT +7.
033097,001119: # TIG - TIME OF IGNITION IN CS AT +28.
033098,001120: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033099,001121: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033100,001122: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033101,001123: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033102,001124: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033103,001125: # METERS/CS AT +7.
033104,001126:
033105,001127: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033106,001128: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033107,001129: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033108,001130: # BDT - B VECTOR IN METERS/CS AT +7.
033109,001131:
033110,001132: # SUBROUTINES USED - INITVEL
033111,001133:
033112,001134: 27,2707 E7,1700 EBANK= VGPREV
033113,001135: 27,2707 COUNT* $$/S40.9
033114,001136: 27,2707 06037 S40.9 TC INTPRET
033115,001137: 27,2710 77601 SETPD
033116,001138: 27,2711 00001 00D
033117,001139: 27,2712 71214 SET DLOAD
033118,001140: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033119,001141: 27,2714 06522 HI6ZEROS
033120,001142: 27,2715 77725 PDDL
033121,001143: 27,2716 16406 EPS1
033122,001144: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033123,001145: 27,2720 03745 NORMSW
033124,001146: 27,2721 56723 EPSSMALL
033125,001147: 27,2722 16410 EPS2
033126,001148: 27,2723 45006 EPSSMALL PUSH CALL
033127,001149: 27,2724 22002 HAVEGUES
033128,001150: 27,2725 77776 ENDS40.9 EXIT
033129,001151: 27,2726 05353 TC PHASCHNG
033130,001152: 27,2727 00002 OCT 2
033131,001153: 27,2730 15155 TCF ENDOFJOB
033132,001154:
033133,001155: 27,2731 51575 RASTEER1 VLOAD ABVAL
033134,001156: 27,2732 01221 RN
033135,001157: 27,2733 53744 LXC,2 SL*
033136,001158: 27,2734 02777 RTX2
033137,001159: 27,2735 57576 0,2
033138,001160: 27,2736 27715 STOVL RMAG
033139,001161: 27,2737 03444 RTARG
033140,001162: 27,2740 47051 VSU RTB
033141,001163: 27,2741 01221 RN
033142,001164: 27,2742 21724 NORMUNX1
033143,001165: 27,2743 17656 STODL IC
033144,001166: 27,2744 00045 36D # C(36D) = ABVAL(C)
033145,001167: 27,2745 53674 XAD,2 SL*
033146,001168: 27,2746 00046 X1
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|
Page 777
|
033148,001170: 27,2747 57576 0,2
033149,001171: 27,2750 00037 STORE 30D
033150,001172: 27,2751 41301 NORM DMP
033151,001173: 27,2752 00050 X2
033152,001174: 27,2753 03715 RMAG
033153,001175: 27,2754 57101 NORM XAD,2
033154,001176: 27,2755 00047 X1
033155,001177: 27,2756 00046 X1
033156,001178: 27,2757 77734 SXA,2
033157,001179: 27,2760 03766 MUSCALE
033158,001180: 27,2761 17725 STODL R1C # 2(+58 -X)
033159,001181: 27,2762 00037 30D
033160,001182: 27,2763 65342 SR1 PDDL
033161,001183: 27,2764 03715 RMAG
033162,001184: 27,2765 65342 SR1 PDDL
033163,001185: 27,2766 03723 RTMAG
033164,001186: 27,2767 43342 SR1 DAD
033165,001187: 27,2770 45415 DAD STADR
033166,001188: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033167,001189: 27,2772 41225 DSU DMP
033168,001190: 27,2773 00037 30D
033169,001191: 27,2774 03721 MU/A
033170,001192: 27,2775 77621 BDSU
033171,001193: 27,2776 03717 MUASTEER
033172,001194: 27,2777 45325 PDDL DSU
033173,001195: 27,3000 03733 SS
033174,001196: 27,3001 03715 RMAG
033175,001197: 27,3002 70501 NORM SR1
033176,001198: 27,3003 00047 X1
033177,001199: 27,3004 41271 DDV DMP
033178,001200: 27,3005 03725 R1C
033179,001201: 27,3006 53664 XSU,2 SL*
033180,001202: 27,3007 00046 X1
033181,001203: 27,3010 57575 1,2
033182,001204: 27,3011 77754 LXA,2
033183,001205: 27,3012 03766 MUSCALE
033184,001206: 27,3013 75366 SQRT SIGN
033185,001207: 27,3014 02673 GEOMSGN
033186,001208: 27,3015 00041 STORE 32D # + OR - A
033187,001209: 27,3016 41345 DLOAD DMP
033188,001210: 27,3017 03733 SS
033189,001211: 27,3020 03721 MU/A
033190,001212: 27,3021 77621 BDSU
033191,001213: 27,3022 03717 MUASTEER
033192,001214: 27,3023 45325 PDDL DSU
033193,001215: 27,3024 03733 SS
033194,001216: 27,3025 03723 RTMAG
033195,001217: 27,3026 70501 NORM SR1
033196,001218: 27,3027 00047 X1
033197,001219: 27,3030 41271 DDV DMP
033198,001220:
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Page 778
|
033200,001222: 27,3031 03725 R1C
033201,001223: 27,3032 53664 XSU,2 SL*
033202,001224: 27,3033 00046 X1
033203,001225: 27,3034 57575 1,2
033204,001226: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033205,001227: 27,3036 03733 SS
033206,001228: 27,3037 56225 DSU DDV
033207,001229: 27,3040 00037 30D
033208,001230: 27,3041 03733 SS
033209,001231: 27,3042 41566 SQRT PUSH
033210,001232: 27,3043 67542 SR1 ASIN
033211,001233: 27,3044 65205 DMP PDDL
033212,001234: 27,3045 17216 2PI+3
033213,001235: 27,3046 56325 PDDL DDV
033214,001236: 27,3047 00037 30D
033215,001237: 27,3050 03733 SS
033216,001238: 27,3051 77600 BOV
033217,001239: 27,3052 57053 +1
033218,001240: 27,3053 41366 SQRT DMP
033219,001241: 27,3054 44242 SR3 BDSU
033220,001242: 27,3055 65365 SIGN PDDL
033221,001243: 27,3056 02673 GEOMSGN
033222,001244: 27,3057 17216 2PI+3
033223,001245: 27,3060 45302 SR2 DSU
033224,001246: 27,3061 65205 DMP PDDL
033225,001247: 27,3062 03733 SS
033226,001248: 27,3063 03733 SS
033227,001249: 27,3064 75442 SR3 SQRT
033228,001250: 27,3065 77605 DMP
033229,001251: 27,3066 52525 PDDL SL3
033230,001252: 27,3067 03717 MUASTEER
033231,001253: 27,3070 55366 SQRT BDDV
033232,001254: 27,3071 43225 DSU DAD
033233,001255: 27,3072 03631 TPASS4
033234,001256: 27,3073 01235 PIPTIME
033235,001257: 27,3074 14037 STODL 30D
033236,001258: 27,3075 77765 SIGN
033237,001259: 27,3076 00037 30D # B WITH SIGN
033238,001260: 27,3077 00037 STORE 30D
033239,001261: 27,3100 77214 BON VLOAD
033240,001262: 27,3101 03705 NORMSW
033241,001263: 27,3102 57123 180MESS
033242,001264: 27,3103 03656 IC
033243,001265: 27,3104 53451 VSU UNIT
033244,001266: 27,3105 03537 UNIT/R/
033245,001267: 27,3106 63361 VXSC PDVL
033246,001268: 27,3107 00037 30D
033247,001269: 27,3110 03656 IC
033248,001270: 27,3111 53455 VAD UNIT
033249,001271: 27,3112 03537 UNIT/R/
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|
Page 779
|
033251,001273: 27,3113 53361 GETVRVG1 VXSC VAD
033252,001274: 27,3114 00041 32D
033253,001275: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033254,001276: 27,3116 02777 RTX2
033255,001277: 27,3117 57177 0 -1,2
033256,001278: 27,3120 02337 STORE VIPRIME
033257,001279: 27,3121 77650 GOTO
033258,001280: 27,3122 57166 ASTREND -2
033259,001281: 27,3123 50375 180MESS VLOAD DOT
033260,001282: 27,3124 03656 IC
033261,001283: 27,3125 03537 UNIT/R/
033262,001284: 27,3126 77240 BMN VLOAD
033263,001285: 27,3127 57146 NEGPROD
033264,001286: 27,3130 03656 IC
033265,001287: 27,3131 63362 VSR1 PDVL
033266,001288: 27,3132 03537 UNIT/R/
033267,001289: 27,3133 53362 VSR1 VAD
033268,001290: 27,3134 77656 UNIT
033269,001291: 27,3135 57406 PUSH VCOMP # FOR A
033270,001292: 27,3136 75235 VXV SIGN
033271,001293: 27,3137 02674 UN
033272,001294: 27,3140 02673 GEOMSGN
033273,001295: 27,3141 74256 UNIT VXSC
033274,001296: 27,3142 00037 30D
033275,001297: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033276,001298: 27,3144 77650 GOTO
033277,001299: 27,3145 57113 GETVRVG1
033278,001300: 27,3146 74575 NEGPROD VLOAD VSR1
033279,001301: 27,3147 03537 UNIT/R/
033280,001302: 27,3150 74515 PDVL VSR1
033281,001303: 27,3151 03656 IC
033282,001304: 27,3152 53451 VSU UNIT
033283,001305: 27,3153 77606 PUSH
033284,001306: 27,3154 75235 VXV SIGN
033285,001307: 27,3155 02674 UN # FOR B
033286,001308: 27,3156 02673 GEOMSGN
033287,001309: 27,3157 74256 UNIT VXSC
033288,001310: 27,3160 00041 32D
033289,001311: 27,3161 77715 PDVL
033290,001312: 27,3162 53361 VXSC VAD
033291,001313: 27,3163 00037 30D
033292,001314: 27,3164 77650 GOTO
033293,001315: 27,3165 57115 GETVRVG2
033294,001316: 27,3166 77651 VSU
033295,001317: 27,3167 03553 VN1
033296,001318: 27,3170 02366 ASTREND STORE DELVEET3
033297,001319: 27,3171 53135 FIRSTTME SLOAD BZE
033298,001320: 27,3172 03000 RTX2
033299,001321: 27,3173 57177 GETGOBL
033300,001322: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780
|
033302,001324: 27,3175 02366 DELVEET3
033303,001325: 27,3176 57212 NOGOBL
033304,001326: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033305,001327: 27,3200 01221 RN
033306,001328: 27,3201 45345 DLOAD DSU
033307,001329: 27,3202 01235 PIPTIME # 2
033308,001330: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033309,001331: 27,3204 56205 DMP DDV # OBL
033310,001332: 27,3205 16023 EARTHMU
033311,001333: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033312,001334: 27,3207 53361 VXSC VAD
033313,001335: 27,3210 03521 UNITGOBL
033314,001336: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033315,001337: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033316,001338: 27,3213 77650 GOTO
033317,001339: 27,3214 56455 VGAIN*
033318,001340:
033319,001341: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033320,001342:
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Page 781
|
033322,001344: # TRIMGIMB (FORMERLY S40.6)
033323,001345: # MOD 0 24 FEB 67 PETER ADLER
033324,001346:
033325,001347: # FUNCTION:
033326,001348: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033327,001349: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033328,001350: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033329,001351:
033330,001352: # CALLING SEQUENCE:
033331,001353: # VIA WAITLIST FROM R03
033332,001354:
033333,001355: # INPUT:
033334,001356: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033335,001357: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033336,001358:
033337,001359: # SUBROUTINES USED:
033338,001360: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033339,001361:
033340,001362: 27,3217 COUNT* $$/S40.6
033341,001363: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033342,001364:
033343,001365: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033344,001366: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033345,001367:
033346,001368: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033347,001369: 27,3222 00006 EXTEND
033348,001370: 27,3223 03012 WAND CHAN12
033349,001371: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033350,001372: 27,3225 00006 EXTEND
033351,001373: 27,3226 05012 WOR CHAN12
033352,001374: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033353,001375: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033354,001376: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033355,001377: 27,3232 00006 EXTEND
033356,001378: 27,3233 03012 WAND CHAN12
033357,001379: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033358,001380: 27,3235 00006 EXTEND
033359,001381: 27,3236 05012 WOR CHAN12
033360,001382: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033361,001383: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033362,001384: 27,3241 03260 ADRES PITCHOFF
033363,001385:
033364,001386: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033365,001387: 27,3243 05224 TC VARDELAY # UNTIL THEN
033366,001388: 27,3244 44740 CS BIT12
033367,001389: 27,3245 00006 EXTEND
033368,001390: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033369,001391: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033370,001392: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033371,001393: 27,3251 00006 EXTEND
033372,001394: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033373,001395: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033374,001396: 27,3254 05072 TC NOVAC
033375,001397: 27,3255 E7,1471 EBANK= WHOCARES
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|
Page 782
|
033377,001399: 27,3255 02323 02067 2CADR TRIMDONE
033378,001400:
033379,001401: 27,3257 05261 TC TASKOVER
033380,001402: 27,3260 44742 PITCHOFF CS BIT10
033381,001403: 27,3261 00006 EXTEND
033382,001404: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033383,001405: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033384,001406: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033385,001407: 27,3265 00137 ADRES GMBDRVSW
033386,001408: 27,3266 05261 TC TASKOVER
033387,001409:
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Page 783
|
033389,001411: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033390,001412: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033391,001413:
033392,001414: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033393,001415:
033394,001416: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033395,001417: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033396,001418: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033397,001419: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033398,001420: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033399,001421: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033400,001422: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033401,001423: # CALLER WITH C(MPAC) = VELOCITY(LM).
033402,001424:
033403,001425: # CALLING SEQUENCE:
033404,001426: # L VLOAD CALL
033405,001427: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033406,001428: # L +2 S41.1
033407,001429: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033408,001430:
033409,001431: # SUBROUTINES CALLED:
033410,001432: # 1. CDUTRIG,
033411,001433: # WHICH CALLS CDULOGIC.
033412,001434: # 2. *SMNB*
033413,001435:
033414,001436: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033415,001437:
033416,001438: # ALARM/ABORT MODES: NONE.
033417,001439:
033418,001440: # RESTART PROTECTION: NONE.
033419,001441:
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Page 784
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033421,001443: # INPUT:
033422,001444: # 1. REFSMMAT.
033423,001445: # 2. CDUX, CDUY, CDUZ.
033424,001446: # 3. VELOCITY (REF) IN MPAC.
033425,001447:
033426,001448: # OUTPUT:
033427,001449: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033428,001450: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033429,001451: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033430,001452: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033431,001453:
033432,001454: # DEBRIS: NONE.
033433,001455:
033434,001456: # CHECKOUT STATUS: CODED.
033435,001457:
033436,001458: 27,3267 COUNT* $$/S41.1
033437,001459: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033438,001460: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033439,001461: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033440,001462: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033441,001463: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc