ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
033315,000002: ## Copyright: Public domain.
033316,000003: ## Filename: P61-P67.agc
033317,000004: ## Purpose: Part of the source code for Colossus, build 249.
033318,000005: ## It is part of the source code for the Command Module's (CM)
033319,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
033320,000007: ## Assembler: yaYUL
033321,000008: ## Reference: pp. 743-772.
033322,000009: ## Contact: Ron Burkey <info@sandroid.org>.
033323,000010: ## Website: www.ibiblio.org/apollo.
033324,000011: ## Mod history: 08/17/04 RSB. Began transcribing.
033325,000012: ## 2010-10-24 JL Indentation fixes.
033326,000013: ## 2010-10-24 JL Fixed a pseudo-label on p751.
033327,000014: ## 2010-10-25 JL Fixed page number.
033328,000015: ## 2011-05-07 JL Flagged SBANK= workarounds for future removal.
033329,000016: ## Fixed garbled lines.
033330,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
033331,000018: ## original harcopy, as opposed to the PDF page
033332,000019: ## numbers in 1701.pdf.
033333,000020: ## 2017-01-18 RSB Cross-diff'd comment text (not whitespace)
033334,000021: ## vs the already-proofed corresponding Colossus
033335,000022: ## 237 and Comanche 55 source-code files
033336,000023: ## and corrected errors found.
033337,000024: ## 2017-02-08 RSB Fixed comment-text errors noted while diff'ing
033338,000025: ## vs Artemis 72.
033339,000026: ##
033340,000027: ## The contents of the "Colossus249" files, in general, are transcribed
033341,000028: ## from a scanned copy of the program listing. Notations on this
033342,000029: ## document read, in part:
033343,000030: ##
033344,000031: ## Assemble revision 249 of AGC program Colossus by NASA
033345,000032: ## 2021111-041. October 28, 1968.
033346,000033: ##
033347,000034: ## This AGC program shall also be referred to as
033348,000035: ## Colossus 1A
033349,000036: ##
033350,000037: ## Prepared by
033351,000038: ## Massachusetts Institute of Technology
033352,000039: ## 75 Cambridge Parkway
033353,000040: ## Cambridge, Massachusetts
033354,000041: ## under NASA contract NAS 9-4065.
033355,000042: ##
033356,000043: ## Refer directly to the online document mentioned above for further information.
033357,000044: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
033358,000045: ##
033359,000046: ## In some cases, where the source code for Luminary 131 overlaps that of
033360,000047: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
033361,000048: ## source file, and then is proofed to incorporate any changes.
033362,000049:
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Page 743 |
033364,000051: # PROGRAM: P61
033365,000052: # MOD NO.: 0 MAR. 13, 1967
033366,000053: # MOD BY: R. HIRSCHKOP
033367,000054: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033368,000055: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
033369,000056: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 DELETE CMSM MANEUVER (PCR 50)
033370,000057: # FUNCTION: TO CALCULATE AND DISPLAY EMS INITIALIZATION DATA
033371,000058: # CALLING SEQUENCE- BY V37
033372,000059: # EXIT- TO P62
033373,000060: # SUBROUTINE CALLS- S61.1, S61.3, GOFLASH, FLAGUP, R02BOTH
033374,000061: # ERASABLE INITIALIZATION:
033375,000062: # EMSALT (-29) M .05G ALTITUDE ABOVE FISCHER ELLIPSOID PAD LOADED.
033376,000063: # ALFAPAD /180 HYPERSONIC CM TRIM ANGLE OF ATTACK PAD LOADED
033377,000064: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
033378,000065: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
033379,000066: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
033380,000067: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
033381,000068: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
033382,000069: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
033383,000070: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
033384,000071: # LAT(SPL) /360 TARGET LOCATION LEFT BY DSKY
033385,000072: # LNG(SPL) /360 TARGET LOCATION LEFT BY DSKY
033386,000073: # HEADSUP (0) +1 = LIFT DOWN, -1 = LIFT UP LEFT BY DSKY
033387,000074: # DEBRIS: SEE SUBROUTINES.
033388,000075:
033389,000076: 26,2217 BANK 26
033390,000077: 26,2000 SETLOC P60S
033391,000078: 26,2000 BANK
033392,000079:
033393,000080: 26,2217 E6,1661 EBANK= AOG
033394,000081:
033395,000082: 26,2217 COUNT* $$/P61
033396,000083:
033397,000084: 26,2217 34675 P61 CA BIT14 # EXTENDED VERB SHOULD BE FREE THIS CLOSE
033398,000085: 26,2220 55044 TS EXTVBACT # TO V37
033399,000086: # LOCK OUT EXTENDED VERBS SO CAN USE TFF
033400,000087: # ROUTINES. EXT VERB ERASE IS USED
033401,000088:
033402,000089: 26,2221 44712 CS ONE # REMOVE IF HEADSUP EVER ON UPLINK DATA
033403,000090: 26,2222 55726 TS HEADSUP # PRELOAD
033404,000091:
033405,000092: 26,2223 02543 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION
033406,000093: # RV 60GENRET. DOES PHASCHNG, GROUP 4.
033407,000094:
033408,000095: 26,2224 32424 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
033409,000096: # XXX.XX DEG XXX.XX DEG XXXXX.
033410,000097: 26,2225 04555 TC BANKCALL
033411,000098: 26,2226 20763 CADR GOFLASHR
033412,000099: 26,2227 04106 TC GOTOPOOH
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Page 744 |
033414,000101: 26,2230 02235 TC P61.4
033415,000102: 26,2231 02224 TC -5
033416,000103:
033417,000104: 26,2232 05301 P61.3 TC PHASCHNG
033418,000105: 26,2233 00014 OCT 00014
033419,000106:
033420,000107: 26,2234 05112 TC ENDOFJOB
033421,000108:
033422,000109: 26,2235 22007 P61.4 ZL
033423,000110: 26,2236 11726 CCS HEADSUP # C(HEADSUP)= +1/-1
033424,000111: 26,2237 34675 CA BIT14 # IF HEADSUP POS,ROLLC =180 DEG.(LIFT DWN)
033425,000112: 26,2240 12241 NOOP # IF HEADSUP NEG,ROLLC =0 (LIFT UP)
033426,000113: 26,2241 53716 DXCH ROLLC # ROLLC IS USED BY S62.3: GIM ANG AT .05G
033427,000114:
033428,000115: 26,2242 06006 TC INTPRET
033429,000116: 26,2243 77745 NEWRNVN DLOAD
033430,000117: 26,2244 01205 PIPTIME # SAVE TIME OF RN,VN TO DETERMINE IF AN
033431,000118: 26,2245 37651 STCALL MM # UPDATE HAS OCCURRED
033432,000119: 26,2246 52063 STARTEN1 # INITIALIZE
033433,000120: 26,2247 77775 VLOAD
033434,000121: 26,2250 01171 RN
033435,000122: 26,2251 02327 STORE RONE
033436,000123: 26,2252 77656 UNIT
033437,000124: 26,2253 26343 STOVL URONE
033438,000125: 26,2254 01177 VN
033439,000126: 26,2255 02335 STORE VONE
033440,000127: 26,2256 53435 VXV UNIT
033441,000128: 26,2257 02343 URONE
033442,000129: 26,2260 03502 STORE UNI
033443,000130: 26,2261 45345 DUMPP61 DLOAD DSU
033444,000131: 26,2262 03651 MM # INITIAL VALUE OF PIPTIME
033445,000132: 26,2263 01205 PIPTIME
033446,000133: 26,2264 45040 BMN CALRB
033447,000134: 26,2265 54243 NEWRNVN # UPDATED... GO TRY AGAIN
033448,000135: 26,2266 54650 S61.2 # GET DISPLAY DATA FOR N60 AND N63
033449,000136: # AND RETURN IN BASIC, BELOW.
033450,000137: 26,2267 05425 P61.1 TC CLEARMRK
033451,000138: 26,2270 32423 CA V06N60 # GMAX VPRED GAMMAEI
033452,000139: # XXX.XX G XXXXX. FPS XXX.XX DEG
033453,000140: 26,2271 04555 TC BANKCALL
033454,000141: 26,2272 20624 CADR GOFLASH
033455,000142:
033456,000143: 26,2273 04106 TC GOTOPOOH
033457,000144: 26,2274 02276 TC P61.2 # PROCEED
033458,000145: 26,2275 02270 TC -5
033459,000146:
033460,000147: 26,2276 06006 P61.2 TC INTPRET # CORRECT TTE FOR TIME LAPSE DURING
033461,000148: # ABOVE DISPLAY.
033462,000149: 26,2277 45234 RTB DSU
033463,000150: 26,2300 45505 LOADTIME # CURRENT TIME.
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033465,000152: 26,2301 03651 MM # PIPTIME FOR RONE & VONE.
033466,000153: 26,2302 77615 DAD
033467,000154: 26,2303 03733 TTE1 # NEGATIVE OF FREE FALL TIME.
033468,000155: 26,2304 03727 STORE TTE # DECREMENTED
033469,000156:
033470,000157: 26,2305 77776 EXIT
033471,000158:
033472,000159: 26,2306 32425 CA V06N63 # RTGO VIO TTE
033473,000160: # XXXX.X NM XXXXX. FPS XXBXX M,S
033474,000161: 26,2307 04555 TC BANKCALL
033475,000162: 26,2310 20624 CADR GOFLASH
033476,000163: 26,2311 04106 TC GOTOPOOH
033477,000164: 26,2312 02314 TC +2
033478,000165: 26,2313 02276 TC P61.2 # REDO
033479,000166:
033480,000167: # .... THEN FALL INTO P62
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033482,000169:
033483,000170: # PROGRAM- P62
033484,000171: # MOD NO.- 0 MAR. 13, 1967
033485,000172: # MOD BY- R. HIRSCHKOP
033486,000173: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67
033487,000174: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033488,000175: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
033489,000176: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 MOVE START OF DESIRED GIMBAL CALC.
033490,000177: # FUNCTION- 1) TO NOTIFY CREW WHEN GNC SYSTEM IS PREPARED FOR CM/SM SEPARATION
033491,000178: # 2) TO ORIENT THE CM TO THE CORRECT ATTITUDE FOR ATMOSPHERIC ENTRY
033492,000179: # CALLING SEQUENCE- BY V37 OR DIRECTLY FROM P61
033493,000180: # EXIT- TO P63
033494,000181: # ERASABLE INITIALIZATION:
033495,000182: # ALFAPAD LEFT BY PAD LOAD
033496,000183: # LADPAD LEFT BY PAD LOAD
033497,000184: # LODPAD LEFT BY PAD LOAD
033498,000185: # LAT(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033499,000186: # LNG(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033500,000187: # HEADSUP (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033501,000188: # SUBROUTINE CALLS: NEWMODEX, S61.1, CM/DAPIC, CM/DAPON, R02BOTH, GOPERF1, GOFLASH, GODSPR
033502,000189:
033503,000190: 26,2314 COUNT* $$/P62
033504,000191:
033505,000192: 26,2314 05243 TC NEWMODEX # MODE CHANGE IF CAME FROM P61.
033506,000193: 26,2315 00076 MM 62 B-14 # MODE CHANGE AUTOMATIC VIA V 37.
033507,000194: 26,2316 34712 CA ONE
033508,000195: 26,2317 54332 TS DNLSTCOD
033509,000196:
033510,000197: 26,2320 02543 P62 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION.
033511,000198:
033512,000199: 26,2321 06006 TC INTPRET
033513,000200: 26,2322 47131 SSP RTB
033514,000201: 26,2323 03325 POSEXIT
033515,000202: 26,2324 54402 P62.3 # CALCULATE DESIRED .05G GIMBAL ANGLES,
033516,000203: # WITHOUT DISPLAY.
033517,000204: 26,2325 41645 CM/DAPIC # START CM/POSE AND BODY RATE CALC
033518,000205:
033519,000206: # DOES 2PHSCHNG, OCT 40116, OCT 05024, OCT 13000.
033520,000207: # CM/DAPIC SETS EBANK = EBAOG
033521,000208: # AND RETURNS IN BASIC TO P62.2.
033522,000209: 26,2326 00006 P62.2 EXTEND
033523,000210: 26,2327 32431 DCA POSECADR # CONTINUE WITH CM/POSE AFTER AV G.
033524,000211: 26,2330 53223 DXCH AVEGEXIT
033525,000212:
033526,000213: 26,2331 34270 CAF OCT41 # REQUEST SEPARATION
033527,000214: 26,2332 04555 TC BANKCALL
033528,000215: 26,2333 21031 CADR GOPERF1R
033529,000216: 26,2334 04106 TC GOTOPOOH
033530,000217: 26,2335 02340 TC +3 # PROCEED
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033532,000219: # NOTE: NODOFLAG WILL BE SET IN CM/DAPON. <<<
033533,000220: 26,2336 02331 TC -5 # ENTER
033534,000221: 26,2337 02232 TC P61.3 # FOR PHASCHNG AND ENDOFJOB.
033535,000222:
033536,000223: 26,2340 04574 +3 TC POSTJUMP
033537,000224: 26,2341 41565 CADR CM/DAPON # DISABLE RCS DAP, ENABLE ENTRY DAP AND
033538,000225: # DO ATTITUDE HOLD.
033539,000226:
033540,000227: # WILL IDLE UNTIL CM/POSE DOES ONE UPDATE.
033541,000228: # CM/DAPON DOES NO PHASCHNG.
033542,000229:
033543,000230: 26,2342 32424 P62.1 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
033544,000231: # XXX.XX DEG XXX.XX DEG 0000X.
033545,000232:
033546,000233: # TERMINATE ATTITUDE HOLD. SET UP COMMANDS:
033547,000234: # ROLLC, ALFACOM, BETACOM. BEGIN MANUVER TO
033548,000235: # ENTRY ATTITUDE.
033549,000236:
033550,000237: 26,2343 04555 TC BANKCALL
033551,000238: 26,2344 20624 CADR GOFLASH
033552,000239: 26,2345 02342 TC -3
033553,000240: 26,2346 02350 TC +2
033554,000241: 26,2347 02342 TC -5
033555,000242:
033556,000243: 26,2350 05301 TC PHASCHNG
033557,000244: 26,2351 04024 OCT 04024 # USE ENTRYVN FOR DISPLAY BELOW.
033558,000245: # EBANK WAS SET IN CM/DAPON TO EBAOG
033559,000246:
033560,000247: 26,2352 11726 CCS HEADSUP # C(HEADSUP) = +/- 1
033561,000248: 26,2353 34675 CA BIT14 # IF HEADSUP POS, ROLLC=180 DEG (LIFT DWN)
033562,000249: 26,2354 12355 NOOP # IF HEADSUP NEG, ROLLC=0 DEG (LIFT UP)
033563,000250: 26,2355 55715 TS ROLLC
033564,000251: 26,2356 31411 CA ALFAPAD # NOMINAL ALFATRIM PAD LOADED, NEG. NO.
033565,000252: 26,2357 22007 ZL
033566,000253: 26,2360 53604 DXCH ALFACOM # SET ALFACOM = ALFA TRIM, BETACOM=0
033567,000254:
033568,000255: 26,2361 34712 CA ONE # PERMITS EXDAP2 TO CHANGE FLAG TO +0
033569,000256: 26,2362 55727 TS P63FLAG # AS INDICATOR. STARTS UP P63.
033570,000257:
033571,000258: 26,2363 34745 CA V06N22 # SET UP DISPLAY FOR CDU DESIRED VALUES
033572,000259: 26,2364 55263 TS ENTRYVN # FROM ENTRY ATTITUDE CALC, THAT IS
033573,000260: # ALREADY GOING.
033574,000261: 26,2365 05435 TC UPFLAG # TURN ON ENTRY DISPLAY
033575,000262: 26,2366 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033576,000263: # SKIP
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Page 748 |
033578,000265: 26,2367 41700 CS CMDAPMOD # GO DIRECTLY TO P63 IF BODY ATTITUDE
033579,000266: 26,2370 74712 MASK ONE # IS SUCH THAT THE DELAY TASK: WAKEP62
033580,000267: 26,2371 00006 EXTEND # WILL BE OMITTED.
033581,000268: 26,2372 12420 BZF P63.1 # DISABLE GRP 4, GO TO ENDOFJOB.
033582,000269: # (IE, CONTINUE IF CMDAPMOD = -1, OR +0)
033583,000270: 26,2373 02406 TC P63
033584,000271:
033585,000272: # PUT JOB TO SLEEP UNTIL VEHICLE MANUVER HAS
033586,000273: # REDUCED ALFA TO +/-45 DEG. CONSIDER REMAINING
033587,000274: # 65 DEG (25 DEG IF ALFA NEG) TO ALFA TRIM TO
033588,000275: # OCCUR AT 3 DEG/SEC, AND TERMINATE P62 AT THAT
033589,000276: # TIME.
033590,000277:
033591,000278: # TASK WAKEP62 IS CALLED FROM ENTRY DAP.
033592,000279: 26,2374 34760 WAKEP62 CA PRIO13
033593,000280: 26,2375 05027 TC NOVAC
033594,000281: 26,2376 E6,1661 EBANK= AOG
033595,000282: 26,2376 02406 54066 2CADR P63
033596,000283:
033597,000284: 26,2400 05213 TC TASKOVER
033598,000285:
033599,000286: 26,2401 54402 P62.3CAD CADR P62.3
033600,000287:
033601,000288: # EACH 2 SEC, CALCULATE GIMBAL ANGLES FOR ENTRY CON-
033602,000289: # DITIONS THAT WILL HOLD IF REORIENTATION WERE MADE
033603,000290: # AT PRESENT RN, VN. COME HERE FROM CM/POSE AND ALSO
033604,000291: # IN KEPLER PHASE OF ENTRY.
033605,000292:
033606,000293: 26,2402 52131 P62.3 SSP GOTO # SET RETURN ADDRESS SO THAT ROUTINE
033607,000294: 26,2403 00053 QPRET # GOES DIRECTLY TO ENTRY GUIDANCE EXIT
033608,000295: 26,2404 53570 ENDEXIT # THAT DOES ENTRY DISPLAY, GRP 5.
033609,000296: 26,2405 20302 S62.3 # PUT DESIRED CDU VALUES IN CPHI'S FOR
033610,000297: # N22 DISPLAY.
033611,000298:
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Page 749 |
033613,000300: # P63
033614,000301: # PROGRAM- P63
033615,000302: # MOD NO.- 0 MAR. 13, 1967
033616,000303: # MOD BY- R. HIRSCHKOP
033617,000304: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JIN 67 RESTARTS.
033618,000305: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 JUL 67 REVISED RESTARTS
033619,000306: # FUNCTION- 1) TO INITIALIZE THE ENTRY EQUATIONS
033620,000307: # 2) TO CONTINUE TO HOLD THE CM TO THE CORRECT ATTITUDE WITH RESPECT TO THE ATMOSPHERE FOR
033621,000308: # THE ONSET OF ENTRY DECELERATION. ROLL ANGLE IS LIFT UP/DOWN AS SPECIFIED BY HEADSUP.
033622,000309: # 3) TO SENSE .05 G
033623,000310: # CALLING SEQUENCE- DIRECTLY FROM P62
033624,000311: # EXIT- TO ENDOFJOB
033625,000312: # SUBROUTINE CALLS- NEWMODEX, GODSPR
033626,000313:
033627,000314: 26,2406 COUNT* $$/P63
033628,000315:
033629,000316: 26,2406 05243 P63 TC NEWMODEX
033630,000317: 26,2407 00077 MM 63 B-14
033631,000318:
033632,000319: 26,2410 04555 TC BANKCALL # FLUSH N22 DISPLAY, IF ON. (ONIT DISP
033633,000320: 26,2411 20607 CADR CLEANDSP # DURING STARTENT PASS.)
033634,000321:
033635,000322: # ARRIVE WITH EBANK = AOG.
033636,000323:
033637,000324: 26,2412 32427 CA ENTCADR # CONTINUE AT STARTENT AFTER CM/POSE.
033638,000325:
033639,000326: # AT END OF STARTENT, CHANGE ADDRESS IN GOTOADDR
033640,000327: # TO CONTINUE AT SCALEPOP THEREAFTER.
033641,000328:
033642,000329: 26,2413 55724 TS POSEXIT
033643,000330:
033644,000331: 26,2414 32426 CA V06N64 # G VI R TO SPLSH
033645,000332: # XXX.XX G XXXXX. FPS XXXX.X NM
033646,000333: 26,2415 55263 TS ENTRYVN # FOR DISPLAY CALL IN OVERNOUT.
033647,000334:
033648,000335: 26,2416 44712 CS ONE # IN CASE FLAG IS LEFT AT +1 BY DAP. THE
033649,000336: 26,2417 55727 TS P63FLAG # -1 ASSURES THAT EXO-ATM DAP WILL NOT
033650,000337: # CALL P63 OUT OF SEQUENCE IN P66.
033651,000338:
033652,000339: 26,2420 05301 P63.1 TC PHASCHNG
033653,000340: 26,2421 00004 OCT 00004 # DISABLE. DISPLAY RESTARTED VIA ENTRY.
033654,000341:
033655,000342: 26,2422 05112 TC ENDOFJOB
033656,000343:
033657,000344: 26,2423 01474 V06N60 VN 0660
033658,000345: 26,2424 01475 V06N61 VN 0661
033659,000346: 26,2425 01477 V06N63 VN 0663
033660,000347: 26,2426 01500 V06N64 VN 0664
033661,000348: 26,2427 52000 ENTCADR CADR STARTENT
033662,000349:
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Page 750 |
033664,000351: 26,2430 E7,1451 EBANK= RTINIT # TO CARY OVER INTO ENTRY STEERING.
033665,000352: 26,2430 03373 76067 POSECADR 2CADR CM/POSE
033666,000353:
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Page 751 |
033668,000355: # PROGRAM- P64
033669,000356: # MOD NO.- 1 SEPT. 19, 1967
033670,000357: # MOD BY- R. HIRSCHKOP
033671,000358: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 REVISED COMMENTS FOR COLOSSUS
033672,000359: # FUNCTION- 1. TO START ENTRY GUIDANCE AT .05G SELECTING ROLL ATTITUDE, CONSTANT DRAG LEVEL, AND
033673,000360: # DRAG THRESHOLD, KA, WHICH ARE KEYED TO THE .05G POINT.
033674,000361: # 2. SELECT FINAL PHASE P67 IF V < 27000 FPS WHEN .2G OCCURS.
033675,000362: # 3. ITERATE FOR UP-CONTROL SOLUTION P65 IF V > 27000 FPS AND IF ALTITUDE RATE AND DRAG
033676,000363: # LEVEL CONDITIONS ARE SATISFIED. ENTER P65 WHEN CONSTANT DRAG CONTROLLER HAS BROUGHT RANGE
033677,000364: # AS PREDICTED TO WITHIN 25 NM OF DESIRED RANGE.
033678,000365: # 4. SELECT FINAL PHASE P67 IF NO UP-CONTROL SOLUTION EXISTS WITH VL > 18000 FPS.
033679,000366: # CALLING SEQUENCE- BY RTB FROM REENTRY CONTROL
033680,000367: # EXIT- BACK TO REENTRY CONTROL
033681,000368: # SUBROUTINE CALLS- NEWMODEX
033682,000369:
033683,000370: 25,2000 BANK 25
033684,000371: 26,2000 SETLOC P60S1
033685,000372: 26,2000 BANK
033686,000373:
033687,000374: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
033688,000375: 26,2432 COUNT* $$/P64
033689,000376:
033690,000377: 26,2432 05243 P64 TC NEWMODEX # ENTER VIA RTB WHEN .05G IS EXCEEDED.
033691,000378: 26,2433 00100 MM 64 B-14
033692,000379: 26,2434 32437 CA V06N68 # ROLLC VI HDOT
033693,000380: # XXX.XX DEG XXXXX. FPS XXXXX. FPS
033694,000381: 26,2435 55263 TS ENTRYVN # DISPLAY VIA OVERNOUT.
033695,000382:
033696,000383: 26,2436 06030 TC DANZIG # ... AND CONTINUE IN INITROLL ...
033697,000384: 26,2437 01504 V06N68 VN 0668
033698,000385:
|
|
Page 752 |
033700,000387: # PROGRAM: P65
033701,000388: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITION.
033702,000389: # FUNCTION: TO CONTINUE ENTRY GUIDANCE, USING THE UP-CONTROL PHASE TO STEER TO A CONTROLLED EXIT
033703,000390: # CONDITION. THIS PHASE TERMINATES A) IF D < Q7 FPSS, GO TO P66 ,
033704,000391: # B) IF RDOT NEG, AND IF V < VL +500 FPS, GO TO P67.
033705,000392: # CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL
033706,000393: # EXIT: BACK TO REENTRY CONTROL, OR TO ENDOFJOB.
033707,000394: # SUBROUTINE CALLS: NEWMODEX
033708,000395:
033709,000396: 26,2440 COUNT* $$/P65
033710,000397:
033711,000398: 26,2440 05243 P65 TC NEWMODEX # ENTER VIA RTB WHEN RANGE < 25 N M OF
033712,000399: 26,2441 00101 MM 65 B-14 # TARGET.
033713,000400:
033714,000401: 26,2442 34760 CA PRIO13
033715,000402: 26,2443 05027 TC NOVAC
033716,000403: 26,2444 1263 EBANK= ENTRYVN
033717,000404: 26,2444 02456 54062 2CADR P65.1
033718,000405:
033719,000406: 26,2446 05261 TC 2PHSCHNG # 2 PHASE CHG REQUIRED TO PREVENT RE-
033720,000407: 26,2447 00554 OCT 00554 # STARTING FLASHING DISPLAY TWICE.
033721,000408: 26,2450 10035 OCT 10035 # 4.55 SPOT AND SERVICER, HERE.
033722,000409: 26,2451 06006 TC INTPRET
033723,000410: 26,2452 47131 SSP RTB
033724,000411: 26,2453 03646 GOTOADDR # CHANGE ENTRY MODE TO UPCONTRL.
033725,000412: 26,2454 53027 UPCONTRL
033726,000413: 26,2455 52120 REFAZE10 # GO HERE TO REESTABLISH ENTRY SEQUENCER.
033727,000414: # AND CONTINUE AT UPCONTRL...
033728,000415:
033729,000416: 26,2456 05447 P65.1 TC DOWNFLAG
033730,000417: 26,2457 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033731,000418:
033732,000419: 26,2460 32472 CA V16N69 # ROLLC DL (Q7) VL
033733,000420: 26,2461 04555 TC BANKCALL # XXX.XX DEG XXX.XX G XXXXX. FPS
033734,000421: 26,2462 20763 CADR GOFLASHR
033735,000422: 26,2463 02460 TC -3 # NODOFLAG IS SET ..
033736,000423: 26,2464 02467 TC +3
033737,000424: 26,2465 02460 TC -5
033738,000425: 26,2466 02232 TC P61.3 # EST. GRP 4 FOR DSPLAY AND DO ENDOFJOB
033739,000426: # IF PROCEED, CONTINUE.
033740,000427: 26,2467 05435 TC UPFLAG
033741,000428: 26,2470 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033742,000429:
033743,000430: 26,2471 02420 TC P63.1 # DISABLE GRP 4, START UP ENTRY DISPLAY
033744,000431: # N06V68 VIA OVERNOUT, AS USED IN P64.
033745,000432: 26,2472 04105 V16N69 VN 1669
033746,000433:
|
|
Page 753 |
033748,000435: # PROGRAM: P66
033749,000436: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITIONS.
033750,000437: # FUNCTION: KEEP CM ATTITUDE IN TRIM TO THE RELATIVE VELOCITY VECTOR. ENTRY GUIDANCE STOPS GENERATING
033751,000438: # ROLL COMMANDS UNTIL DRAG BUILDS UP TO Q7+0.5 FPSS.
033752,000439: # CALLING SEQUENCE: VIA RTB FROM REENTRY CONTROL.
033753,000440: # EXIT: BACK TO REENTRY CONTROL.
033754,000441: # SUBROUTINE CALLS: NEWMODEX
033755,000442:
033756,000443: 26,2473 COUNT* $$/P66
033757,000444:
033758,000445: 26,2473 05243 P66 TC NEWMODEX # ENTER VIA RTB WHEN D < Q7 FPSS
033759,000446: 26,2474 00102 MM 66 B-14
033760,000447:
033761,000448: 26,2475 34745 CA V06N22 # OGA IGA MGA
033762,000449: # XXX.XX DEG XXX.XX DEG XXX.XX DEG
033763,000450: 26,2476 02502 TC P66END # IN CASE CAME FROM P65, GO DISABLE GRP 4,
033764,000451: # AND SET ENTRYDSP TO DO DISPLAY VIA
033765,000452: # OVERNOUT.
033766,000453:
033767,000454: # ... AND CONTINUE AT KEP2
033768,000455:
|
|
Page 754 |
033770,000457: # P67
033771,000458:
033772,000459: # PROGRAM- P67
033773,000460: # MOD NO.- 0 MAR. 16, 1967
033774,000461: # MOD BY- R. HIRSCHKOP
033775,000462: # FUNCTION- TO TERMINATE STEERING WHEN THE CM VELOCITY WRT EARTH = 1000 FT/SEC
033776,000463: # CALLING SEQUENCE-
033777,000464: # EXIT- TO POOH
033778,000465: # SUBROUTINE CALLS- GOFLASH
033779,000466:
033780,000467: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
033781,000468:
033782,000469: 26,2477 COUNT* $$/P67
033783,000470:
033784,000471: 26,2477 05243 P67 TC NEWMODEX # ENTER VIA RTB
033785,000472: 26,2500 00103 MM 67 B-14
033786,000473: 26,2501 32510 CA V06N66 # ROLLC XRNGERR DNRNGERR
033787,000474: # XXX.XX DEG XXXX.X NM XXXX.X NM
033788,000475: 26,2502 55263 P66END TS ENTRYVN # DISPLAY VIA OVERNOUT.
033789,000476:
033790,000477: 26,2503 05435 TC UPFLAG # (IN CASE CAME FROM P65. ENTRY DISPLAY
033791,000478: 26,2504 00134 ADRES ENTRYDSP # WILL FLUSH FLASHING DISP. IF STILL ON)
033792,000479: # BIT 13 FLAG 6
033793,000480: 26,2505 05301 KILLGRP4 TC PHASCHNG # DISABLE GRP4, IN CASE CAME FROM HUNTEST.
033794,000481: 26,2506 00004 OCT 00004 # (COME TO KILLGRP4 VIA RTB, RET TO CALLER)
033795,000482:
033796,000483: 26,2507 06030 TC DANZIG # ... AND CONTINUE AT PREDICT3 ...
033797,000484:
033798,000485: 26,2510 01502 V06N66 VN 0666
033799,000486:
033800,000487: 26,2511 BANK 26
033801,000488: 26,2000 SETLOC P60S2
033802,000489: 26,2000 BANK
033803,000490:
033804,000491: 26,2511 32542 P67.1 CA V16N67 # RTOGO LAT LONG
033805,000492: # XXXX.X NM XXX.XX DEG XXX.XX DEG
033806,000493: 26,2512 04555 TC BANKCALL
033807,000494: 26,2513 20624 CADR GOFLASH
033808,000495: 26,2514 02517 TC +3 # EFFECTIVE GOTOPOOH
033809,000496: 26,2515 02517 TC +2
033810,000497: 26,2516 02511 TC P67.1 # REDO
033811,000498:
033812,000499: 26,2517 46214 CS THREE # TURN OFF ENTRY DAP
033813,000500: 26,2520 00004 INHINT
033814,000501: 26,2521 70102 MASK CM/FLAGS # CM/DSTBY, GAMDIFSW
033815,000502: 26,2522 54102 TS CM/FLAGS
033816,000503: 26,2523 00003 RELINT
033817,000504: 26,2524 00006 EXTEND
033818,000505: 26,2525 32642 DCA SERVCAD2
033819,000506:
|
|
Page 755 |
033821,000508: 26,2526 53223 DXCH AVEGEXIT
033822,000509: 26,2527 14106 TCF GOTOPOOH
033823,000510:
|
|
Page 756 |
033825,000512: 26,2530 43175 P67.2 VLOAD CLEAR # CALC PRESENT LAT, LONG, ALT.
033826,000513: 26,2531 01171 RN
033827,000514: 26,2532 00662 ERADFLAG # USE PAD RAD FOR ALT. (NOT SEEN ANYWAY)
033828,000515: 26,2533 16152 STODL ALPHAV
033829,000516: 26,2534 01205 PIPTIME # USE TIME OF RN
033830,000517: 26,2535 45014 CLEAR CALL
033831,000518: 26,2536 01663 LUNAFLAG
033832,000519: 26,2537 26322 LAT-LONG
033833,000520: 26,2540 77634 P67.3 RTB # ENTRY EXIT THAT OMITS DISPLAY.
033834,000521: 26,2541 53603 SERVNOUT
033835,000522:
033836,000523: 26,2542 04103 V16N67 VN 1667
033837,000524: 26,2543 4270 OCT41 = 33DEC
033838,000525: 26,2543 26,2641 SERVCAD2 = SERVCAD1
033839,000526:
|
|
Page 757 |
033841,000528: # SUBROUTINE NAME: S61.1
033842,000529: # MOD NO: 0 DATE: 21 FEB 67
033843,000530: # MOD BY: RR BAIRNSFATHER LOG SECTION: P61-P67
033844,000531: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033845,000532:
033846,000533: # FUNCTIONAL DESCRIPTION: CALLED BY BOTH P61 AND P62
033847,000534: # FIRST, TEST TO SEE IF AVERAGEG IS ON. IF NOT, UPDATE THE STATE VECTOR TO PRESENT TIME + TOLERANCE
033848,000535: # AND TURN ON AVERAGEG AT THAT TIME, AND CONTINUE. OTHERWISE CONTINUE: SEE IF IMU Y AXIS IS
033849,000536: # WITHIN 30 DEG OF V*R. IF YES, EXIT SUBROUTINE S61.1. IF NO, SEE IF -Y AXIS OF IMU IS WITHIN
033850,000537: # 30 DEG OF V*R. IF YES, DISPLAY ALARM: 01427 IMU REVERSED.
033851,000538: # IF NO, DISPLAY ALARM: 01426 IMU UNSATISFACTORY.
033852,000539: # IN EITHER OF THESE LAST 2 CASES, WAIT 10 SEC AND THEN EXIT SUBROUTINE S61.1.
033853,000540:
033854,000541: # REMARK: THERE WILL BE A SHORT 10 SEC DELAY IF AN ALARM EXIT IS TAKEN. THE DELAY FOR INTEGRATION IS
033855,000542: # AS SHORT AS CAN BE MADE, BUT IS ARBITRARY SINCE IT DEPENDS ON THE AGE OF THE STATE VECTOR.
033856,000543:
033857,000544: # CALLING SEQUENCE: CALL
033858,000545: # S61.1
033859,000546:
033860,000547: # C(MPAC) UNSPECIFIED
033861,000548: # PUSHLOC UNSPECIFIED
033862,000549:
033863,000550: # SUBROUTINES CALLED: LOADTIME, CSMPREC, TPAGREE,
033864,000551: # WAITLIST, JOBSLEEP, JOBWAKE, PREREAD, ALARM, GODSPR, BANKCALL, DELAYJOB
033865,000552:
033866,000553: # NORMAL EXIT MODES: RVQ
033867,000554:
033868,000555: # ALARMS: 01426 IMU UNSATISFACTORY
033869,000556: # 01427 IMU REVERSED
033870,000557:
033871,000558: # OUTPUT: POSSIBLE ALARMS
033872,000559: # POSSIBLY TDEC1, RATT, VATT, RN, VN
033873,000560:
033874,000561: # ERASABLE INITIALIZATION REQUIRED:
033875,000562: # AVEGFLAG AVERAGEG ON OR OFF LEFT BY SERVICER
033876,000563: # PIPTIME (-28) CS TIME OF PIPA UPDATE LEFT BY READACCS
033877,000564: # RN (-29) M STATE VECTOR LEFT BY AVERAGEG
033878,000565: # VN (-7) M/CS STATE VECTOR LEFT BY AVERAGEG
033879,000566: # REFSMMAT (-1) .5 REF TO SM MATRIX LEFT BY LAST IMU ALIGNMENT
033880,000567:
033881,000568: # DEBRIS: QPRET
033882,000569: # POSSIBLY PIPTIME1, RATT, VATT, TDEC1, RN1, VN1, QTEMP, X1 IF UPDATED
033883,000570: # PUSH LIST LOCS USED BY CSMPREC
033884,000571:
033885,000572: 26,2543 E6,1661 EBANK= AOG # FOR 60GENRET, S61DT
033886,000573: 26,2543 BANK 26
033887,000574: 26,2000 SETLOC P60S3
033888,000575: 26,2000 BANK
033889,000576:
033890,000577: 26,2543 COUNT* $$/S61.1
033891,000578:
033892,000579: 26,2543 00006 S61.1 EXTEND
033893,000580: 26,2544 23773 QXCH 60GENRET # SAVE RET ADDR IN EB 6
033894,000581: 26,2545 04555 TC BANKCALL
033895,000582: 26,2546 17573 CADR R02BOTH
033896,000583: 26,2547 06006 TC INTPRET
|
|
Page 758 |
033898,000585: 26,2550 45014 BON CALRB
033899,000586: 26,2551 00716 AVEGFLAG # IS AVERAGEG ON
033900,000587: 26,2552 54603 S61.1A # YES
033901,000588: 26,2553 27573 MIDTOAV2 # GET FUTURE STATE VECTOR SOON AS CAN
033902,000589:
033903,000590: 26,2554 30155 CA MPAC +1 # RETURN INHINTED ***
033904,000591: 26,2555 55774 TS S61DT # FOR RESTART.
033905,000592: 26,2556 05140 TC WAITLIST
033906,000593: 26,2557 E7,1431 EBANK= DVCNTR
033907,000594: 26,2557 02564 54067 2CADR S61.1C
033908,000595:
033909,000596: 26,2561 05301 TC PHASCHNG
033910,000597: 26,2562 40434 OCT 40434
033911,000598: 26,2563 05112 TC ENDOFJOB
033912,000599:
033913,000600: 26,2564 34760 S61.1C CA PRIO13
033914,000601: 26,2565 05042 TC FINDVAC
033915,000602: 26,2566 E6,1661 EBANK= AOG
033916,000603: 26,2566 02602 54066 2CADR S61.1A -1
033917,000604:
033918,000605: 26,2570 00006 EXTEND
033919,000606: 26,2571 32642 DCA SERVCAD1 # HE WHO STARTS AVERAGEG MUST SERVICE
033920,000607: 26,2572 53223 DXCH AVEGEXIT # THE EXIT.
033921,000608:
033922,000609: 26,2573 05261 TC 2PHSCHNG
033923,000610: 26,2574 00454 OCT 00454
033924,000611: 26,2575 00415 OCT 00415
033925,000612:
033926,000613: 26,2576 34753 CA EBENTRY # SET EB= 7 FOR PREREAD.
033927,000614: 26,2577 54003 TS EBANK
033928,000615:
033929,000616: 26,2600 04574 TC POSTJUMP
033930,000617: 26,2601 76604 CADR PREREAD # PREREAD DOES TC TASKOVER.
033931,000618:
033932,000619: 26,2602 06006 TC INTPRET
033933,000620: 26,2603 77204 S61.1A BOVB VLOAD
033934,000621: 26,2604 57343 TCDANZIG # TURN OFF OVFIND, IF ON
033935,000622: 26,2605 01177 VN # VN (-7) M/CS
033936,000623: 26,2606 64235 VXV MXV
033937,000624: 26,2607 01171 RN # RN (-29) M
033938,000625: 26,2610 01736 REFSMMAT # .5 UNIT MATRIX
033939,000626: 26,2611 71256 UNIT DLOAD
033940,000627: 26,2612 00160 MPAC +3 # GET COS(THETA)/2
033941,000628: 26,2613 43240 BMN DAD
033942,000629: 26,2614 54621 S61.1B # DO TEST ON -YSM
033943,000630: 26,2615 14644 C(30)LIM # = 1.0 -.5 COS(30)
033944,000631: 26,2616 47004 BOVB RTB
033945,000632: 26,2617 54640 RETRN1
033946,000633: 26,2620 54625 RETRN3
|
|
Page 759 |
033948,000635: 26,2621 43276 S61.1B DCOMP DAD
033949,000636: 26,2622 14644 C(30)LIM # = 1.0 - .5 COS(30)
033950,000637: 26,2623 77404 BOVB EXIT
033951,000638: 26,2624 54630 RETRN2
033952,000639:
033953,000640: 26,2625 05537 RETRN3 TC ALARM
033954,000641: 26,2626 01426 OCT 01426 # IMU UNSATISFACTORY
033955,000642: 26,2627 02632 TC RETRN2 +2
033956,000643:
033957,000644: 26,2630 05537 RETRN2 TC ALARM
033958,000645: 26,2631 01427 OCT 01427 # IMU REVERSED
033959,000646:
033960,000647: 26,2632 34743 +2 CAF V05N09
033961,000648: 26,2633 04555 TC BANKCALL
033962,000649: 26,2634 20602 CADR GODSPR # DO DISPLAY
033963,000650: 26,2635 32645 CA 10SECS
033964,000651: 26,2636 04555 TC BANKCALL
033965,000652: 26,2637 01732 CADR DELAYJOB
033966,000653:
033967,000654: 26,2640 01773 RETRN1 TC 60GENRET
033968,000655:
033969,000656: 26,2641 E7,1431 EBANK= DVCNTR
033970,000657: 26,2641 03132 76067 SERVCAD1 2CADR SERVEXIT
033971,000658: 26,2643 22111 17335 C(30)LIM 2DEC .566985 # = 1.0 - .5 COS(30)
033972,000659: 26,2645 01750 10SECS DEC 1000 B-14 # 1000 CS
033973,000660: 26,2646 00000 13560 60SECDP 2DEC 6000 B-28 # 6000 CS
033974,000661:
|
|
Page 760 |
033976,000663: # PROGRAM NAME: S61.2 DATE: 14 FEB 67
033977,000664: # MOD NO: 1 LOG SECTION: P61-P67
033978,000665: # MOD BY: MORTH / BAIRNSFATHER
033979,000666: # MOD NO: 2 MOD BY: MORTH/BAIRNSFATHER DATE: 11 MAY 67 ADD 2ND ITER FOR ERAD AT 400K FT.
033980,000667: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
033981,000668: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 DIFFERENT EARTH/MOON SCALES IN TFF'S
033982,000669:
033983,000670: # FUNCTIONAL DESCRIPTION: CALLED BY P61. PROVIDES DISPLAYS FOR NOUNS N60 AND N63.
033984,000671: # PROGRAM CALCULATES ENTRY DISPLAY OF MAXIMUM ACCELERATION EXPECTED (GMAX) AND ALSO THE EXPECTED
033985,000672: # INERTIAL VELOCITY (VPRED) AND ENTRY ANGLE (GAMMAEI) THAT WILL OBTAIN AT 400K FT ABOVE THE FISCHER
033986,000673: # ELLIPSOID. PROGRAM ALSO CALCULATES A SECOND DISPLAY RELATIVE TO THE EMSALT ABOVE FISCHER ELLIPSOID
033987,000674: # AND CONSISTS OF RANGE TO SPLASH FROM NOW (RTGO), PREDICTED INERTIAL VELOCITY (VIO), AND THE TIME TO
033988,000675: # GO FROM NOW (TTE) .
033989,000676:
033990,000677: # CALLING SEQUENCE: CALL
033991,000678: # S61.2
033992,000679: # C(MPAC) UNSPECIFIED
033993,000680: # PUSHLOC WILL BE SET TO ZERO.
033994,000681:
033995,000682: # SUBROUTINES CALLED: TFFCONIC, CALCTFF, TFF/TRIG, FISHCALC, GETERAD, VGAMCALC
033996,000683:
033997,000684: # NORMAL EXIT MODES: RTB P61.1
033998,000685:
033999,000686: # ALARMS: NONE
034000,000687:
034001,000688: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
034002,000689: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
034003,000690: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
034004,000691: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
034005,000692: # FOR TM, DP(GAMMAEI) = (GAMMAEI, RTGO) / 360
034006,000693: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
034007,000694: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
034008,000695: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
034009,000696: # PUSHLOC = 0
034010,000697: # CONIC PARAMETERS STORED IN VAC AREA (SEE TFF SUBROUTINES)
034011,000698:
034012,000699: # ERASABLE INITIALIZATION REQUIRED:
034013,000700: # RONE (-29) M STATE VECTOR LEFT BY USER
034014,000701: # VONE (-7) M/CS STATE VECTOR LEFT BY USER
034015,000702: # URONE UR/2 LEFT BY USER
034016,000703: # UNI (-1) UNIT NORMAL V*R LEFT BY ENTRY / P61
034017,000704: # THETAH THETAH/360 RANGE ANGLE LEFT BY ENTRY / P61
034018,000705: # UNITW (0) UNIT POLAR VECTOR LEFT BY PAD LOAD
034019,000706: # EMSALT (-29) M EMS INTERFACE ALTITUDE LEFT BY PAD LOAD
034020,000707: # ORBITAL REENTRY: 284643 FT, LUNAR REENTRY: 297431 FT.
034021,000708:
034022,000709: # DEBRIS: QPRET,
034023,000710: # ALL PDL LOCATIONS ABOVE 12D, INCLUDING X1,X2,S1,S2
034024,000711: # ALSO PDL+0 ... PDL+5, WHERE INITIAL PUSHLOC = PDL
034025,000712:
|
|
Page 761 |
034027,000714: # THE FOLLOWING PUSH LIST LOCATIONS HAVE BEEN RESERVED FOR TFF ROUTINES AND ARE REPEATED HERE FOR CONVENIENCE.
034028,000715: # OF COURSE FOR S61.2 USAGE, EARTH ORIGIN SCALING IS USED.
034029,000716:
034030,000717: # BELOW E: IS USED FOR EARTH ORIGIN SCALE
034031,000718: # M: IS USED FOR MOON ORIGIN SCALE
034032,000719:
034033,000720: # RTERM = 18D TERMINAL RADIUS M E: (-29) M: (-27)
034034,000721: # NRTERM = 16D TERMINAL RADIUS M E: (-29+NR)
034035,000722: # M: (-27+NR)
034036,000723: # RMAG1 = 12D PRESENT RADIUS M E: (-29) M: (-27)
034037,000724: # NRMAG = 32D PRESENT RADIUS M E: (-29+NR)
034038,000725: # M: (-27+NR)
034039,000726: # SDELF/2 SIN(THETA) / 2
034040,000727: # CDELF/2 = 14D COS(THETA) / 2
034041,000728: # TFFX = 34D X, ARGUMENT OF SERIES T(X).
034042,000729: # TFFTEM = 36D ARG FOR TRANSFER ANGLE CALCULATION.
034043,000730: # TFFNP = 28D LC P M E: (-38+2NR) M: (-36+2NR)
034044,000731: # TFF/RTMU= 30D 1/SQRT(MU) E: (17) M: (14)
034045,000732: # TFFVSQ = 20D -(VN.VN/MU) 1/M E: (20) M: (18)
034046,000733:
|
|
Page 762 |
034048,000735: 34,3652 BANK 34
034049,000736: 26,2000 SETLOC P60S2
034050,000737: 26,2000 BANK
034051,000738:
034052,000739: 26,2650 COUNT* $$/S61.2
034053,000740: # PDL LEFT AT ZERO BY TARGETNG
034054,000741:
034055,000742: 26,2650 45345 S61.2 DLOAD DSU
034056,000743: 26,2651 02020 EMSALT
034057,000744: 26,2652 15000 290KFT
034058,000745: 26,2653 71244 BPL DLOAD
034059,000746: 26,2654 54774 LUNENT
034060,000747: 26,2655 17345 1/RTMU # ESTABLISH MU FOR ORBITAL ENTRIES
034061,000748: 26,2656 77624 CALLCON CALL
034062,000749: 26,2657 56750 TFFCONIC # FILL VAC AREA WITH CONIC PARAMETERS
034063,000750:
034064,000751: 26,2660 45145 DLOAD CALL
034065,000752: 26,2661 15020 RTRIAL # 1ST GUESS AT TERMINAL RADIUS (-29)
034066,000753: 26,2662 57060 CALCTFF # SAVES MPAC IN RTERM (18D)
034067,000754:
034068,000755: 26,2663 77624 CALL # CALC SDELF/2, CDELF/2
034069,000756: 26,2664 56573 TFF/TRIG # RETURN WITH S(THETA) IN MPAC
034070,000757:
034071,000758: 26,2665 77624 CALL # GET FISCHER RADIUS (-29) M
034072,000759: 26,2666 55027 FISHCALC # ANS IN MPAC AND IN ERADM.
034073,000760:
034074,000761: 26,2667 45015 DAD CALL
034075,000762: 26,2670 02020 EMSALT
034076,000763: 26,2671 57060 CALCTFF # SAVES MPAC IN RTERM (18D)
034077,000764:
034078,000765: 26,2672 77676 DCOMP # NEGATIVE AS IN COUNTDOWN.
034079,000766: 26,2673 03733 STORE TTE1 # DECR TTE FROM BASE TTE1. (RESTART)
034080,000767: # DNLIST AND DSKY WILL USE TTE.
034081,000768: 26,2674 37727 STCALL TTE # LET MISS CONTRL DECR BY ELAPSED TIME
034082,000769: # TTE= TIME FROM NOW TO EMSALT +FISCHER
034083,000770:
034084,000771: 26,2675 56573 TFF/TRIG # S(THETA) IN MPAC ON RETURNING
034085,000772: # AND THETA= RANGE FROM NOW TO EMSALT
034086,000773:
034087,000774: 26,2676 77624 CALL
034088,000775: 26,2677 55027 FISHCALC
034089,000776: 26,2700 77624 CALL
034090,000777: 26,2701 56626 VRCALC
034091,000778: 26,2702 77624 CALL
034092,000779: 26,2703 56613 DISPTARG
034093,000780: 26,2704 77624 CALL
034094,000781: 26,2705 56613 DISPTARG
034095,000782: 26,2706 37714 STCALL RTGO
|
|
Page 763 |
034097,000784: 26,2707 55050 VGAMCALC
034098,000785:
034099,000786: 26,2710 77605 DMP # MPAC = GAMMA
034100,000787: # PDL0 HAS VGAM.
034101,000788: 26,2711 43265 BDDV DAD
034102,000789: 26,2712 15026 VEMSCON # -HS D 180/PI (-14)
034103,000790: 26,2713 00001 0 # VGAM FROM PDL0.
034104,000791: 26,2714 17725 STODL VIO # PREDICTED VELOCITY AT EMSALT.
034105,000792: # GAMMA AND VGAM AT 300K FT ARE REQUIRED BY GMAX
034106,000793: # ALGORITHM.
034107,000794: 26,2715 02241 ERADM # EARTH RADIUS FROM GETERAD (-29) M
034108,000795: # = FISCHER RADIUS (-29)
034109,000796:
034110,000797: 26,2716 77615 DAD
034111,000798: 26,2717 06462 300KFT # M (-29)
034112,000799: 26,2720 34023 STCALL RTERM # TERMINAL RADIUS M (-29)
034113,000800: 26,2721 55045 PREVGAM # VGAMCALC WITH NEW RTERM
034114,000801: # VBAR = (V(FPS) - 36KF/S) / 20KF/S
034115,000802:
034116,000803: # GMAX = (4/(1 + 4.8 VBARSQ))(GAM - 6.05 - 2.4 VBARSQ) - 10(L/D - .3) + 10 ASSUME L/D = 0.3, BANK =0.
034117,000804: # GMAXCALC
034118,000805:
034119,000806: 26,2722 45325 PDDL DSU # GAM TO PDL2
034120,000807: 26,2723 00001 0 # VGAM IS IN PDL0 (-7)
034121,000808: 26,2724 15004 36KFT/S # (-7) M/CS
034122,000809: 26,2725 63471 DDV DSQ
034123,000810: 26,2726 15006 20KFT/S # (-6) M/CS
034124,000811: 26,2727 00001 STORE 0 # VBARSQ (-2) TO PDL0
034125,000812:
034126,000813: 26,2730 43205 DMP DAD
034127,000814: 26,2731 15010 KR1
034128,000815: # GAM, POS DOWN, FROM PDL2
034129,000816: 26,2732 41215 DAD DMP
034130,000817: 26,2733 15012 -6.05DEG
034131,000818: 26,2734 15014 KR2
034132,000819: 26,2735 77725 PDDL # XCH PDL+0 FOR VBARSQ (-2)
034133,000820: 26,2736 43271 DDV DAD
034134,000821: 26,2737 15024 KR4
034135,000822: 26,2740 17357 DP2(-4)
034136,000823: 26,2741 77665 BDDV
034137,000824: # NUM FROM PDL+0
034138,000825: 26,2742 51015 DAD BPL
034139,000826: 26,2743 15016 KR3
034140,000827: 26,2744 54747 +3
034141,000828: 26,2745 77745 DLOAD
034142,000829: 26,2746 15332 HI6ZEROS
034143,000830: 26,2747 17722 STODL GMAX # 100 GMAX (-14)
|
|
Page 764 |
034145,000832: # DISPLAY USES GMAX AS SP, SO LO WORD IS WRITTEN OVER BY VPRED.
034146,000833: 26,2750 02241 ERADM # = FISCHER RADIUS (-29) M
034147,000834: 26,2751 45015 DAD CALL # 2 ND ITERATION FOR FISCHER RADIUS
034148,000835: 26,2752 15022 400KFT
034149,000836: 26,2753 57060 CALCTFF # ESTABLISH TRANSFER ANGLE DATA.
034150,000837: 26,2754 77624 CALL
034151,000838: 26,2755 56573 TFF/TRIG # GET SIN, COS DELF
034152,000839: 26,2756 77624 CALL
034153,000840: 26,2757 55027 FISHCALC # GET CORRESPONDING FISCHER RADIUS.
034154,000841:
034155,000842: 26,2760 73015 DAD LXA,2 # SAVE HI-WORD FOR DOWNLIST.
034156,000843: 26,2761 15022 400KFT # M (-29)
034157,000844: 26,2762 03713 RTGO # (RANGE ANGLE FROM EMSALT) / 360
034158,000845: 26,2763 34023 STCALL RTERM
034159,000846: 26,2764 55045 PREVGAM # VGAMCALC WITH NEW RTERM
034160,000847:
034161,000848: 26,2765 67076 DCOMP SXA,2 # HI-WORD OF EACH ON DOWNLIST.
034162,000849: 26,2766 00155 MPAC +1
034163,000850: 26,2767 17771 STODL GAMMAEI # CONIC GAMMA/360 AT 400K FT. (HI-WORD)
034164,000851: # CONIC RTGO/360 FROM EMSALT (LOW-WORD)
034165,000852: # FOR TM, DP(GAMMAEI) = (GAMMA, RTGO) / 360
034166,000853:
034167,000854: # VGAM FROM PDL+0 (-7)
034168,000855: 26,2770 77626 STADR
034169,000856: 26,2771 74010 STORE VPRED # CONIC VELOCITY AT 400K FT
034170,000857:
034171,000858: 26,2772 77634 RTB
034172,000859: 26,2773 54267 P61.1
034173,000860: # PDL BACK TO ZERO.
034174,000861:
034175,000862: 26,2774 52145 LUNENT DLOAD GOTO
034176,000863: 26,2775 06456 1/RTMUE # ESTABLISH MU FOR LUNAR TYPE ENTRIES
034177,000864: 26,2776 54656 CALLCON
034178,000865:
034179,000866: 26,2777 00002 26244 290KFT 2DEC 88392 B-29
034180,000867: 26,3001 00052 05716 KTETA1 2DEC* .421844723 E2 B-14* # 1100 2PI/16384(163.84)
034181,000868: 26,3003 33335 05707 36KFT/S 2DEC 109.728 B-7 # (-7) M/CS = 36 KFT/S (-7)
034182,000869: 26,3005 36365 30244 20KFT/S 2DEC 121.92 B-7 # (-6) M/CS = 2 20KFT/S (-7)
034183,000870: 26,3007 77113 42770 KR1 2DEC -.026666667 # = -2.4 4 / 360
034184,000871: 26,3011 77354 65030 -6.05DEG 2DEC -.016805556 # = -6.05 / 360
034185,000872: 26,3013 21450 00001 KR2 2DEC .54931641 # = (360/4) 100 (-14) = 9000 B-14
034186,000873: 26,3015 01750 00000 KR3 2DEC 1000 B-14 # = 100 (10.0) (-14) G,S
|
|
Page 765 |
034188,000875: # ASSUMES L/D = 0.3, BANK =0.
034189,000876: 26,3017 00305 04541 RTRIAL 2DEC 6460097.16 B-29 # RPAD +284643 FT =21 194 545 FT
034190,000877: # RPAD DEFINED AS 20 909 901.57 FT =6 373 338 M
034191,000878: 26,3021 00003 27040 400KFT 2DEC 121920 B-29 # METERS
034192,000879:
034193,000880: # 300KFT 2DEC 91440 B-29 (-29) M
034194,000881: # EMSALT 2DEC 86759.2 B-29 284643 FT (-29) M (ORBITAL REENTRY)
034195,000882: # EMSALT 2DEC 90657 B-29 297431 FT (-29) M (LUNAR REENTRY)
034196,000883:
034197,000884: 26,3023 32525 12525 KR4 2DEC .833333333
034198,000885: 26,3025 23,2461 300KFT EQUALS MINPERE
034199,000886: 26,3025 77777 76601 VEMSCON 2DEC -.0389676 B-14 # = -HS D / 2 PI (-14) M SQ / CS SQ
034200,000887: # = -16369 .05G 32.2 .3048 .3048/2 PI (-14)
034201,000888:
|
|
Page 766 |
034203,000890: # SUBROUTINE NAME: FISHCALC (USED BY S61.2) DATE: 01.21.67
034204,000891: # MOD NO: 0 LOG SECTION: P61-P67
034205,000892: # MOD BY: MORTH / BAIRNSFATHER
034206,000893: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 MAY 67 INCLUDE GETERAD CALL
034207,000894:
034208,000895: # FUNCTIONAL DESCRIPTION: GIVEN THE PRESENT POSITION, UNITR, CALCULATE A NEW UNITR THAT IS ROTATED THROUGH
034209,000896: # TRANSFER ANGLE, THETA, ALONG TRAJECTORY. THEN CALCULATE SIN(LAT) AND USE TO OBTAIN FISCHER RADIUS.
034210,000897: # SINCE FISHCALC USES UNI (LEFT BY ENTRY) EARTH SCALING IS ASSUMED. (WILL IMPROVE FOR SUITABLE TENNANT)
034211,000898:
034212,000899: # CALLING SEQUENCE: CALL
034213,000900: # FISHCALC
034214,000901: # ENTER WITH .5 SIN(THETA) IN MPAC.
034215,000902: # PUSHLOC IS AT PDL+0, AN ARBITRARY BASE VALUE IF LEQ 8D
034216,000903:
034217,000904: # SUBROUTINES CALLED: GET ERAD
034218,000905:
034219,000906: # NORMAL EXIT MODE: RVQ
034220,000907:
034221,000908: # EXIT MODES: NONE
034222,000909:
034223,000910: # OUTPUT: ERADM (-29) M IN MPAC ON RETURNING
034224,000911: # NEW UNIT VECTOR NOT SAVED.
034225,000912: # SIN(LAT) NOT SAVED.
034226,000913: # PUSHLOC AT PDL+0
034227,000914:
034228,000915: # ERASEABLE INITIALIZATION REQUIRED:
034229,000916: # SDELF/2 =SIN(THETA) / 2, IN MPAC LEFT BY TFF/TRIG
034230,000917: # CDELF/2 =COS(THETA) / 2, STORED IN PDL 14D LEFT BY TFF/TRIG
034231,000918: # RONE (-29) M LEFT BY USER
034232,000919: # VONE (-7) M/CS LEFT BY USER
034233,000920: # URONE UR/2 LEFT BY USER
034234,000921: # UNI .5 UNIT(V*R) LEFT BY ENTRY / P61
034235,000922: # UNITW UNIT NORTH POLE LEFT BY PAD LOAD
034236,000923:
034237,000924: # DEBRIS: QPRET, PDL+0 ... PDL+5
034238,000925: # - - -
034239,000926: 26,3027 47315 FISHCALC PDVL VXV # URPR = UR CDELF + UHOR SDELF
034240,000927: 26,3030 02343 URONE
034241,000928: 26,3031 03502 UNI
034242,000929: 26,3032 76561 VXSC VSL1
034243,000930: # SIN(THETA) / 2 FROM PDL+0
034244,000931: 26,3033 74315 PDVL VXSC # TO PDL+0, +5
034245,000932: 26,3034 02343 URONE
034246,000933: 26,3035 00017 CDELF/2 # COS(THETA) / 2
034247,000934: 26,3036 45455 VAD STADR
034248,000935: 26,3037 74235 STORE URH # FOR USE IN RTGO FROM EMS DISPLAY
034249,000936: 26,3040 72441 DOT SL1
034250,000937: 26,3041 01714 UNITW # FULL UNIT VECTOR UNIT NORTH
034251,000938: 26,3042 02156 STORE ALPHAV +4 # = .5 SIN(LAT)
034252,000939: 26,3043 77650 DUMPFISH GOTO
034253,000940: 26,3044 26437 GETERAD # SAVES FISCHER RAD (-29) M IN ERADM AND
034254,000941: # IN MPAC. RETURNS TO CALLER VIQ QPRET.
034255,000942:
|
|
Page 767 |
034257,000944: # SUBROUTINE NAME: VGAMCALC (USED BY S61.2) DATE: 01.21.67
034258,000945: # MOD NO: 0 LOG SECTION: P61-P67
034259,000946: # MOD BY: MORTH / BAIRNSFATHER
034260,000947: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
034261,000948: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
034262,000949: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
034263,000950:
034264,000951: # FUNCTIONAL DESCRIPTION: EARTH CENTERED VIS VIVA CALCULATION OF TERMINAL VELOCITY AND GAMMA (REL TO
034265,000952: # HORIZONTAL) GIVEN THE SCALAR QUANTITIES: PRESENT RADIUS AND VELOCITY AND THE TERMINAL RADIUS.
034266,000953: # THE USER MUST APPEND PROPER SIGN TO GAMMA, SINCE IT IS CALCULATED AS A POSITIVE NUMBER.
034267,000954: # THE EQUATIONS ARE
034268,000955:
034269,000956: # VGAM = SQRT(VN VN/MU + 2(RN-RTERM)/(RN RTERM) ) RTMU
034270,000957:
034271,000958: # COSGAM = H / RTERM VGAM = SQRT (LCP) / (RTERM VGAM/RTMU)
034272,000959:
034273,000960: # VGAMCALC ASSUMES THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT RADIUS. BOTH CALCTFF AND CALCTPER
034274,000961: # MAKE THIS ASSUMPTION.
034275,000962:
034276,000963: # CALLING SEQUENCE: CALL STCALL RTERM
034277,000964: # VGAMCALC PREVGAM
034278,000965: # PUSHLOC AT PDL+0, ARBITRARY IF LEQ 12D
034279,000966: # C(MPAC) UNSPECIFIED C(MPAC)=NEW RTERM
034280,000967:
034281,000968: # SUBROUTINES CALLED: NONE
034282,000969:
034283,000970: # NORMAL EXIT MODE: RVQ
034284,000971:
034285,000972: # ALARMS: NONE
034286,000973: #
034287,000974: # OUTPUT: GAMMA / 360 IN MPAC, POSITIVE NUMBER
034288,000975: # VGAM E: (-7) M: (-5) M/CS IN PDL+0
034289,000976: # PUSHLOC AT PDL+2
034290,000977:
034291,000978: # ERASABLE INITIALIZATION REQD:
034292,000979: # TFF/RTMU E: (17) M: (14) 1/SQRT(MU) LEFT BY TFFCONIC.
034293,000980: # RMAG1 E: (-29) M: (-27) M PRESENT RADIUS LENGTH LEFT BY TFFCONIC
034294,000981: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
034295,000982: # M: (-27+NR)
034296,000983: # RTERM E: (-29) M: (-27) M TERMINAL RADIUS LENGTH LEFT BY CALCTFF
034297,000984: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF
034298,000985: # M: (-27+NR)
034299,000986: # TFFVSQ E: (20) M: (18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORM LEFT BY TFFCONIC
034300,000987: # TFFNP E: (-38+2NR) M LCP, SEMI-LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC
034301,000988: # M: (-36+2NR)
034302,000989:
034303,000990: # DEBRIS: QPRET, PDL+0 ... PDL+3
034304,000991: # RTERM, NRTERM IF PREVGAM ENTERED.
|
|
Page 768 |
034306,000993:
034307,000994: 26,3045 77657 PREVGAM SL* # ENTER WITH NEW RTERM IN MPAC
034308,000995: # E: (-29) M: (-27)
034309,000996: 26,3046 20201 0,1 # X1 = -NR
034310,000997: 26,3047 00021 STORE NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034311,000998: 26,3050 41345 VGAMCALC DLOAD DMP
034312,000999: 26,3051 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034313,001000: 26,3052 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034314,001001: 26,3053 45325 PDDL DSU # RMAG RTERM M E: (-58+2NR) M: (-54+2NR)
034315,001002: 26,3054 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034316,001003: 26,3055 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034317,001004: 26,3056 56257 SL* DDV # 2(RN-RTERM) E: (-30+NR) M: (-28+NR)
034318,001005: 26,3057 20171 0 -8D,1 # (-8+NR)
034319,001006: # PUSH UP PRODUCT.
034320,001007:
034321,001008: 26,3060 77625 DSU
034322,001009: 26,3061 00025 TFFVSQ # -(V SQ/MU) E: (20) M: (18)
034323,001010: 26,3062 41566 SQRT PUSH # SAVE VGAM/RT(MU) FOR NOW. E: (10) M: (9)
034324,001011: 26,3063 65271 DDV PDDL # XCH PDL+0, LEAVING VGAM FOR OUTPUT.
034325,001012: # VGAM TO PDL M/CS E: (-7) M: (-2)
034326,001013: 26,3064 00037 TFF/RTMU # E: (17) M: (14)
034327,001014: 26,3065 65205 DMP PDDL # RTERM VGAM/RTMU E: (-19+NR) M: (-18+NR)
034328,001015: 26,3066 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034329,001016: 26,3067 00035 TFFNP # LC P =H.H/MU M E: (-38+2NR) M: (-36+2NR)
034330,001017: 26,3070 56366 SQRT DDV # E: (-19+NR) M: (-18+NR)
034331,001018: # PUSH UP DEN E: (-19+NR) M: (-18+NR)
034332,001019: # USE DDV OVFL AS LIMITER (|COS| <1.0)
034333,001020: 26,3071 65542 SR1 ACOS
034334,001021: 26,3072 77616 DUMPVGAM RVQ
034335,001022: # CALLER MUST SUPPLY OWN SIGN ...
034336,001023: # 22W 27MS
034337,001024:
|
|
Page 769 |
034339,001026: # SUBROUTINE NAME: TFF/TRIG (USED BY S61.2) DATE 01.17.67
034340,001027: # MOD NO: 0 LOG SECTION: P61-P67
034341,001028: # MOD BY: RR BAIRNSFATHER
034342,001029: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67
034343,001030: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
034344,001031:
034345,001032: # FUNCTIONAL DESCRIPTION: USED BY ENTRY DISPLAY TO CALCULATE SIN(THETA), COS(THETA) FROM DATA LEFT IN
034346,001033: # PDL BY TFF SUBROUTINES. THE EQNS ARE
034347,001034:
034348,001035: # COS(THETA) = 1-2 ABS(ARG) / (RN RTERM (1+X) )
034349,001036: # 2
034350,001037: # SIN(THETA) = SGN(ARG) SQRT(1-COS (THETA) )
034351,001038:
034352,001039: # WHERE THETA = TRANSFER ANGLE
034353,001040: # AND ARG = P Z ABS(Z) IF ALFA ZZ LEQ 1
034354,001041: # ARG = (P / ALFA) SGN(Q1 + R 1/Z) IF ALFA Z Z G 1
034355,001042: # AND ARG HAS BEEN AFFIXED WITH THE SIGN OF SIN(THETA).
034356,001043:
034357,001044: # CALLING SEQUENCE: CALL
034358,001045: # TFF/TRIG
034359,001046: # PUSHLOC AT PDL+0, ARBITRARY IF NOT EQ 14D
034360,001047: # C(MPAC) UNSPECIFIED
034361,001048:
034362,001049: # SUBROUTINES CALLED: NONE
034363,001050:
034364,001051: # NORMAL EXIT MODES: RVQ
034365,001052:
034366,001053: # ALARMS: NONE
034367,001054:
034368,001055: # OUTPUT: C(MPAC) = .5 SIN(THETA)
034369,001056: # CDELF/2 = .5 COS(THETA) (IN PDL 14D)
034370,001057: # PUSHLOC AT PDL+0
034371,001058:
034372,001059: # ERASABLE INITIALIZATION REQUIRED:
034373,001060: # TFFX X LEFT BY CALCTFF OR CALCTPER
034374,001061: # TFFTEM E: (-59+2NR) ARG LEFT BY CALCTFF OR CALCTPER
034375,001062: # M: (-55+2NR) WHERE ARG = LCP ZZ SGN(DELF) OR ARG = LCP/ALFA SGN(DELF)
034376,001063: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF OR CALCTPER
034377,001064: # M: (-27+NR)
034378,001065: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
034379,001066: # M: (-27+NR)
034380,001067:
034381,001068: # DEBRIS: QPRET, CDELF/2
034382,001069:
034383,001070: 27,2573 BANK 27
034384,001071: 27,2000 SETLOC P60S5
034385,001072: 27,2000 BANK
034386,001073: 27,2573 70545 TFF/TRIG DLOAD SR1
034387,001074: 27,2574 00043 TFFX
034388,001075: 27,2575 41215 DAD DMP
034389,001076: 27,2576 15330 HIDPHALF
034390,001077: 27,2577 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034391,001078: 27,2600 55205 DMP BDDV
034392,001079: 27,2601 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034393,001080: 27,2602 00045 TFFTEM # P ZSQ OR P/ALFA E: (-59+2NR) M: (-55+2NR)
034394,001081: 27,2603 44246 ABS BDSU # THE SIGN IS FOR SDELF.
034395,001082: 27,2604 15330 HIDPHALF
034396,001083: 27,2605 00017 STORE CDELF/2 # .5 COS(THETA)
034397,001084: 27,2606 57516 DSQ DCOMP # KEEP HONEST FOR SQRT.
|
|
Page 770 |
034399,001086: 27,2607 75415 DAD SQRT
034400,001087: 27,2610 15322 HIDP1/4
034401,001088: 27,2611 43565 DUMPTRIG SIGN RVQ
034402,001089: 27,2612 00045 TFFTEM # AFFIX SIGN(DELE/2)
034403,001090: # RETURN WITH .5 SIN(THETA) IN MPAC
034404,001091: # 16W 15MS
034405,001092:
034406,001093: 27,2613 77620 DISPTARG STQ # C(MPAC) = TRGO ESTIMATE
034407,001094: 27,2614 03373 60GENRET
034408,001095: 27,2615 45205 DMP DSU
034409,001096: 27,2616 15002 KTETA1
034410,001097: 27,2617 03733 TTE1
034411,001098: 27,2620 37606 STCALL DTEAROT
034412,001099: 27,2621 46225 EARROT2
034413,001100: 27,2622 77624 CALL
034414,001101: 27,2623 56626 VRCALC
034415,001102: 27,2624 77650 GOTO
034416,001103: 27,2625 03373 60GENRET
034417,001104: 27,2626 50375 VRCALC VLOAD DOT
034418,001105: 27,2627 03542 URH
034419,001106: 27,2630 03474 RT
034420,001107: 27,2631 65512 SL2 ACOS
034421,001108: 27,2632 77616 RVQ
034422,001109:
034423,001110: # END OF PROGRAM S61.2
034424,001111:
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Page 771 |
034426,001113: # PROGRAM DESCRIPTION S62.3 DATE 10JAN67
034427,001114: # MOD NO 1 LOG SECTION P60-P67
034428,001115: # MOD BY ZELDIN
034429,001116: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 15 MAY 67 CHANGED TO REF COORDS.
034430,001117: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 ALFAPAD CHANGES MADE.
034431,001118:
034432,001119: # FUNCTIONAL DESCRIPTION
034433,001120:
034434,001121: # COMPUTE DESIRED GIMBOL ANGLES FOR ENTRY ATTITUDE
034435,001122: # THE FOLLOWING TRAJECTORY TRIAD IS AVAILABLE IN MEMORY AND IS COMPUTED EACH 2 SECONDS BY CM/POSE IN
034436,001123: # REFERENCE COORDINATES (V = VELOCITY RELATIVE TO EARTH) :
034437,001124:
034438,001125: # UXA = -UNIT(V)
034439,001126: # UYA = UNIT(V*R)
034440,001127: # UZA = UXA*UYA
034441,001128:
034442,001129: # GENERATE A DESIRED BODY TRIAD FOR TRIMMED FLIGHT WITH RESPECT TO THE RELATIVE VELOCITY VECTOR, USING
034443,001130: # ROLL COMMAND AND TRIM ANGLE OF ATTACK:
034444,001131:
034445,001132: # UXD = UNIT(UYD*UXA) SIN(ALFATRIM) + UXA COS(ALFATRIM)
034446,001133: # UYD = UYA COS(ROLLC) + UZA SIN(ROLLC)
034447,001134: # UZD = UXD * UYD
034448,001135:
034449,001136: # USE THE DESIRED SET (IN REFERENCE COORDS) AND REFSMMAT TO CALL CALCGA AND OBTAIN GIMBAL ANGLES
034450,001137: # IN 2S, C IN MPAC, +2 AND THETAD, +2.
034451,001138:
034452,001139: # CALLING SEQUENCE
034453,001140:
034454,001141: # L CALL
034455,001142: # L+1 S62.3
034456,001143:
034457,001144: # NORMAL EXIT MODE
034458,001145:
034459,001146: # RETURN VIA QPRET DIRECTLY FROM CALCGA.
034460,001147:
034461,001148: # SUBROUTINES CALLED
034462,001149:
034463,001150: # CALCGA
034464,001151:
034465,001152: # ALARM OR ABORT MODES
034466,001153:
034467,001154: # NONE
034468,001155:
034469,001156: # ERASABLE INITIALIZATION REQUIRED
034470,001157:
034471,001158: # ROLLC ROLL COMMAND DP 1:S COMP AT 1REV
034472,001159: # ALFAPAD SP 1S,C / 180 LEFT BY PAD LOAD ALFATRIM IS NEGATIVE.
034473,001160: # UXA/2 REF COORDS LEFT BY CM/POSE
034474,001161: # UYA/2 REF COORDS LEFT BY CM/POSE
034475,001162: # UZA/2 REF COORDS LEFT BY CM/POSE
034476,001163:
034477,001164: # OUTPUT
034478,001165: #
034479,001166: # CPHI GIMBAL ANGLES (O,I,M) 2:S COMP TP (O,I,M)/180
034480,001167:
034481,001168: # DEBRIS
034482,001169:
034483,001170: # QTEMP, QPRET, PUSHLIST
034484,001171:
034485,001172: 10,2302 BANK 10
034486,001173: 10,2000 SETLOC P60S4
034487,001174: 10,2000 BANK
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Page 772 |
034489,001176: 10,2302 COUNT* $$/S62.3
034490,001177:
034491,001178: 10,2302 67201 S62.3 SETPD SLOAD
034492,001179: 10,2303 00001 0
034493,001180: 10,2304 03012 ALFAPAD # ALFATRIM / 180, ALFA IS NEG.
034494,001181: 10,2305 41542 SR1 PUSH
034495,001182: 10,2306 65346 COS PDDL # XCH PDL, COS TO PDL0
034496,001183: 10,2307 65356 SIN PDDL # SIN TO PDL2
034497,001184: 10,2310 03316 ROLLC
034498,001185: 10,2311 74346 COS VXSC
034499,001186: 10,2312 03550 UYA/2 # REF COORDS
034500,001187: 10,2313 73525 PDDL SIN # PUSH VECTOR INTO PDL4,.9
034501,001188: 10,2314 03316 ROLLC
034502,001189: 10,2315 53361 VXSC VAD
034503,001190: 10,2316 03556 UZA/2 # REF COORDS
034504,001191: # VECTOR FROM PDL4, 9
034505,001192: 10,2317 77772 VSL1
034506,001193: 10,2320 02722 STORE YNB # = UYD REF COORDS
034507,001194:
034508,001195: 10,2321 76435 VXV VSL1
034509,001196: 10,2322 03542 UXA/2 # REF COORDS
034510,001197: 10,2323 65361 VXSC PDDL
034511,001198: # SIN TRIM FROM PDL2
034512,001199: # XCH PDL0 FOR COS TRIM
034513,001200: 10,2324 53361 VXSC VAD
034514,001201: 10,2325 03542 UXA/2 # REF COORDS
034515,001202: # FROM PDL0
034516,001203: 10,2326 77772 VSL1
034517,001204: 10,2327 02714 STORE XNB # X SC AXIS (.5 UNIT) REF COORDS
034518,001205:
034519,001206: 10,2330 76435 VXV VSL1
034520,001207: 10,2331 02722 YNB
034521,001208: 10,2332 26730 STOVL ZNB # Z SC IN REF COOR. SCALED AT 2
034522,001209: 10,2333 01736 REFSMMAT
034523,001210: 10,2334 26672 STOVL XSM
034524,001211: 10,2335 01744 REFSMMAT +6
034525,001212: 10,2336 26700 STOVL YSM
034526,001213: 10,2337 01752 REFSMMAT +12D
034527,001214: 10,2340 02706 STORE ZSM
034528,001215:
034529,001216: 10,2341 52014 CLEAR GOTO
034530,001217: 10,2342 00260 CPHIFLAG # CAUSE CALCGA TO STORE ANS IN TP CPHI
034531,001218: 10,2343 47244 CALCGA
034532,001219: # CALCGA WILL RETURN TO ORIGINAL CALLER
034533,001220: # VIA QPRET WITH 2,S COMP. ANGLES IN CPHI
034534,001221:
034535,001222:
034536,001223:
End of include-file P61-P67.agc. Parent file is MAIN.agc