Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version 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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction 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 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 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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031818,000002: ## Copyright: Public domain.
031819,000003: ## Filename: P40-P47.agc
031820,000004: ## Purpose: A section of Luminary revision 98.
031821,000005: ## It is part of the reconstructed source code for the a
031822,000006: ## development version of the flight software for the Lunar
031823,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
031824,000008: ## The code has been recreated from a copy of Luminary 99
031825,000009: ## revision 001, using asterisks indicating changed lines in
031826,000010: ## the listing and Luminary Memo #85, which lists changes between
031827,000011: ## Luminary 98 and 99.
031828,000012: ## Reference: pp. 752-784
031829,000013: ## Assembler: yaYUL
031830,000014: ## Contact: Ron Burkey <info@sandroid.org>.
031831,000015: ## Website: www.ibiblio.org/apollo/index.html
031832,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
031833,000017:
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Page 752
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031835,000019: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031836,000020: # MOD 03 BY PETER ADLER MARCH 3, 1967
031837,000021: # CALLED VIA JOB FROM V37E
031838,000022:
031839,000023: # FUNCTIONAL DESCRIPTION
031840,000024:
031841,000025: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031842,000026: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009.
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031844,000028: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031845,000029: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031846,000030: # PGNCS CONTROLLED DPS MANEUVER.
031847,000031: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031848,000032: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031849,000033:
031850,000034: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031851,000035: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031852,000036:
031853,000037: # SUBROUTINES USED
031854,000038:
031855,000039: # R02 IMU STATUS CHECK
031856,000040: # S40.1 COMPUTATION OF THRUST DIRECTION
031857,000041: # S40.13 LENGTH OF BURN
031858,000042: # S40.2,3 PREFERRED IMU ORIENATTION
031859,000043: # S40.8 X PRODUCT STEERING
031860,000044: # S40.9 LAMBERT VTOGAIN
031861,000045: # R60LEM ATTITUDE MANEUVER
031862,000046: # LEMPREC EXTRAPOLATE STATE VECTOR
031863,000047: # PREREAD AVERAGE G, SERVICER
031864,000048: # ALLCOAST DAP COASTING INITIALIZATION
031865,000049: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031866,000050: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031867,000051: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031868,000052: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031869,000053:
031870,000054: # RESTARTS VIA GROUP 4
031871,000055:
031872,000056: # DISPLAYS
031873,000057:
031874,000058: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031875,000059: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031876,000060: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031877,000061: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031878,000062: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031879,000063: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031880,000064: # V05N09 POSSIBLE ALARMS
031881,000065: # V50N07 PLEASE SELECT P00
031882,000066:
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Page 753
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031884,000068: # VIA R30
031885,000069:
031886,000070: # V06N44 HAPO, PERI, TFF
031887,000071: # V06N35 TIME TO PERIGEE, HMS
031888,000072:
031889,000073: # ALARM OR ABORT EXIT MODES
031890,000074:
031891,000075: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031892,000076: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031893,000077:
031894,000078: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031895,000079: # TIG BY 45 SECS.
031896,000080:
031897,000081: # ERASABLE INITIALIZATION
031898,000082:
031899,000083: # DEBRIS
031900,000084:
031901,000085: # OUTPUT
031902,000086:
031903,000087: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031904,000088: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031905,000089: # = 0 FOR AIMPT (LAMBERT) COMP
031906,000090:
031907,000091: 27,2246 COUNT* $$/P40
031908,000092: 27,2246 E7,1455 EBANK= WHICH
031909,000093:
031910,000094: 36,3147 BANK 36
031911,000095: 36,2000 SETLOC P40S
031912,000096: 36,2000 BANK
031913,000097:
031914,000098: 36,3147 05353 P40LM TC PHASCHNG
031915,000099: 36,3150 04024 OCT 04024
031916,000100:
031917,000101: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031918,000102: 36,3152 55455 TS WHICH
031919,000103:
031920,000104: 36,3153 30106 CA FLGWRD10
031921,000105: 36,3154 74737 MASK APSFLBIT
031922,000106: 36,3155 10000 CCS A
031923,000107: 36,3156 13121 TCF P40ALM
031924,000108: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031925,000109: 36,3160 11254 CADR R02BOTH
031926,000110:
031927,000111: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
031928,000112: 36,3162 74737 MASK CSMDOCKD
031929,000113: 36,3163 10000 CCS A
031930,000114: 36,3164 32020 CAF THRESH1
031931,000115: 36,3165 62021 AD THRESH3
031932,000116: 36,3166 55251 TS DVTHRUSH
031933,000117: 36,3167 34751 CAF FOUR
031934,000118: 36,3170 55515 TS DVCNTR
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Page 754
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031936,000120: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031937,000121: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031938,000122: 36,3173 34001 FDPS
031939,000123: 36,3174 02663 NOTHROTL
031940,000124: 36,3175 03735 STORE F
031941,000125: 36,3176 77735 SLOAD
031942,000126: 36,3177 26002 DPSVEX
031943,000127: 36,3200 70476 P40IN DCOMP SR1
031944,000128: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031945,000129: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
031946,000130: 36,3203 77624 CALL
031947,000131: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031948,000132: 36,3205 77776 EXIT
031949,000133:
031950,000134: 36,3206 00004 INHINT
031951,000135: 36,3207 04674 TC IBNKCALL
031952,000136: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031953,000137:
031954,000138: 36,3211 03213 TC P40SXT4
031955,000139:
031956,000140: # ***********************
031957,000141:
031958,000142: 36,3212 12126 TCF BURNBABY
031959,000143:
031960,000144: # ***********************
031961,000145:
031962,000146: 36,3213 00006 P40SXT4 EXTEND
031963,000147: 36,3214 23142 QXCH P40/RET
031964,000148: 36,3215 00003 P41MANU RELINT
031965,000149:
031966,000150: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031967,000151: 36,3217 00124 ADRES 3AXISFLG
031968,000152:
031969,000153: 36,3220 04616 TC BANKCALL
031970,000154: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031971,000155: 36,3222 01142 TC P40/RET
031972,000156:
031973,000157: 36,3223 E7,1462 EBANK= TRKMKCNT
031974,000158: 36,3223 30005 POSTBURN CA Z
031975,000159: 36,3224 55163 TS DISPDEX
031976,000160: 36,3225 00006 EXTEND
031977,000161: 36,3226 32056 DCA ACADN85
031978,000162: 36,3227 53253 DXCH AVEGEXIT
031979,000163: 36,3230 33760 CAF V16N40
031980,000164: 36,3231 04616 TC BANKCALL
031981,000165: 36,3232 20635 CADR GOFLASHR
031982,000166: 36,3233 03256 TC TERM40
031983,000167: 36,3234 13241 TCF TIGNOW
031984,000168: 36,3235 03223 TC POSTBURN
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Page 755
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031986,000170: 36,3236 05353 P40PHS1 TC PHASCHNG
031987,000171: 36,3237 00014 OCT 00014
031988,000172: 36,3240 15155 TCF ENDOFJOB
031989,000173:
031990,000174: 36,3241 00004 TIGNOW INHINT
031991,000175: 36,3242 04674 TC IBNKCALL
031992,000176: 36,3243 40153 CADR ZATTEROR
031993,000177: 36,3244 04674 TC IBNKCALL
031994,000178: 36,3245 40140 CADR SETMINDB
031995,000179: 36,3246 00003 RELINT
031996,000180: 36,3247 33761 CAF V16N85B
031997,000181: 36,3250 04616 TC BANKCALL
031998,000182: 36,3251 20462 CADR REFLASHR
031999,000183: 36,3252 03256 TC TERM40
032000,000184: 36,3253 13256 TCF TERM40
032001,000185: 36,3254 03247 TC -5
032002,000186:
032003,000187: 36,3255 13236 TCF P40PHS1
032004,000188:
032005,000189: 36,3256 00006 TERM40 EXTEND
032006,000190: 36,3257 32106 DCA SERVCADR
032007,000191: 36,3260 53253 DXCH AVEGEXIT
032008,000192: 36,3261 34755 CAF ZERO
032009,000193: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032010,000194: 36,3263 30005 CA Z
032011,000195: 36,3264 55163 TS DISPDEX
032012,000196: 36,3265 00004 INHINT
032013,000197: 36,3266 04674 TC IBNKCALL
032014,000198: 36,3267 40123 CADR RESTORDB
032015,000199: 36,3270 00003 RELINT
032016,000200: 36,3271 06001 TC GOTOPOOH
032017,000201:
032018,000202: 36,3272 E7,1455 EBANK= WHICH
032019,000203: 36,3272 COUNT* $$/P41
032020,000204: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032021,000205: 36,3273 55455 TS WHICH
032022,000206:
032023,000207: 36,3274 04616 TC BANKCALL
032024,000208: 36,3275 11254 CADR R02BOTH
032025,000209:
032026,000210: 36,3276 06037 TC INTPRET # BOTH LM
032027,000211: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032028,000212: 36,3300 00700 NJETSFLG
032029,000213: 36,3301 75305 P41FJET1
032030,000214: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032031,000215:
032032,000216: 36,3303 37735 P41FJET STCALL F
032033,000217: 36,3304 75310 P41IN
032034,000218: 36,3305 77745 P41FJET1 DLOAD
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Page 756
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032036,000220: 36,3306 34017 FRCS2
032037,000221: 36,3307 03735 STORE F
032038,000222:
032039,000223: 36,3310 77624 P41IN CALL
032040,000224: 36,3311 56246 S40.1 # BOTH
032041,000225: 36,3312 77624 P41NORM CALL
032042,000226: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032043,000227: 36,3314 77776 EXIT # SET PFRATFLG.
032044,000228:
032045,000229: 36,3315 00004 INHINT
032046,000230: 36,3316 04674 TC IBNKCALL
032047,000231: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032048,000232: 36,3320 04674 TC IBNKCALL
032049,000233: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032050,000234: 36,3322 03213 TC P40SXT4
032051,000235:
032052,000236: 36,3323 06037 TC INTPRET
032053,000237: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032054,000238: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032055,000239: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032056,000240: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032057,000241: 36,3330 77776 EXIT
032058,000242:
032059,000243: 36,3331 33761 CAF V16N85B
032060,000244: 36,3332 04616 TC BANKCALL
032061,000245: 36,3333 20446 CADR GODSPRET
032062,000246:
032063,000247: 36,3334 35017 CAF PRIO5
032064,000248: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032065,000249: 36,3336 05105 TC FINDVAC
032066,000250: 36,3337 E7,1700 EBANK= VGPREV
032067,000251: 36,3337 03361 74067 2CADR DYNMDISP
032068,000252:
032069,000253: 36,3341 05327 TC 2PHSCHNG
032070,000254: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032071,000255: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032072,000256:
032073,000257: # ***********************
032074,000258:
032075,000259: 36,3344 12135 TCF B*RNB*B*
032076,000260:
032077,000261: # ***********************
032078,000262:
032079,000263: 36,3345 34777 BLNKWAIT CAF 1SEC
032080,000264: 36,3346 04616 TC BANKCALL
032081,000265: 36,3347 01735 CADR DELAYJOB
032082,000266:
032083,000267: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032084,000268: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032085,000269:
032086,000270: # ***********************
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Page 757
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032088,000272:
032089,000273: 36,3352 00006 EXTEND
032090,000274: 36,3353 13345 BZF BLNKWAIT
032091,000275:
032092,000276: 36,3354 33761 CAF V16N85B
032093,000277: 36,3355 04616 TC BANKCALL
032094,000278: 36,3356 20446 CADR GODSPRET
032095,000279:
032096,000280: 36,3357 35017 CAF PRIO5
032097,000281: 36,3360 05146 TC PRIOCHNG
032098,000282:
032099,000283: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032100,000284: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032101,000285: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032102,000286: 36,3364 06037 TC INTPRET
032103,000287: 36,3365 45175 VLOAD CALL
032104,000288: 36,3366 03701 VGPREV
032105,000289: 36,3367 57267 S41.1
032106,000290: 36,3370 03502 STORE VGBODY
032107,000291: 36,3371 77776 EXIT
032108,000292: 36,3372 34777 CAF 1SEC
032109,000293: 36,3373 04616 TC BANKCALL
032110,000294: 36,3374 01735 CADR DELAYJOB
032111,000295: 36,3375 13361 TCF DYNMDISP
032112,000296:
032113,000297: 36,3376 06037 CALCN85 TC INTPRET
032114,000298: 36,3377 77624 CALL
032115,000299: 36,3400 75611 UPDATEVG
032116,000300: 36,3401 45175 VLOAD CALL
032117,000301: 36,3402 03701 VGPREV
032118,000302: 36,3403 57267 S41.1
032119,000303: 36,3404 03502 STORE VGBODY
032120,000304: 36,3405 77776 EXIT
032121,000305: 36,3406 04635 TC POSTJUMP
032122,000306: 36,3407 65770 CADR SERVEXIT
032123,000307:
032124,000308: 36,3410 COUNT* $$/P42
032125,000309: 36,3410 E7,1455 EBANK= WHICH
032126,000310:
032127,000311: 36,3410 05353 P42LM TC PHASCHNG
032128,000312: 36,3411 04024 OCT 04024
032129,000313:
032130,000314: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032131,000315: 36,3413 55455 TS WHICH
032132,000316:
032133,000317: 36,3414 40106 CS FLGWRD10
032134,000318: 36,3415 74737 MASK APSFLBIT
032135,000319: 36,3416 10000 CCS A
032136,000320: 36,3417 03121 TC P40ALM
032137,000321: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758
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032139,000323: 36,3421 11254 CADR R02BOTH
032140,000324: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032141,000325: 36,3423 55251 TS DVTHRUSH
032142,000326: 36,3424 34751 CAF FOUR
032143,000327: 36,3425 55515 TS DVCNTR
032144,000328:
032145,000329: 36,3426 06037 TC INTPRET
032146,000330: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032147,000331: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032148,000332: 36,3431 34007 FAPS
032149,000333: 36,3432 03735 STORE F
032150,000334: 36,3433 52135 SLOAD GOTO
032151,000335: 36,3434 26001 APSVEX
032152,000336: 36,3435 75200 P40IN
032153,000337:
032154,000338: 36,3436 E7,1455 EBANK= WHICH
032155,000339:
032156,000340: 36,3436 COUNT* $$/P47
032157,000341: 36,3436 04616 P47LM TC BANKCALL
032158,000342: 36,3437 11254 CADR R02BOTH
032159,000343: 36,3440 06037 TC INTPRET
032160,000344: 36,3441 77624 CALRB
032161,000345: 36,3442 27553 MIDTOAV2
032162,000346:
032163,000347: 36,3443 30155 CA MPAC +1
032164,000348: 36,3444 05173 TC TWIDDLE
032165,000349: 36,3445 03447 ADRES STARTP47
032166,000350:
032167,000351: 36,3446 15155 TCF ENDOFJOB
032168,000352:
032169,000353: 36,3447 05353 STARTP47 TC PHASCHNG
032170,000354: 36,3450 05014 OCT 05014
032171,000355: 36,3451 77777 OCT 77777
032172,000356:
032173,000357: 36,3452 00006 EXTEND
032174,000358: 36,3453 33764 DCA ACADN83
032175,000359: 36,3454 53253 DXCH AVEGEXIT
032176,000360: 36,3455 34736 CAF PRIO20
032177,000361: 36,3456 05105 TC FINDVAC
032178,000362: 36,3457 E7,1622 EBANK= DELVIMU
032179,000363: 36,3457 03513 74067 2CADR P47BODY
032180,000364:
032181,000365: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032182,000366: # SEE TIG-30 IN BURNBABY.
032183,000367:
032184,000368: 36,3462 06037 CALCN83 TC INTPRET
032185,000369: 36,3463 53375 VLOAD VAD
032186,000370: 36,3464 03502 DELVCTL
032187,000371: 36,3465 03527 DELVREF
032188,000372: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759
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032190,000374: 36,3467 77624 CALL
032191,000375: 36,3470 57267 S41.1
032192,000376: 36,3471 03623 STORE DELVIMU
032193,000377: 36,3472 77776 EXIT
032194,000378: 36,3473 05353 TC PHASCHNG
032195,000379: 36,3474 10035 OCT 10035 # REREADAC AND HERE
032196,000380:
032197,000381: 36,3475 06037 TC INTPRET
032198,000382: 36,3476 77775 VLOAD
032199,000383: 36,3477 03656 DELVSIN
032200,000384: 36,3500 03502 STORE DELVCTL
032201,000385: 36,3501 77776 EXIT
032202,000386:
032203,000387: 36,3502 04635 TC POSTJUMP
032204,000388: 36,3503 65770 CADR SERVEXIT
032205,000389:
032206,000390: 36,3504 33762 P47BOD CAF V1683
032207,000391: 36,3505 04616 TC BANKCALL
032208,000392: 36,3506 20635 CADR GOFLASHR
032209,000393: 36,3507 06001 TC GOTOPOOH
032210,000394: 36,3510 06001 TC GOTOPOOH
032211,000395:
032212,000396: 36,3511 13513 TCF P47BODY
032213,000397:
032214,000398: 36,3512 13236 TCF P40PHS1
032215,000399:
032216,000400: 36,3513 06037 P47BODY TC INTPRET
032217,000401: 36,3514 77775 VLOAD
032218,000402: 36,3515 06522 HI6ZEROS
032219,000403: 36,3516 03623 STORE DELVIMU
032220,000404: 36,3517 03502 STORE DELVCTL
032221,000405: 36,3520 77776 EXIT
032222,000406: 36,3521 03504 TC P47BOD
032223,000407:
032224,000408: 36,3522 COUNT* $$/P40
032225,000409: 36,3522 31517 IMPLBURN CA TGO +1
032226,000410: 36,3523 03735 TC GETDT
032227,000411: 36,3524 05173 TC TWIDDLE
032228,000412: 36,3525 03542 ADRES ENGOFTSK
032229,000413: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032230,000414: 36,3527 00153 ADRES IGNFLAG
032231,000415: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032232,000416: 36,3531 00154 ADRES ASTNFLAG
032233,000417: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
032234,000418: 36,3533 00044 ADRES IMPULSW
032235,000419: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032236,000420: 36,3535 40114 OCT 40114
032237,000421:
032238,000422: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
032239,000423: 36,3537 00062 DEC 50 B-14
|
|
Page 760
|
032241,000425: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
032242,000426:
032243,000427: 36,3541 05261 TC TASKOVER
032244,000428:
032245,000429: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032246,000430: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032247,000431: 36,3544 05261 TC TASKOVER
032248,000432:
032249,000433: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032250,000434: 36,3546 05105 TC FINDVAC
032251,000435: 36,3547 E7,1462 EBANK= TRKMKCNT
032252,000436: 36,3547 03223 74067 2CADR POSTBURN
032253,000437:
032254,000438: 36,3551 34753 ENGINOF2 CAF BIT1
032255,000439: 36,3552 05203 TC WAITLIST
032256,000440: 36,3553 E6,1422 EBANK= OMEGAQ
032257,000441: 36,3553 03606 74066 2CADR COASTSET
032258,000442:
032259,000443: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032260,000444: 36,3556 74745 MASK IDLEFBIT
032261,000445: 36,3557 26103 ADS FLAGWRD7
032262,000446:
032263,000447: 36,3560 02653 TC NOULLAGE
032264,000448:
032265,000449: 36,3561 00006 ENGINOF4 EXTEND
032266,000450: 36,3562 30025 DCA TIME2
032267,000451: 36,3563 53345 DXCH TEVENT
032268,000452:
032269,000453: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032270,000454: 36,3565 70101 MASK FLAGWRD5
032271,000455: 36,3566 54101 TS FLAGWRD5
032272,000456: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032273,000457: 36,3570 00006 EXTEND # SUBROUTINE.
032274,000458: 36,3571 02011 RAND DSALMOUT
032275,000459: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032276,000460: 36,3573 00006 EXTEND
032277,000461: 36,3574 01011 WRITE DSALMOUT
032278,000462:
032279,000463: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032280,000464: 36,3576 74736 MASK USEQRJTS
032281,000465: 36,3577 26111 ADS DAPBOOLS
032282,000466:
032283,000467: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032284,000468: 36,3601 54055 TS THRUST # IS TURNED OFF.
032285,000469: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032286,000470: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
032287,000471: 36,3604 05014 WOR CHAN14
032288,000472:
032289,000473: 36,3605 04707 TC ISWRETRN
|
|
Page 761
|
032291,000475: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032292,000476: 36,3607 40204 CADR ALLCOAST
032293,000477: 36,3610 05261 TC TASKOVER
032294,000478:
032295,000479: 36,3611 E6,1422 EBANK= OMEGAQ
032296,000480: 36,3611 45020 UPDATEVG STQ CALL
032297,000481: 36,3612 03665 QTEMP1
032298,000482: 36,3613 56447 S40.8 # X-PRODUCT STEERING
032299,000483: 36,3614 43014 BON BON
032300,000484: 36,3615 01307 XDELVFLG
032301,000485: 36,3616 03665 QTEMP1
032302,000486: 36,3617 03705 NORMSW
032303,000487: 36,3620 75633 180SETUP
032304,000488: 36,3621 45345 DLOAD DSU
032305,000489: 36,3622 01235 PIPTIME
032306,000490: 36,3623 03763 TIGSAVE
032307,000491: 36,3624 50025 DSU BMN
032308,000492: 36,3625 03432 TNEWA
032309,000493: 36,3626 75656 GETRANS
032310,000494: 36,3627 43345 DLOAD DAD
032311,000495: 36,3630 03763 TIGSAVE
032312,000496: 36,3631 03432 TNEWA
032313,000497: 36,3632 03765 STORE TIGSAVEP
032314,000498: 36,3633 77776 180SETUP EXIT
032315,000499: 36,3634 10755 CCS PHASE2
032316,000500: 36,3635 13663 TCF NO.9
032317,000501: 36,3636 34737 CAF PRIO10
032318,000502: 36,3637 00004 INHINT
032319,000503: 36,3640 05105 TC FINDVAC
032320,000504: 36,3641 E7,1706 EBANK= VG
032321,000505: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032322,000506:
032323,000507: 36,3643 05327 TC 2PHSCHNG
032324,000508: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
032325,000509: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032326,000510:
032327,000511: 36,3646 06037 ENDSTEER TC INTPRET
032328,000512: 36,3647 77745 DLOAD
032329,000513: 36,3650 03765 TIGSAVEP
032330,000514: 36,3651 27763 STOVL TIGSAVE
032331,000515: 36,3652 01221 RN
032332,000516: 36,3653 26323 STOVL RINIT
032333,000517: 36,3654 01227 VN
032334,000518: 36,3655 02331 STORE VINIT
032335,000519: 36,3656 45345 GETRANS DLOAD DSU
032336,000520: 36,3657 03631 TPASS4
032337,000521: 36,3660 01235 PIPTIME
032338,000522: 36,3661 37452 STCALL DELLT4
032339,000523: 36,3662 03665 QTEMP1
032340,000524:
|
|
Page 762
|
032342,000526: 36,3663 06037 NO.9 TC INTPRET
032343,000527: 36,3664 77650 GOTO
032344,000528: 36,3665 03665 QTEMP1
032345,000529: 36,3666 06037 STEERING TC INTPRET
032346,000530:
032347,000531: 36,3667 77624 CALL
032348,000532: 36,3670 75611 UPDATEVG
032349,000533: 36,3671 77776 EXIT
032350,000534:
032351,000535: 36,3672 E7,1515 EBANK= DVCNTR
032352,000536: 36,3672 00004 NSTEER INHINT
032353,000537: 36,3673 35016 CA EBANK7
032354,000538: 36,3674 54003 TS EBANK
032355,000539: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032356,000540: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032357,000541: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
032358,000542:
032359,000543: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
032360,000544: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032361,000545: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032362,000546: 36,3703 10000 CCS A
032363,000547: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032364,000548: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032365,000549: 36,3706 65770 CADR SERVEXIT
032366,000550:
032367,000551: 36,3707 04674 TC IBNKCALL
032368,000552: 36,3710 40165 CADR STOPRATE
032369,000553:
032370,000554: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
032371,000555: 36,3712 00044 ADRES IMPULSW
032372,000556:
032373,000557: 36,3713 05504 TC UPFLAG
032374,000558: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
032375,000559:
032376,000560: 36,3715 00004 INHINT
032377,000561: 36,3716 00006 EXTEND
032378,000562: 36,3717 31442 DCA TIG
032379,000563: 36,3720 52155 DXCH MPAC
032380,000564: 36,3721 00006 EXTEND
032381,000565: 36,3722 40025 DCS TIME2
032382,000566: 36,3723 20155 DAS MPAC
032383,000567: 36,3724 07257 TC TPAGREE
032384,000568: 36,3725 30155 CAE MPAC +1
032385,000569: 36,3726 03735 TC GETDT
032386,000570: 36,3727 05173 TC TWIDDLE
032387,000571: 36,3730 03542 ADRES ENGOFTSK
032388,000572: 36,3731 05327 TC 2PHSCHNG
032389,000573: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032390,000574: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763
|
032392,000576: 36,3734 15155 TCF ENDOFJOB
032393,000577:
032394,000578: 36,3735 10000 GETDT CCS A
032395,000579: 36,3736 13741 TCF +3
032396,000580: 36,3737 13741 TCF +2
032397,000581: 36,3740 34755 CAF ZERO
032398,000582: 36,3741 64753 AD ONE
032399,000583: 36,3742 56001 XCH L
032400,000584: 36,3743 34755 CAF ZERO
032401,000585: 36,3744 53517 DXCH TGO
032402,000586: 36,3745 31517 CA TGO +1
032403,000587: 36,3746 00002 TC Q
032404,000588:
032405,000589: # ************************************************************************
032406,000590:
032407,000591: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032408,000592: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032409,000593: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
032410,000594:
032411,000595: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032412,000596: 36,3754 10624 SEC45 DEC 4500 B-14
032413,000597: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032414,000598: 36,3756 00764 5SEC DEC 500 B-14
032415,000599: 36,3757 05050 26SECS DEC 2600 B-14
032416,000600: 36,3760 04050 V16N40 VN 1640
032417,000601: 36,3761 04125 V16N85B VN 1685
032418,000602: 36,3762 04123 V1683 VN 1683
032419,000603: 36,3763 4777 SEC01 = 1SEC
032420,000604: 36,3763 36,2055 ACADN85 = P41TABLE +2
032421,000605:
032422,000606: 36,3763 E7,1622 EBANK= DELVIMU
032423,000607: 36,3763 03462 74067 ACADN83 2CADR CALCN83
032424,000608:
032425,000609: # *************************************************
|
|
Page 764
|
032427,000611: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032428,000612: # MOD N02 LOG SECTION P40-P47
032429,000613: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032430,000614:
032431,000615: # FUNCTIONAL DESCRIPTION
032432,000616: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032433,000617: # VECTOR(VGTIG).
032434,000618:
032435,000619: # CALLING SEQUENCE
032436,000620: # L CALL
032437,000621: # L+1 S40.1
032438,000622:
032439,000623: # NORMAL EXIT MODE
032440,000624: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032441,000625: # ERROR RETURN IF NOSOFLAG =1
032442,000626:
032443,000627: # SUBROUTINES CALLED
032444,000628: # LEMPREC
032445,000629: # INITVEL
032446,000630: # CALCGRAV
032447,000631: # MIDGIM
032448,000632:
032449,000633: # ALARM OR ABORT EXIT MODES
032450,000634: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032451,000635:
032452,000636: # ERASABLE INITIALIZATION REQUIRED
032453,000637: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032454,000638: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032455,000639: # F THRUST FOR ENGINE USED
032456,000640: # IF DELTA-V MANEUVER
032457,000641: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032458,000642: # INERTIAL COORDS. OF ACTIVE VEHICLE
032459,000643: # AT TIME OF IGNITION VECTOR B7 M/CS
032460,000644: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032461,000645: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032462,000646: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032463,000647: # IF AIMPT STEER
032464,000648: # TIG TIME OF IGNITION DP B28 CS
032465,000649: # RTARG POSITION TARGET TIME VECTOR B29 M
032466,000650: # CSTEER C FOR STEER LAW DP B2
032467,000651: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032468,000652:
032469,000653: # OUTPUT
032470,000654: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032471,000655: # VGTIG INITIAL VALUE OF VELOCITY
032472,000656: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032473,000657: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032474,000658: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032475,000659: # -GDT FOR S40.13 VECT B7 M/CS
032476,000660: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032477,000661: # POSITION AT TIME OF IGNITION
032478,000662:
032479,000663: # DEBRIS QTEMP1
032480,000664: # MPAC, QPRET
032481,000665: # PUSHLIST
032482,000666:
032483,000667: 14,2347 BANK 14
032484,000668: 27,2000 SETLOC P40S1
032485,000669: 27,2000 BANK
|
|
Page 765
|
032487,000671: 27,2246 COUNT* $$/S40.1
032488,000672: 27,2246 71220 S40.1 STQ DLOAD
032489,000673: 27,2247 03632 QTEMP
032490,000674: 27,2250 03442 TIG
032491,000675: 27,2251 03763 STORE TIGSAVE
032492,000676: 27,2252 77614 DELVTEST BOFF
032493,000677: 27,2253 01347 XDELVFLG
032494,000678: 27,2254 56336 S40.1B
032495,000679: 27,2255 77201 CALCTHET SETPD VLOAD
032496,000680: 27,2256 00001 0
032497,000681: 27,2257 03650 VTIG
032498,000682: 27,2260 02331 STORE VINIT
032499,000683: 27,2261 53435 VXV UNIT
032500,000684: 27,2262 03642 RTIG
032501,000685: 27,2263 27673 STOVL UT # UP IN UT
032502,000686: 27,2264 03642 RTIG
032503,000687: 27,2265 02323 STORE RINIT
032504,000688: 27,2266 65236 VSQ PDDL
032505,000689: 27,2267 00045 36D
032506,000690: 27,2270 56205 DMP DDV
032507,000691: 27,2271 16412 THETACON
032508,000692: 27,2272 41205 DMP DMP
032509,000693: 27,2273 03664 DELVSAB
032510,000694: 27,2274 01245 WEIGHT/G
032511,000695: 27,2275 77671 DDV
032512,000696: 27,2276 03735 F
032513,000697: 27,2277 24017 STOVL 14D
032514,000698: 27,2300 03656 DELVSIN
032515,000699:
032516,000700: 27,2301 74241 DOT VXSC
032517,000701: 27,2302 03673 UT
032518,000702: 27,2303 03673 UT
032519,000703: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032520,000704: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032521,000705: 27,2306 03656 DELVSIN
032522,000706: 27,2307 00017 14D
032523,000707: 27,2310 63356 SIN PDVL
032524,000708: 27,2311 00007 6D
032525,000709: 27,2312 53435 VXV UNIT
032526,000710: 27,2313 03673 UT
032527,000711: 27,2314 45561 VXSC STADR
032528,000712: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032529,000713: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032530,000714: 27,2317 00017 14D
032531,000715: 27,2320 74346 COS VXSC
032532,000716: 27,2321 74255 VAD VXSC
032533,000717: 27,2322 03701 VGTIG
032534,000718: 27,2323 00045 36D
032535,000719: 27,2324 53352 VSL2 VAD
032536,000720: 27,2325 77626 STADR
|
|
Page 766
|
032538,000722: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032539,000723:
032540,000724: 27,2327 77656 UNIT
032541,000725: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032542,000726: 27,2331 03701 VGTIG
032543,000727: 27,2332 45006 PUSH CALL
032544,000728: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032545,000729: 27,2334 77650 GOTO
032546,000730: 27,2335 03632 QTEMP
032547,000731: 27,2336 77745 S40.1B DLOAD
032548,000732: 27,2337 03442 TIG
032549,000733: 27,2340 00041 STORE TDEC1
032550,000734: 27,2341 77621 BDSU
032551,000735: 27,2342 03631 TPASS4
032552,000736: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032553,000737: 27,2344 27057 LEMPREC
032554,000738: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032555,000739: 27,2346 00001 RATT
032556,000740: 27,2347 00001 0
032557,000741: 27,2350 03642 STORE RTIG
032558,000742: 27,2351 02323 STORE RINIT
032559,000743: 27,2352 77656 UNIT
032560,000744: 27,2353 27537 STOVL UNIT/R/
032561,000745: 27,2354 00007 VATT
032562,000746: 27,2355 03650 STORE VTIG
032563,000747: 27,2356 02331 STORE VINIT
032564,000748: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032565,000749: 27,2360 06522 ZEROVECS
032566,000750: 27,2361 16406 EPS1
032567,000751: 27,2362 43214 BOFF DAD
032568,000752: 27,2363 03745 NORMSW
032569,000753: 27,2364 56366 SMALLEPS
032570,000754: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032571,000755: 27,2366 66006 SMALLEPS PUSH SXA,1
032572,000756: 27,2367 02776 RTX1
032573,000757: 27,2370 45134 SXA,2 CALL
032574,000758: 27,2371 02777 RTX2
032575,000759: 27,2372 22000 INITVEL
032576,000760: 27,2373 41575 VLOAD PUSH
032577,000761: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032578,000762: 27,2375 03701 STORE VGTIG
032579,000763: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032580,000764: 27,2377 17673 STODL UT
032581,000765: 27,2400 00045 36D
032582,000766: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032583,000767: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
032584,000768: 27,2403 77650 GOTO
032585,000769: 27,2404 03632 QTEMP
032586,000770:
032587,000771: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032588,000772:
|
|
Page 767
|
032590,000774: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032591,000775:
032592,000776: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032593,000777:
|
|
Page 768
|
032595,000779: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032596,000780: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032597,000781: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032598,000782: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032599,000783: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032600,000784:
032601,000785: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032602,000786: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032603,000787: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032604,000788: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032605,000789: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032606,000790:
032607,000791: # CALLING SEQUENCE:
032608,000792: # L CALL INTERPRETIVE CALL.
032609,000793: # L +1 S40.2,3
032610,000794: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032611,000795:
032612,000796: # SUBROUTINES CALLED: NONE.
032613,000797:
032614,000798: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032615,000799:
032616,000800: # ALARM/ABORT MODES: NONE.
032617,000801:
032618,000802: # INPUT:
032619,000803: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032620,000804: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032621,000805: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032622,000806:
032623,000807: # OUTPUT:
032624,000808: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032625,000809: # :YSCREF: IN REFERENCE COORDINATES
032626,000810: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032627,000811: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032628,000812: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032629,000813: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032630,000814:
032631,000815: # DEBRIS: NONE.
|
|
Page 769
|
032633,000817:
032634,000818: 27,2413 COUNT* $$/S40.2
032635,000819: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032636,000820: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032637,000821: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032638,000822: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032639,000823: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032640,000824: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032641,000825: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032642,000826:
032643,000827: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032644,000828: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032645,000829: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032646,000830: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032647,000831: 27,2426 46125 PDDL BHIZ
032648,000832: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032649,000833: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032650,000834: 27,2431 45575 STORY VLOAD STADR
032651,000835: 27,2432 74162 STORE YSCREF
032652,000836: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032653,000837: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032654,000838: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032655,000839: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032656,000840:
032657,000841: 27,2437 43414 SET RVQ
032658,000842: 27,2440 01073 PFRATFLG
032659,000843: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032660,000844: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032661,000845: 27,2443 03650 VTIG
032662,000846: 27,2444 41456 UNIT PUSH
032663,000847: 27,2445 77650 GOTO
032664,000848: 27,2446 56431 STORY
|
|
Page 770
|
032666,000850: # SUBROUTINE S40.8
032667,000851: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032668,000852:
032669,000853: # DESCRIPTION
032670,000854: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032671,000855: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032672,000856: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032673,000857:
032674,000858: # CALLING SEQUENCE
032675,000859: # L-1 CALL
032676,000860: # L S40.8
032677,000861: # L+1 INTERPRETIVE RETURN
032678,000862:
032679,000863: # ALARM
032680,000864: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032681,000865: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032682,000866:
032683,000867: # INPUT AND INITIALIZATION
032684,000868: # VGPREV REFERENCE 2(7) M/CS
032685,000869: # DELVREF REFERENCE 2(7) M/CS
032686,000870: # BDT REFERENCE 2(7) M/CS
032687,000871: # TDECAY TAIL-OFF TIME 2(28) CS
032688,000872: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032689,000873: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032690,000874: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032691,000875:
032692,000876: # NOTE: VGTIG EQUALS VGPREV
032693,000877:
032694,000878: # OUTPUT
032695,000879: # STEERSW SEE INPUT
032696,000880: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032697,000881: # TGO TIME TO CUT-OFF 2(28) CS
032698,000882: # SEE FINDCDUW FOR STEERING OUTPUTS.
032699,000883:
032700,000884: # SUBROUTINE CALLED
032701,000885: # FINDCDUW
032702,000886:
032703,000887: # DEBRIS
032704,000888: # MPACS, PUSHLIST
032705,000889:
032706,000890: 27,2447 COUNT* $$/S40.8
|
|
Page 771
|
032708,000892: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032709,000893: 27,2450 01347 XDELVFLG
032710,000894: 27,2451 56731 RASTEER1
032711,000895: 27,2452 52375 VLOAD VSU
032712,000896: 27,2453 03701 VGPREV
032713,000897: 27,2454 03527 DELVREF
032714,000898: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032715,000899: 27,2456 76521 MXV VSL1
032716,000900: 27,2457 01734 REFSMMAT
032717,000901: 27,2460 03254 STORE UNFC/2
032718,000902: 27,2461 51575 BDTOK VLOAD ABVAL
032719,000903: 27,2462 03707 VG
032720,000904: 27,2463 03664 STORE VGDISP
032721,000905: 27,2464 77201 TGDCALC SETPD VLOAD
032722,000906: 27,2465 00001 0
032723,000907: 27,2466 03707 VG
032724,000908: 27,2467 27701 STOVL VGPREV
032725,000909: 27,2470 03527 DELVREF
032726,000910: 27,2471 57414 BOFF VCOMP
032727,000911: 27,2472 01344 STEERSW
032728,000912: 27,2473 00052 QPRET
032729,000913: 27,2474 77656 UNIT
032730,000914: 27,2475 41441 DOT PUSH
032731,000915: 27,2476 03707 VG
032732,000916: 27,2477 56244 BPL DDV
032733,000917: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032734,000918: 27,2501 03743 VEX
032735,000919: 27,2502 41215 DAD DMP
032736,000920: 27,2503 06520 DPHALF
032737,000921: 27,2504 56261 SR DDV
032738,000922: 27,2505 20613 10D
032739,000923: 27,2506 00045 36D
032740,000924: 27,2507 43205 DMP DAD
032741,000925: 27,2510 16535 -FOURDT
032742,000926: 27,2511 03741 TDECAY
032743,000927: 27,2512 03517 STORE TGO
032744,000928: 27,2513 77615 DAD
032745,000929: 27,2514 01235 PIPTIME
032746,000930: 27,2515 17442 STODL TIG
032747,000931: 27,2516 03517 TGO
032748,000932: 27,2517 51025 DSU BPL
032749,000933: 27,2520 16537 FOURSECS # 400 CS
032750,000934: 27,2521 61111 FINDCDUW -2
032751,000935: 27,2522 43014 SET CLRGO
032752,000936: 27,2523 01066 IMPULSW
032753,000937: 27,2524 01224 STEERSW
032754,000938: 27,2525 00052 QPRET
032755,000939:
032756,000940: 27,2526 77776 ALARMIT EXIT
032757,000941:
|
|
Page 772
|
032759,000943: 27,2527 05567 TC ALARM
032760,000944: 27,2530 01407 OCT 01407
032761,000945: 27,2531 06037 TC INTPRET
032762,000946: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032763,000947: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032764,000948:
032765,000949: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032766,000950: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032767,000951: 27,2540 E7,1742 2VEXHUST = VEX
032768,000952:
|
|
Page 773
|
032770,000954: # NAME S40.13 - TIMEBURN
032771,000955:
032772,000956: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032773,000957: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032774,000958: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032775,000959: # BURN
032776,000960: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032777,000961: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032778,000962: # SIGNAL
032779,000963:
032780,000964: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032781,000965:
032782,000966: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032783,000967: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032784,000968: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032785,000969: # AND ALSO FOR RCS ENGINE
032786,000970: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032787,000971: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032788,000972: # REQUIRE MODIFICATION FOR SATURN BURNS.
032789,000973: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032790,000974: # =0 DPS
032791,000975: # =1 APS
032792,000976:
032793,000977: # OUTPUT IMPULSW ZERO FOR STEERING
032794,000978: # ONE FOR ATTITUDE HOLD
032795,000979: # NOTHROTL ZERO FOR THROTTLING
032796,000980: # ONE TO INHIBIT THROTTLING
032797,000981: # TGO TIME TO BURN IN CS
032798,000982:
032799,000983: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032800,000984: # FORCE
032801,000985:
032802,000986: 27,2540 E7,1516 EBANK= TGO
032803,000987: 27,2540 COUNT* $$/40.13
032804,000988: 27,2540 06037 S40.13 TC INTPRET
032805,000989: 27,2541 43001 SETPD CLEAR
032806,000990: 27,2542 00001 00D
032807,000991: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032808,000992: 27,2544 51575 VLOAD ABVAL
032809,000993: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032810,000994: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032811,000995: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032812,000996: 27,2550 34017 FRCS2
032813,000997: 27,2551 72471 DDV SL1 # SCALE
032814,000998: 27,2552 01245 WEIGHT/G
032815,000999: 27,2553 41421 BDSU PUSH
032816,001000: 27,2554 43014 BOFF SET
032817,001001: 27,2555 05342 APSFLAG
032818,001002: 27,2556 56626 S40.13D # FOR DPS ENGINE
032819,001003: 27,2557 02463 NOTHROTL
032820,001004: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032821,001005: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032822,001006: 27,2562 01245 WEIGHT/G
032823,001007: 27,2563 50021 BDSU BMN
|
|
Page 774
|
032825,001009: 27,2564 00001 00D
032826,001010: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032827,001011: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032828,001012: 27,2567 03737 MDOT
032829,001013:
032830,001014: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032831,001015: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032832,001016: # REQUIRE ADJUSTMENT
032833,001017:
032834,001018: 27,2570 16700 3.5SEC # 350 CS AT +14
032835,001019: 27,2571 65221 BDSU PDDL
032836,001020: 27,2572 01245 WEIGHT/G
032837,001021: 27,2573 03735 F
032838,001022: 27,2574 60405 DMP SR2 # SCALE
032839,001023: 27,2575 16702 5SECS
032840,001024: 27,2576 41471 DDV PUSH # 04D = TEMP2
032841,001025: 27,2577 51021 BDSU BPL
032842,001026: 27,2600 00003 02D
032843,001027: 27,2601 56626 S40.13D
032844,001028: 27,2602 55345 DLOAD BDDV
032845,001029: 27,2603 43205 DMP DAD
032846,001030: 27,2604 16702 5SECS
032847,001031: 27,2605 16676 1SEC2D # 100 CS AT +14
032848,001032: 27,2606 77650 GOTO
032849,001033: 27,2607 56616 S40.132
032850,001034: 27,2610 41345 S40.131 DLOAD DMP
032851,001035: 27,2611 01245 WEIGHT/G
032852,001036: 27,2612 41542 SR1 PUSH
032853,001037: 27,2613 56215 DAD DDV
032854,001038: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
032855,001039: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032856,001040: 27,2616 77414 S40.132 SET EXIT
032857,001041: 27,2617 01066 IMPULSW
032858,001042: 27,2620 07257 S40.132* TC TPAGREE
032859,001043: 27,2621 30154 CA MPAC
032860,001044: 27,2622 56001 XCH L
032861,001045: 27,2623 34755 CA ZERO
032862,001046: 27,2624 53517 DXCH TGO
032863,001047: 27,2625 12650 TCF S40.134
032864,001048:
032865,001049: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032866,001050: 27,2627 00001 00D
032867,001051: 27,2630 01245 WEIGHT/G
032868,001052: 27,2631 43006 PUSH BON
032869,001053: 27,2632 05302 APSFLAG
032870,001054: 27,2633 56671 APSTGO
032871,001055: 27,2634 43071 DDV CLEAR
032872,001056: 27,2635 16007 S40.136
032873,001057: 27,2636 02663 NOTHROTL
032874,001058: 27,2637 41400 BOV PUSH
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|
Page 775
|
032876,001060: 27,2640 56653 S40.130V
032877,001061: 27,2641 51025 S40.137 DSU BPL
032878,001062: 27,2642 16704 6SEC # 600.0 CS AT +14
032879,001063: 27,2643 56661 S40.138
032880,001064: 27,2644 52015 DAD GOTO
032881,001065: 27,2645 16704 6SEC
032882,001066: 27,2646 56616 S40.132
032883,001067: 27,2647 77776 S40.133 EXIT
032884,001068: 27,2650 05353 S40.134 TC PHASCHNG
032885,001069: 27,2651 00003 OCT 00003
032886,001070: 27,2652 05155 TC ENDOFJOB
032887,001071: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032888,001072: 27,2654 77671 DDV
032889,001073: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032890,001074: 27,2656 03517 STORE TGO
032891,001075: 27,2657 77776 EXIT
032892,001076: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032893,001077:
032894,001078: 27,2661 51025 S40.138 DSU BPL
032895,001079: 27,2662 16706 89SECS
032896,001080: 27,2663 56666 STORETGO
032897,001081: 27,2664 77614 SET
032898,001082: 27,2665 02463 NOTHROTL
032899,001083: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032900,001084: 27,2667 77776 EXIT
032901,001085: 27,2670 12620 TCF S40.132*
032902,001086:
032903,001087: 27,2671 62471 APSTGO DDV SL2
032904,001088: 27,2672 34007 FAPS
032905,001089: 27,2673 77650 GOTO
032906,001090: 27,2674 56667 STORETGO +1
032907,001091: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032908,001092:
032909,001093: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032910,001094:
032911,001095: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032912,001096:
032913,001097: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032914,001098:
032915,001099: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032916,001100:
032917,001101: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032918,001102: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032919,001103: # COMPUTATION CYCLES (4 SECONDS).
032920,001104: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032921,001105: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032922,001106: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032923,001107:
032924,001108: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032925,001109:
032926,001110: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032927,001111: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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|
Page 776
|
032929,001113: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032930,001114: # METERS/CS AT +7.
032931,001115: # TIG - TIME OF IGNITION IN CS AT +28.
032932,001116: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032933,001117: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032934,001118: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032935,001119: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032936,001120: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032937,001121: # METERS/CS AT +7.
032938,001122:
032939,001123: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032940,001124: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032941,001125: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032942,001126: # BDT - B VECTOR IN METERS/CS AT +7.
032943,001127:
032944,001128: # SUBROUTINES USED - INITVEL
032945,001129:
032946,001130: 27,2707 E7,1700 EBANK= VGPREV
032947,001131: 27,2707 COUNT* $$/S40.9
032948,001132: 27,2707 06037 S40.9 TC INTPRET
032949,001133: 27,2710 77601 SETPD
032950,001134: 27,2711 00001 00D
032951,001135: 27,2712 71214 SET DLOAD
032952,001136: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032953,001137: 27,2714 06522 HI6ZEROS
032954,001138: 27,2715 77725 PDDL
032955,001139: 27,2716 16406 EPS1
032956,001140: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032957,001141: 27,2720 03745 NORMSW
032958,001142: 27,2721 56723 EPSSMALL
032959,001143: 27,2722 16410 EPS2
032960,001144: 27,2723 45006 EPSSMALL PUSH CALL
032961,001145: 27,2724 22002 HAVEGUES
032962,001146: 27,2725 77776 ENDS40.9 EXIT
032963,001147: 27,2726 05353 TC PHASCHNG
032964,001148: 27,2727 00002 OCT 2
032965,001149: 27,2730 15155 TCF ENDOFJOB
032966,001150:
032967,001151: 27,2731 51575 RASTEER1 VLOAD ABVAL
032968,001152: 27,2732 01221 RN
032969,001153: 27,2733 53744 LXC,2 SL*
032970,001154: 27,2734 02777 RTX2
032971,001155: 27,2735 57576 0,2
032972,001156: 27,2736 27715 STOVL RMAG
032973,001157: 27,2737 03444 RTARG
032974,001158: 27,2740 47051 VSU RTB
032975,001159: 27,2741 01221 RN
032976,001160: 27,2742 21724 NORMUNX1
032977,001161: 27,2743 17656 STODL IC
032978,001162: 27,2744 00045 36D # C(36D) = ABVAL(C)
032979,001163: 27,2745 53674 XAD,2 SL*
032980,001164: 27,2746 00046 X1
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|
Page 777
|
032982,001166: 27,2747 57576 0,2
032983,001167: 27,2750 00037 STORE 30D
032984,001168: 27,2751 41301 NORM DMP
032985,001169: 27,2752 00050 X2
032986,001170: 27,2753 03715 RMAG
032987,001171: 27,2754 57101 NORM XAD,2
032988,001172: 27,2755 00047 X1
032989,001173: 27,2756 00046 X1
032990,001174: 27,2757 77734 SXA,2
032991,001175: 27,2760 03766 MUSCALE
032992,001176: 27,2761 17725 STODL R1C # 2(+58 -X)
032993,001177: 27,2762 00037 30D
032994,001178: 27,2763 65342 SR1 PDDL
032995,001179: 27,2764 03715 RMAG
032996,001180: 27,2765 65342 SR1 PDDL
032997,001181: 27,2766 03723 RTMAG
032998,001182: 27,2767 43342 SR1 DAD
032999,001183: 27,2770 45415 DAD STADR
033000,001184: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033001,001185: 27,2772 41225 DSU DMP
033002,001186: 27,2773 00037 30D
033003,001187: 27,2774 03721 MU/A
033004,001188: 27,2775 77621 BDSU
033005,001189: 27,2776 03717 MUASTEER
033006,001190: 27,2777 45325 PDDL DSU
033007,001191: 27,3000 03733 SS
033008,001192: 27,3001 03715 RMAG
033009,001193: 27,3002 70501 NORM SR1
033010,001194: 27,3003 00047 X1
033011,001195: 27,3004 41271 DDV DMP
033012,001196: 27,3005 03725 R1C
033013,001197: 27,3006 53664 XSU,2 SL*
033014,001198: 27,3007 00046 X1
033015,001199: 27,3010 57575 1,2
033016,001200: 27,3011 77754 LXA,2
033017,001201: 27,3012 03766 MUSCALE
033018,001202: 27,3013 75366 SQRT SIGN
033019,001203: 27,3014 02673 GEOMSGN
033020,001204: 27,3015 00041 STORE 32D # + OR - A
033021,001205: 27,3016 41345 DLOAD DMP
033022,001206: 27,3017 03733 SS
033023,001207: 27,3020 03721 MU/A
033024,001208: 27,3021 77621 BDSU
033025,001209: 27,3022 03717 MUASTEER
033026,001210: 27,3023 45325 PDDL DSU
033027,001211: 27,3024 03733 SS
033028,001212: 27,3025 03723 RTMAG
033029,001213: 27,3026 70501 NORM SR1
033030,001214: 27,3027 00047 X1
033031,001215: 27,3030 41271 DDV DMP
033032,001216:
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|
Page 778
|
033034,001218: 27,3031 03725 R1C
033035,001219: 27,3032 53664 XSU,2 SL*
033036,001220: 27,3033 00046 X1
033037,001221: 27,3034 57575 1,2
033038,001222: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033039,001223: 27,3036 03733 SS
033040,001224: 27,3037 56225 DSU DDV
033041,001225: 27,3040 00037 30D
033042,001226: 27,3041 03733 SS
033043,001227: 27,3042 41566 SQRT PUSH
033044,001228: 27,3043 67542 SR1 ASIN
033045,001229: 27,3044 65205 DMP PDDL
033046,001230: 27,3045 17216 2PI+3
033047,001231: 27,3046 56325 PDDL DDV
033048,001232: 27,3047 00037 30D
033049,001233: 27,3050 03733 SS
033050,001234: 27,3051 77600 BOV
033051,001235: 27,3052 57053 +1
033052,001236: 27,3053 41366 SQRT DMP
033053,001237: 27,3054 44242 SR3 BDSU
033054,001238: 27,3055 65365 SIGN PDDL
033055,001239: 27,3056 02673 GEOMSGN
033056,001240: 27,3057 17216 2PI+3
033057,001241: 27,3060 45302 SR2 DSU
033058,001242: 27,3061 65205 DMP PDDL
033059,001243: 27,3062 03733 SS
033060,001244: 27,3063 03733 SS
033061,001245: 27,3064 75442 SR3 SQRT
033062,001246: 27,3065 77605 DMP
033063,001247: 27,3066 52525 PDDL SL3
033064,001248: 27,3067 03717 MUASTEER
033065,001249: 27,3070 55366 SQRT BDDV
033066,001250: 27,3071 43225 DSU DAD
033067,001251: 27,3072 03631 TPASS4
033068,001252: 27,3073 01235 PIPTIME
033069,001253: 27,3074 14037 STODL 30D
033070,001254: 27,3075 77765 SIGN
033071,001255: 27,3076 00037 30D # B WITH SIGN
033072,001256: 27,3077 00037 STORE 30D
033073,001257: 27,3100 77214 BON VLOAD
033074,001258: 27,3101 03705 NORMSW
033075,001259: 27,3102 57123 180MESS
033076,001260: 27,3103 03656 IC
033077,001261: 27,3104 53451 VSU UNIT
033078,001262: 27,3105 03537 UNIT/R/
033079,001263: 27,3106 63361 VXSC PDVL
033080,001264: 27,3107 00037 30D
033081,001265: 27,3110 03656 IC
033082,001266: 27,3111 53455 VAD UNIT
033083,001267: 27,3112 03537 UNIT/R/
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|
Page 779
|
033085,001269: 27,3113 53361 GETVRVG1 VXSC VAD
033086,001270: 27,3114 00041 32D
033087,001271: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033088,001272: 27,3116 02777 RTX2
033089,001273: 27,3117 57177 0 -1,2
033090,001274: 27,3120 02337 STORE VIPRIME
033091,001275: 27,3121 77650 GOTO
033092,001276: 27,3122 57166 ASTREND -2
033093,001277: 27,3123 50375 180MESS VLOAD DOT
033094,001278: 27,3124 03656 IC
033095,001279: 27,3125 03537 UNIT/R/
033096,001280: 27,3126 77240 BMN VLOAD
033097,001281: 27,3127 57146 NEGPROD
033098,001282: 27,3130 03656 IC
033099,001283: 27,3131 63362 VSR1 PDVL
033100,001284: 27,3132 03537 UNIT/R/
033101,001285: 27,3133 53362 VSR1 VAD
033102,001286: 27,3134 77656 UNIT
033103,001287: 27,3135 57406 PUSH VCOMP # FOR A
033104,001288: 27,3136 75235 VXV SIGN
033105,001289: 27,3137 02674 UN
033106,001290: 27,3140 02673 GEOMSGN
033107,001291: 27,3141 74256 UNIT VXSC
033108,001292: 27,3142 00037 30D
033109,001293: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033110,001294: 27,3144 77650 GOTO
033111,001295: 27,3145 57113 GETVRVG1
033112,001296: 27,3146 74575 NEGPROD VLOAD VSR1
033113,001297: 27,3147 03537 UNIT/R/
033114,001298: 27,3150 74515 PDVL VSR1
033115,001299: 27,3151 03656 IC
033116,001300: 27,3152 53451 VSU UNIT
033117,001301: 27,3153 77606 PUSH
033118,001302: 27,3154 75235 VXV SIGN
033119,001303: 27,3155 02674 UN # FOR B
033120,001304: 27,3156 02673 GEOMSGN
033121,001305: 27,3157 74256 UNIT VXSC
033122,001306: 27,3160 00041 32D
033123,001307: 27,3161 77715 PDVL
033124,001308: 27,3162 53361 VXSC VAD
033125,001309: 27,3163 00037 30D
033126,001310: 27,3164 77650 GOTO
033127,001311: 27,3165 57115 GETVRVG2
033128,001312: 27,3166 77651 VSU
033129,001313: 27,3167 03553 VN1
033130,001314: 27,3170 02366 ASTREND STORE DELVEET3
033131,001315: 27,3171 53135 FIRSTTME SLOAD BZE
033132,001316: 27,3172 03000 RTX2
033133,001317: 27,3173 57177 GETGOBL
033134,001318: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780
|
033136,001320: 27,3175 02366 DELVEET3
033137,001321: 27,3176 57212 NOGOBL
033138,001322: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033139,001323: 27,3200 01221 RN
033140,001324: 27,3201 45345 DLOAD DSU
033141,001325: 27,3202 01235 PIPTIME # 2
033142,001326: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033143,001327: 27,3204 56205 DMP DDV # OBL
033144,001328: 27,3205 16023 EARTHMU
033145,001329: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033146,001330: 27,3207 53361 VXSC VAD
033147,001331: 27,3210 03521 UNITGOBL
033148,001332: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033149,001333: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033150,001334: 27,3213 77650 GOTO
033151,001335: 27,3214 56455 VGAIN*
033152,001336:
033153,001337: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033154,001338:
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Page 781
|
033156,001340: # TRIMGIMB (FORMERLY S40.6)
033157,001341: # MOD 0 24 FEB 67 PETER ADLER
033158,001342:
033159,001343: # FUNCTION:
033160,001344: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033161,001345: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033162,001346: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033163,001347:
033164,001348: # CALLING SEQUENCE:
033165,001349: # VIA WAITLIST FROM R03
033166,001350:
033167,001351: # INPUT:
033168,001352: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033169,001353: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033170,001354:
033171,001355: # SUBROUTINES USED:
033172,001356: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033173,001357:
033174,001358: 27,3217 COUNT* $$/S40.6
033175,001359: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033176,001360:
033177,001361: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033178,001362: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033179,001363:
033180,001364: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033181,001365: 27,3222 00006 EXTEND
033182,001366: 27,3223 03012 WAND CHAN12
033183,001367: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033184,001368: 27,3225 00006 EXTEND
033185,001369: 27,3226 05012 WOR CHAN12
033186,001370: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033187,001371: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033188,001372: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033189,001373: 27,3232 00006 EXTEND
033190,001374: 27,3233 03012 WAND CHAN12
033191,001375: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033192,001376: 27,3235 00006 EXTEND
033193,001377: 27,3236 05012 WOR CHAN12
033194,001378: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033195,001379: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033196,001380: 27,3241 03260 ADRES PITCHOFF
033197,001381:
033198,001382: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033199,001383: 27,3243 05224 TC VARDELAY # UNTIL THEN
033200,001384: 27,3244 44740 CS BIT12
033201,001385: 27,3245 00006 EXTEND
033202,001386: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033203,001387: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033204,001388: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033205,001389: 27,3251 00006 EXTEND
033206,001390: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033207,001391: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033208,001392: 27,3254 05072 TC NOVAC
033209,001393: 27,3255 E7,1471 EBANK= WHOCARES
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Page 782
|
033211,001395: 27,3255 02323 02067 2CADR TRIMDONE
033212,001396:
033213,001397: 27,3257 05261 TC TASKOVER
033214,001398: 27,3260 44742 PITCHOFF CS BIT10
033215,001399: 27,3261 00006 EXTEND
033216,001400: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033217,001401: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033218,001402: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033219,001403: 27,3265 00137 ADRES GMBDRVSW
033220,001404: 27,3266 05261 TC TASKOVER
033221,001405:
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Page 783
|
033223,001407: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033224,001408: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033225,001409:
033226,001410: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033227,001411:
033228,001412: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033229,001413: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033230,001414: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033231,001415: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033232,001416: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033233,001417: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033234,001418: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033235,001419: # CALLER WITH C(MPAC) = VELOCITY(LM).
033236,001420:
033237,001421: # CALLING SEQUENCE:
033238,001422: # L VLOAD CALL
033239,001423: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033240,001424: # L +2 S41.1
033241,001425: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033242,001426:
033243,001427: # SUBROUTINES CALLED:
033244,001428: # 1. CDUTRIG,
033245,001429: # WHICH CALLS CDULOGIC.
033246,001430: # 2. *SMNB*
033247,001431:
033248,001432: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033249,001433:
033250,001434: # ALARM/ABORT MODES: NONE.
033251,001435:
033252,001436: # RESTART PROTECTION: NONE.
033253,001437:
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Page 784
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033255,001439: # INPUT:
033256,001440: # 1. REFSMMAT.
033257,001441: # 2. CDUX, CDUY, CDUZ.
033258,001442: # 3. VELOCITY (REF) IN MPAC.
033259,001443:
033260,001444: # OUTPUT:
033261,001445: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033262,001446: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033263,001447: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033264,001448: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033265,001449:
033266,001450: # DEBRIS: NONE.
033267,001451:
033268,001452: # CHECKOUT STATUS: CODED.
033269,001453:
033270,001454: 27,3267 COUNT* $$/S41.1
033271,001455: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033272,001456: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033273,001457: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033274,001458: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033275,001459: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc