Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 source code was verified by assembling it and checking that the assembled
code had the expected known-correct memory-bank checksums. Note that page numbers in
the reconstructed code match those on the Comanche 55 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 listing.
Annotations that were not present in the contemporary source code have been added to
the reconstructed code to justify each change relative to Comanche 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
Comments expected to have been present in 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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034520,000002: ## Copyright: Public domain.
034521,000003: ## Filename: P61-P67.agc
034522,000004: ## Purpose: A section of Comanche revision 051.
034523,000005: ## It is part of the reconstructed source code for the
034524,000006: ## original release of the flight software for the Command
034525,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
034526,000008: ## The code has been recreated from a copy of Comanche 055. It
034527,000009: ## has been adapted such that the resulting bugger words
034528,000010: ## exactly match those specified for Comanche 51 in NASA drawing
034529,000011: ## 2021153D, which gives relatively high confidence that the
034530,000012: ## reconstruction is correct.
034531,000013: ## Reference: pp. 789-818
034532,000014: ## Assembler: yaYUL
034533,000015: ## Contact: Ron Burkey <info@sandroid.org>.
034534,000016: ## Website: www.ibiblio.org/apollo/index.html
034535,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
034536,000018:
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Page 789
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034538,000020: # PROGRAM: P61
034539,000021: # MOD NO.: 0 MAR. 13, 1967
034540,000022: # MOD BY: R. HIRSCHKOP
034541,000023: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
034542,000024: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
034543,000025: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 DELETE CMSM MANEUVER (PCR 50)
034544,000026: # FUNCTION: TO CALCULATE AND DISPLAY EMS INITIALIZATION DATA
034545,000027: # CALLING SEQUENCE- BY V37
034546,000028: # EXIT- TO P62
034547,000029: # SUBROUTINE CALLS- S61.1, S61.3, GOFLASH, FLAGUP, R02BOTH
034548,000030: # ERASABLE INITIALIZATION:
034549,000031: # EMSALT (-29) M .05G ALTITUDE ABOVE FISCHER ELLIPSOID PAD LOADED.
034550,000032: # ALFAPAD /180 HYPERSONIC CM TRIM ANGLE OF ATTACK PAD LOADED
034551,000033: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
034552,000034: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
034553,000035: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
034554,000036: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
034555,000037: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
034556,000038: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
034557,000039: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
034558,000040: # LAT(SPL) /360 TARGET LOCATION LEFT BY DSKY
034559,000041: # LNG(SPL) /360 TARGET LOCATION LEFT BY DSKY
034560,000042: # HEADSUP (0) +1 = LIFT DOWN, -1 = LIFT UP LEFT BY DSKY
034561,000043: # DEBRIS: SEE SUBROUTINES.
034562,000044:
034563,000045: 26,2217 BANK 26
034564,000046: 26,2000 SETLOC P60S
034565,000047: 26,2000 BANK
034566,000048:
034567,000049: 26,2217 E6,1661 EBANK= AOG
034568,000050:
034569,000051: 26,2217 COUNT* $$/P61
034570,000052:
034571,000053: 26,2217 35002 P61 CA BIT14 # EXTENDED VERB SHOULD BE FREE THIS CLOSE
034572,000054: 26,2220 55044 TS EXTVBACT # TO V37
034573,000055: # LOCK OUT EXTENDED VERBS SO CAN USE TFF
034574,000056: # ROUTINES. EXT VERB ERASE IS USED
034575,000057:
034576,000058: 26,2221 45017 CS ONE # REMOVE IF HEADSUP EVER ON UPLINK DATA
034577,000059: 26,2222 55726 TS HEADSUP # PRELOAD
034578,000060:
034579,000061: 26,2223 02544 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION
034580,000062: # RV 60GENRET. DOES PHASCHNG, GROUP 4.
034581,000063:
034582,000064: 26,2224 32425 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
034583,000065: # XXX.XX DEG XXX.XX DEG XXXXX.
034584,000066: 26,2225 04662 TC BANKCALL
034585,000067: 26,2226 21057 CADR GOFLASHR
034586,000068: 26,2227 04106 TC GOTOPOOH
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Page 790
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034588,000070: 26,2230 02235 TC P61.4
034589,000071: 26,2231 02224 TC -5
034590,000072:
034591,000073: 26,2232 05412 P61.3 TC PHASCHNG
034592,000074: 26,2233 00014 OCT 00014
034593,000075:
034594,000076: 26,2234 05217 TC ENDOFJOB
034595,000077:
034596,000078: 26,2235 22007 P61.4 ZL
034597,000079: 26,2236 11726 CCS HEADSUP # C(HEADSUP)= +1/-1
034598,000080: 26,2237 35002 CA BIT14 # IF HEADSUP POS,ROLLC =180 DEG.(LIFT DWN)
034599,000081: 26,2240 12241 NOOP # IF HEADSUP NEG,ROLLC =0 (LIFT UP)
034600,000082: 26,2241 53716 DXCH ROLLC # ROLLC IS USED BY S62.3: GIM ANG AT .05G
034601,000083:
034602,000084: 26,2242 06006 TC INTPRET
034603,000085: 26,2243 77745 NEWRNVN DLOAD
034604,000086: 26,2244 01205 PIPTIME # SAVE TIME OF RN,VN TO DETERMINE IF AN
034605,000087: 26,2245 37651 STCALL MM # UPDATE HAS OCCURRED
034606,000088: 26,2246 52063 STARTEN1 # INITIALIZE
034607,000089: 26,2247 77775 VLOAD
034608,000090: 26,2250 01171 RN
034609,000091: 26,2251 02327 STORE RONE
034610,000092: 26,2252 77656 UNIT
034611,000093: 26,2253 26343 STOVL URONE
034612,000094: 26,2254 01177 VN
034613,000095: 26,2255 02335 STORE VONE
034614,000096: 26,2256 53435 VXV UNIT
034615,000097: 26,2257 02343 URONE
034616,000098: 26,2260 03502 STORE UNI
034617,000099: 26,2261 45345 DUMPP61 DLOAD DSU
034618,000100: 26,2262 03651 MM # INITIAL VALUE OF PIPTIME
034619,000101: 26,2263 01205 PIPTIME
034620,000102: 26,2264 45040 BMN CALRB
034621,000103: 26,2265 54243 NEWRNVN # UPDATED... GO TRY AGAIN
034622,000104: 26,2266 54651 S61.2 # GET DISPLAY DATA FOR N60 AND N63
034623,000105: # AND RETURN IN BASIC, BELOW.
034624,000106: 26,2267 05536 P61.1 TC CLEARMRK
034625,000107: 26,2270 32424 CA V06N60 # GMAX VPRED GAMMAEI
034626,000108: # XXX.XX G XXXXX. FPS XXX.XX DEG
034627,000109: 26,2271 04662 TC BANKCALL
034628,000110: 26,2272 20720 CADR GOFLASH
034629,000111:
034630,000112: 26,2273 04106 TC GOTOPOOH
034631,000113: 26,2274 02276 TC P61.2 # PROCEED
034632,000114: 26,2275 02270 TC -5
034633,000115:
034634,000116: 26,2276 06006 P61.2 TC INTPRET # CORRECT TTE FOR TIME LAPSE DURING
034635,000117: # ABOVE DISPLAY.
034636,000118: 26,2277 45234 RTB DSU
034637,000119: 26,2300 45510 LOADTIME # CURRENT TIME.
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Page 791
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034639,000121: 26,2301 03651 MM # PIPTIME FOR RONE & VONE.
034640,000122: 26,2302 77615 DAD
034641,000123: 26,2303 03733 TTE1 # NEGATIVE OF FREE FALL TIME.
034642,000124: 26,2304 03727 STORE TTE # DECREMENTED
034643,000125:
034644,000126: 26,2305 77776 EXIT
034645,000127:
034646,000128: 26,2306 32426 CA V06N63 # RTGO VIO TTE
034647,000129: # XXXX.X NM XXXXX. FPS XXBXX M,S
034648,000130: 26,2307 04662 TC BANKCALL
034649,000131: 26,2310 20720 CADR GOFLASH
034650,000132: 26,2311 04106 TC GOTOPOOH
034651,000133: 26,2312 02314 TC +2
034652,000134: 26,2313 02276 TC P61.2 # REDO
034653,000135:
034654,000136: # .... THEN FALL INTO P62
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Page 792
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034656,000138:
034657,000139: # PROGRAM- P62
034658,000140: # MOD NO.- 0 MAR. 13, 1967
034659,000141: # MOD BY- R. HIRSCHKOP
034660,000142: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67
034661,000143: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
034662,000144: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
034663,000145: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 MOVE START OF DESIRED GIMBAL CALC.
034664,000146: # FUNCTION- 1) TO NOTIFY CREW WHEN GNC SYSTEM IS PREPARED FOR CM/SM SEPARATION
034665,000147: # 2) TO ORIENT THE CM TO THE CORRECT ATTITUDE FOR ATMOSPHERIC ENTRY
034666,000148: # CALLING SEQUENCE- BY V37 OR DIRECTLY FROM P61
034667,000149: # EXIT- TO P63
034668,000150: # ERASABLE INITIALIZATION:
034669,000151: # ALFAPAD LEFT BY PAD LOAD
034670,000152: # LADPAD LEFT BY PAD LOAD
034671,000153: # LODPAD LEFT BY PAD LOAD
034672,000154: # LAT(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
034673,000155: # LNG(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
034674,000156: # HEADSUP (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
034675,000157: # SUBROUTINE CALLS: NEWMODEX, S61.1, CM/DAPIC, CM/DAPON, R02BOTH, GOPERF1, GOFLASH, GODSPR
034676,000158:
034677,000159: 26,2314 COUNT* $$/P62
034678,000160:
034679,000161: 26,2314 05354 TC NEWMODEX # MODE CHANGE IF CAME FROM P61.
034680,000162: 26,2315 00076 MM 62 B-14 # MODE CHANGE AUTOMATIC VIA V 37.
034681,000163: 26,2316 35017 CA ONE
034682,000164: 26,2317 54332 TS DNLSTCOD
034683,000165:
034684,000166: 26,2320 02544 P62 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION.
034685,000167:
034686,000168: 26,2321 06006 TC INTPRET
034687,000169: 26,2322 47131 SSP RTB
034688,000170: 26,2323 03325 POSEXIT
034689,000171: 26,2324 54401 P62.3 # CALCULATE DESIRED .05G GIMBAL ANGLES,
034690,000172: # WITHOUT DISPLAY.
034691,000173: 26,2325 41672 CM/DAPIC # START CM/POSE AND BODY RATE CALC
034692,000174:
034693,000175: # DOES 2PHSCHNG, OCT 40116, OCT 05024, OCT 13000.
034694,000176: # CM/DAPIC SETS EBANK = EBAOG
034695,000177: # AND RETURNS IN BASIC TO P62.2.
034696,000178: 26,2326 00006 P62.2 EXTEND
034697,000179: 26,2327 32432 DCA POSECADR # CONTINUE WITH CM/POSE AFTER AV G.
034698,000180: 26,2330 53223 DXCH AVEGEXIT
034699,000181:
034700,000182: 26,2331 34270 CAF OCT41 # REQUEST SEPARATION
034701,000183: 26,2332 04662 TC BANKCALL
034702,000184: 26,2333 21125 CADR GOPERF1R
034703,000185: 26,2334 04106 TC GOTOPOOH
034704,000186: 26,2335 02340 TC +3 # PROCEED
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Page 793
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034706,000188: # NOTE: NODOFLAG WILL BE SET IN CM/DAPON. <<<
034707,000189: 26,2336 02331 TC -5 # ENTER
034708,000190: 26,2337 02232 TC P61.3 # FOR PHASCHNG AND ENDOFJOB.
034709,000191:
034710,000192: 26,2340 04701 +3 TC POSTJUMP
034711,000193: 26,2341 41612 CADR CM/DAPON # DISABLE RCS DAP, ENABLE ENTRY DAP AND
034712,000194: # DO ATTITUDE HOLD.
034713,000195:
034714,000196: # WILL IDLE UNTIL CM/POSE DOES ONE UPDATE.
034715,000197: # CM/DAPON DOES NO PHASCHNG.
034716,000198:
034717,000199: 26,2342 32425 P62.1 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
034718,000200: # XXX.XX DEG XXX.XX DEG 0000X.
034719,000201:
034720,000202: # TERMINATE ATTITUDE HOLD. SET UP COMMANDS:
034721,000203: # ROLLC, ALFACOM, BETACOM. BEGIN MANUVER TO
034722,000204: # ENTRY ATTITUDE.
034723,000205:
034724,000206: 26,2343 04662 TC BANKCALL
034725,000207: 26,2344 20720 CADR GOFLASH
034726,000208: 26,2345 02342 TC -3
034727,000209: 26,2346 02350 TC +2
034728,000210: 26,2347 02342 TC -5
034729,000211:
034730,000212: 26,2350 05412 TC PHASCHNG
034731,000213: 26,2351 04024 OCT 04024 # USE ENTRYVN FOR DISPLAY BELOW.
034732,000214: # EBANK WAS SET IN CM/DAPON TO EBAOG
034733,000215:
034734,000216: 26,2352 11726 CCS HEADSUP # C(HEADSUP) = +/- 1
034735,000217: 26,2353 35002 CA BIT14 # IF HEADSUP POS, ROLLC=180 DEG (LIFT DWN)
034736,000218: 26,2354 12355 NOOP # IF HEADSUP NEG, ROLLC=0 DEG (LIFT UP)
034737,000219: 26,2355 55715 TS ROLLC
034738,000220: 26,2356 31411 CA ALFAPAD # NOMINAL ALFATRIM PAD LOADED, NEG. NO.
034739,000221: 26,2357 22007 ZL
034740,000222: 26,2360 53604 DXCH ALFACOM # SET ALFACOM = ALFA TRIM, BETACOM=0
034741,000223:
034742,000224: 26,2361 35017 CA ONE # PERMITS EXDAP2 TO CHANGE FLAG TO +0
034743,000225: 26,2362 55727 TS P63FLAG # AS INDICATOR. STARTS UP P63.
034744,000226:
034745,000227: 26,2363 35052 CA V06N22 # SET UP DISPLAY FOR CDU DESIRED VALUES
034746,000228: 26,2364 55263 TS ENTRYVN # FROM ENTRY ATTITUDE CALC, THAT IS
034747,000229: # ALREADY GOING.
034748,000230: 26,2365 05546 TC UPFLAG # TURN ON ENTRY DISPLAY
034749,000231: 26,2366 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
034750,000232: # SKIP
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Page 794
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034752,000234: 26,2367 41700 CS CMDAPMOD # GO DIRECTLY TO P63 IF BODY ATTITUDE
034753,000235: 26,2370 75017 MASK ONE # IS SUCH THAT THE DELAY TASK: WAKEP62
034754,000236: 26,2371 00006 EXTEND # WILL BE OMITTED.
034755,000237: 26,2372 12421 BZF P63.1 # DISABLE GRP 4, GO TO ENDOFJOB.
034756,000238: # (IE, CONTINUE IF CMDAPMOD = -1, OR +0)
034757,000239: 26,2373 02405 TC P63
034758,000240:
034759,000241: # PUT JOB TO SLEEP UNTIL VEHICLE MANUVER HAS
034760,000242: # REDUCED ALFA TO +/-45 DEG. CONSIDER REMAINING
034761,000243: # 65 DEG (25 DEG IF ALFA NEG) TO ALFA TRIM TO
034762,000244: # OCCUR AT 3 DEG/SEC, AND TERMINATE P62 AT THAT
034763,000245: # TIME.
034764,000246:
034765,000247: # TASK WAKEP62 IS CALLED FROM ENTRY DAP.
034766,000248: 26,2374 35065 WAKEP62 CA PRIO13
034767,000249: 26,2375 05134 TC NOVAC
034768,000250: 26,2376 E6,1661 EBANK= AOG
034769,000251: 26,2376 02405 54066 2CADR P63
034770,000252:
034771,000253: 26,2400 05324 TC TASKOVER
034772,000254:
034773,000255: # EACH 2 SEC, CALCULATE GIMBAL ANGLES FOR ENTRY CON-
034774,000256: # DITIONS THAT WILL HOLD IF REORIENTATION WERE MADE
034775,000257: # AT PRESENT RN, VN. COME HERE FROM CM/POSE AND ALSO
034776,000258: # IN KEPLER PHASE OF ENTRY.
034777,000259:
034778,000260: 26,2401 52131 P62.3 SSP GOTO # SET RETURN ADDRESS SO THAT ROUTINE
034779,000261: 26,2402 00053 QPRET # GOES DIRECTLY TO ENTRY GUIDANCE EXIT
034780,000262: 26,2403 53576 ENDEXIT # THAT DOES ENTRY DISPLAY, GRP 5.
034781,000263: 26,2404 20376 S62.3 # PUT DESIRED CDU VALUES IN CPHI'S FOR
034782,000264: # N22 DISPLAY.
034783,000265:
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Page 795
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034785,000267: # P63
034786,000268: # PROGRAM- P63
034787,000269: # MOD NO.- 0 MAR. 13, 1967
034788,000270: # MOD BY- R. HIRSCHKOP
034789,000271: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JIN 67 RESTARTS.
034790,000272: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 JUL 67 REVISED RESTARTS
034791,000273: # FUNCTION- 1) TO INITIALIZE THE ENTRY EQUATIONS
034792,000274: # 2) TO CONTINUE TO HOLD THE CM TO THE CORRECT ATTITUDE WITH RESPECT TO THE ATMOSPHERE FOR
034793,000275: # THE ONSET OF ENTRY DECELERATION. ROLL ANGLE IS LIFT UP/DOWN AS SPECIFIED BY HEADSUP.
034794,000276: # 3) TO SENSE .05 G
034795,000277: # CALLING SEQUENCE- DIRECTLY FROM P62
034796,000278: # EXIT- TO ENDOFJOB
034797,000279: # SUBROUTINE CALLS- NEWMODEX, GODSPR
034798,000280:
034799,000281: 26,2405 COUNT* $$/P63
034800,000282:
034801,000283: 26,2405 05354 P63 TC NEWMODEX
034802,000284: 26,2406 00077 MM 63 B-14
034803,000285:
034804,000286: # ARRIVE WITH EBANK = AOG.
034805,000287:
034806,000288: 26,2407 32430 CA ENTCADR # CONTINUE AT STARTENT AFTER CM/POSE.
034807,000289:
034808,000290: # AT END OF STARTENT, CHANGE ADDRESS IN GOTOADDR
034809,000291: # TO CONTINUE AT SCALEPOP THEREAFTER.
034810,000292:
034811,000293: 26,2410 55724 TS POSEXIT
034812,000294:
034813,000295: 26,2411 32427 CA V06N64 # G VI R TO SPLSH
034814,000296: # XXX.XX G XXXXX. FPS XXXX.X NM
034815,000297: 26,2412 55263 TS ENTRYVN # FOR DISPLAY CALL IN OVERNOUT.
034816,000298:
034817,000299: 26,2413 45017 CS ONE # IN CASE FLAG IS LEFT AT +1 BY DAP. THE
034818,000300: 26,2414 55727 TS P63FLAG # -1 ASSURES THAT EXO-ATM DAP WILL NOT
034819,000301: # CALL P63 OUT OF SEQUENCE IN P66.
034820,000302:
034821,000303: 26,2415 05412 TC PHASCHNG # THIS IS REQUIRED TO PRESERVE CLEANDSP
034822,000304: 26,2416 00004 OCT 00004 # RETURN IN EVENT OF AN EXTENDED VERB..
034823,000305:
034824,000306: 26,2417 04662 TC BANKCALL # FLUSH 'N22' DISPLAY, IF ON. (OMIT
034825,000307: 26,2420 20703 CADR CLEANDSP # DISPLAY DURING 'STARTENT' PASS.)
034826,000308:
034827,000309: 26,2421 05412 P63.1 TC PHASCHNG
034828,000310: 26,2422 00004 OCT 00004 # DISABLE. DISPLAY RESTARTED VIA ENTRY.
034829,000311:
034830,000312: 26,2423 05217 TC ENDOFJOB
034831,000313:
034832,000314: 26,2424 01474 V06N60 VN 0660
034833,000315: 26,2425 01475 V06N61 VN 0661
034834,000316: 26,2426 01477 V06N63 VN 0663
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Page 796
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034836,000318: 26,2427 01500 V06N64 VN 0664
034837,000319: 26,2430 52000 ENTCADR CADR STARTENT
034838,000320:
034839,000321: 26,2431 E7,1451 EBANK= RTINIT # TO CARY OVER INTO ENTRY STEERING.
034840,000322: 26,2431 03470 76067 POSECADR 2CADR CM/POSE
034841,000323:
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Page 797
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034843,000325: # PROGRAM- P64
034844,000326: # MOD NO.- 1 SEPT. 19, 1967
034845,000327: # MOD BY- R. HIRSCHKOP
034846,000328: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 REVISED COMMENTS FOR COLOSSUS
034847,000329: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 1 MAR '69 N74
034848,000330: # FUNCTION- 1. TO START ENTRY GUIDANCE AT .05G SELECTING ROLL ATTITUDE, CONSTANT DRAG LEVEL, AND
034849,000331: # DRAG THRESHOLD, KA, WHICH ARE KEYED TO THE .05G POINT.
034850,000332: # 2. SELECT FINAL PHASE P67 IF V < 27000 FPS WHEN .2G OCCURS.
034851,000333: # 3. ITERATE FOR UP-CONTROL SOLUTION P65 IF V > 27000 FPS AND IF ALTITUDE RATE AND DRAG
034852,000334: # LEVEL CONDITIONS ARE SATISFIED. ENTER P65 WHEN CONSTANT DRAG CONTROLLER HAS BROUGHT RANGE
034853,000335: # AS PREDICTED TO WITHIN 25 NM OF DESIRED RANGE.
034854,000336: # 4. SELECT FINAL PHASE P67 IF NO UP-CONTROL SOLUTION EXISTS WITH VL > 18000 FPS.
034855,000337: # CALLING SEQUENCE- BY RTB FROM REENTRY CONTROL
034856,000338: # EXIT- BACK TO REENTRY CONTROL
034857,000339: # SUBROUTINE CALLS- NEWMODEX
034858,000340:
034859,000341: 25,2000 BANK 25
034860,000342: 26,2000 SETLOC P60S1
034861,000343: 26,2000 BANK
034862,000344:
034863,000345: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
034864,000346:
034865,000347: 26,2433 COUNT* $$/P64
034866,000348:
034867,000349: 26,2433 05354 P64 TC NEWMODEX # ENTER VIA RTB WHEN .05G IS EXCEEDED.
034868,000350: 26,2434 00100 MM 64 B-14
034869,000351: 26,2435 32440 CA V06N74 # ROLLC VI D
034870,000352: # XXX.XX DEG XXXXX. FPS XXX.XX G
034871,000353: 26,2436 55263 TS ENTRYVN # DISPLAY VIA OVERNOUT.
034872,000354:
034873,000355: 26,2437 06030 TC DANZIG # ... AND CONTINUE IN INITROLL ...
034874,000356:
034875,000357: 26,2440 01512 V06N74 VN 0674
034876,000358:
|
|
Page 798
|
034878,000360: # PROGRAM: P65
034879,000361: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITION.
034880,000362: # FUNCTION: TO CONTINUE ENTRY GUIDANCE, USING THE UP-CONTROL PHASE TO STEER TO A CONTROLLED EXIT
034881,000363: # CONDITION. THIS PHASE TERMINATES A) IF D < Q7 FPSS, GO TO P66 ,
034882,000364: # B) IF RDOT NEG, AND IF V < VL +500 FPS, GO TO P67.
034883,000365: # CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL
034884,000366: # EXIT: BACK TO REENTRY CONTROL, OR TO ENDOFJOB.
034885,000367: # SUBROUTINE CALLS: NEWMODEX
034886,000368:
034887,000369: 26,2441 COUNT* $$/P65
034888,000370:
034889,000371: 26,2441 05354 P65 TC NEWMODEX # ENTER VIA RTB WHEN RANGE < 25 N M OF
034890,000372: 26,2442 00101 MM 65 B-14 # TARGET.
034891,000373:
034892,000374: 26,2443 35065 CA PRIO13
034893,000375: 26,2444 05134 TC NOVAC
034894,000376: 26,2445 1263 EBANK= ENTRYVN
034895,000377: 26,2445 02457 54062 2CADR P65.1
034896,000378:
034897,000379: 26,2447 05372 TC 2PHSCHNG # 2 PHASE CHG REQUIRED TO PREVENT RE-
034898,000380: 26,2450 00554 OCT 00554 # STARTING FLASHING DISPLAY TWICE.
034899,000381: 26,2451 10035 OCT 10035 # 4.55 SPOT AND SERVICER, HERE.
034900,000382: 26,2452 06006 TC INTPRET
034901,000383: 26,2453 47131 SSP RTB
034902,000384: 26,2454 03646 GOTOADDR # CHANGE ENTRY MODE TO UPCONTRL.
034903,000385: 26,2455 53035 UPCONTRL
034904,000386: 26,2456 52120 REFAZE10 # GO HERE TO REESTABLISH ENTRY SEQUENCER.
034905,000387: # AND CONTINUE AT UPCONTRL...
034906,000388:
034907,000389: 26,2457 05560 P65.1 TC DOWNFLAG
034908,000390: 26,2460 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
034909,000391:
034910,000392: 26,2461 32473 CA V16N69 # ROLLC DL (Q7) VL
034911,000393: 26,2462 04662 TC BANKCALL # XXX.XX DEG XXX.XX G XXXXX. FPS
034912,000394: 26,2463 21057 CADR GOFLASHR
034913,000395: 26,2464 02461 TC -3 # NODOFLAG IS SET..
034914,000396: 26,2465 02470 TC +3
034915,000397: 26,2466 02461 TC -5
034916,000398: 26,2467 02232 TC P61.3 # EST. GRP 4 FOR DSPLAY AND DO ENDOFJOB
034917,000399: # IF PROCEED, CONTINUE.
034918,000400: 26,2470 05546 TC UPFLAG
034919,000401: 26,2471 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
034920,000402:
034921,000403: 26,2472 02421 TC P63.1 # DISABLE GRP 4,START UP ENTRY DISPLAY
034922,000404: # N06V68 VIA OVERNOUT, AS USED IN P64.
034923,000405: 26,2473 04105 V16N69 VN 1669
034924,000406:
|
|
Page 799
|
034926,000408: # PROGRAM: P66
034927,000409: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITIONS.
034928,000410: # FUNCTION: KEEP CM ATTITUDE IN TRIM TO THE RELATIVE VELOCITY VECTOR. ENTRY GUIDANCE STOPS GENERATING
034929,000411: # ROLL COMMANDS UNTIL DRAG BUILDS UP TO Q7+0.5 FPSS.
034930,000412: # CALLING SEQUENCE: VIA RTB FROM REENTRY CONTROL.
034931,000413: # EXIT: BACK TO REENTRY CONTROL.
034932,000414: # SUBROUTINE CALLS: NEWMODEX
034933,000415:
034934,000416: 26,2474 COUNT* $$/P66
034935,000417:
034936,000418: 26,2474 05354 P66 TC NEWMODEX # ENTER VIA RTB WHEN D < Q7 FPSS
034937,000419: 26,2475 00102 MM 66 B-14
034938,000420:
034939,000421: 26,2476 35052 CA V06N22 # OGA IGA MGA
034940,000422: # XXX.XX DEG XXX.XX DEG XXX.XX DEG
034941,000423: 26,2477 02503 TC P66END # IN CASE CAME FROM P65, GO DISABLE GRP4,
034942,000424: # AND SET ENTRYDSP TO DO DISPLAY VIA
034943,000425: # OVERNOUT.
034944,000426:
034945,000427: # ... AND CONTINUE AT KEP2
034946,000428:
|
|
Page 800
|
034948,000430: # P67
034949,000431:
034950,000432: # PROGRAM- P67
034951,000433: # MOD NO.- 0 MAR. 16, 1967
034952,000434: # MOD BY- R. HIRSCHKOP
034953,000435: # FUNCTION- TO TERMINATE STEERING WHEN THE CM VELOCITY WRT EARTH = 1000 FT/SEC
034954,000436: # CALLING SEQUENCE-
034955,000437: # EXIT- TO POOH
034956,000438: # SUBROUTINE CALLS- GOFLASH
034957,000439:
034958,000440: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
034959,000441:
034960,000442: 26,2500 COUNT* $$/P67
034961,000443:
034962,000444: 26,2500 05354 P67 TC NEWMODEX # ENTER VIA RTB
034963,000445: 26,2501 00103 MM 67 B-14
034964,000446: 26,2502 32511 CA V06N66 # ROLLC XRNGERR DNRNGERR
034965,000447: # XXX.XX DEG XXXX.X NM XXXX.X NM
034966,000448: 26,2503 55263 P66END TS ENTRYVN # DISPLAY VIA OVERNOUT.
034967,000449:
034968,000450: 26,2504 05546 TC UPFLAG # (IN CASE CAME FROM P65. ENTRY DISPLAY
034969,000451: 26,2505 00134 ADRES ENTRYDSP # WILL FLUSH FLASHING DISP. IF STILL ON)
034970,000452: # BIT 13 FLAG 6
034971,000453: 26,2506 05412 KILLGRP4 TC PHASCHNG # DISABLE GRP4, IN CASE CAME FROM HUNTEST.
034972,000454: 26,2507 00004 OCT 00004 # (COME TO KILLGRP4 VIA RTB, RET TO CALLER)
034973,000455:
034974,000456: 26,2510 06030 TC DANZIG # ... AND CONTINUE AT PREDICT3 ...
034975,000457:
034976,000458: 26,2511 01502 V06N66 VN 0666
034977,000459:
034978,000460: 26,2512 BANK 26
034979,000461: 26,2000 SETLOC P60S2
034980,000462: 26,2000 BANK
034981,000463:
034982,000464: 26,2512 32543 P67.1 CA V16N67 # RTOGO LAT LONG
034983,000465: # XXXX.X NM XXX.XX DEG XXX.XX DEG
034984,000466: 26,2513 04662 TC BANKCALL
034985,000467: 26,2514 20720 CADR GOFLASH
034986,000468: 26,2515 02520 TC +3 # EFFECTIVE GOTOPOOH
034987,000469: 26,2516 02520 TC +2
034988,000470: 26,2517 02512 TC P67.1 # REDO
034989,000471:
034990,000472: 26,2520 46214 CS THREE # TURN OFF ENTRY DAP
034991,000473: 26,2521 00004 INHINT
034992,000474: 26,2522 70102 MASK CM/FLAGS # CM/DSTBY, GAMDIFSW
034993,000475: 26,2523 54102 TS CM/FLAGS
034994,000476: 26,2524 00003 RELINT
034995,000477: 26,2525 00006 EXTEND
034996,000478: 26,2526 32643 DCA SERVCAD2
034997,000479:
|
|
Page 801
|
034999,000481: 26,2527 53223 DXCH AVEGEXIT
035000,000482:
035001,000483: 26,2530 14106 TCF GOTOPOOH
035002,000484:
|
|
Page 802
|
035004,000486: 26,2531 43175 P67.2 VLOAD CLEAR # CALC PRESENT LAT, LONG, ALT.
035005,000487: 26,2532 01171 RN
035006,000488: 26,2533 00662 ERADFLAG # USE PAD RAD FOR ALT. (NOT SEEN ANYWAY)
035007,000489: 26,2534 16152 STODL ALPHAV
035008,000490: 26,2535 01205 PIPTIME # USE TIME OF RN
035009,000491: 26,2536 45014 CLEAR CALL
035010,000492: 26,2537 01663 LUNAFLAG
035011,000493: 26,2540 26370 LAT-LONG
035012,000494: 26,2541 77634 P67.3 RTB # ENTRY EXIT THAT OMITS DISPLAY.
035013,000495: 26,2542 53611 SERVNOUT
035014,000496:
035015,000497: 26,2543 04103 V16N67 VN 1667
035016,000498: 26,2544 4270 OCT41 = 33DEC
035017,000499: 26,2544 26,2642 SERVCAD2 = SERVCAD1
035018,000500:
|
|
Page 803
|
035020,000502: # SUBROUTINE NAME: S61.1
035021,000503: # MOD NO: 0 DATE: 21 FEB 67
035022,000504: # MOD BY: RR BAIRNSFATHER LOG SECTION: P61-P67
035023,000505: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
035024,000506:
035025,000507: # FUNCTIONAL DESCRIPTION: CALLED BY BOTH P61 AND P62
035026,000508: # FIRST, TEST TO SEE IF AVERAGEG IS ON. IF NOT, UPDATE THE STATE VECTOR TO PRESENT TIME + TOLERANCE
035027,000509: # AND TURN ON AVERAGEG AT THAT TIME, AND CONTINUE. OTHERWISE CONTINUE: SEE IF IMU Y AXIS IS
035028,000510: # WITHIN 30 DEG OF V*R. IF YES, EXIT SUBROUTINE S61.1. IF NO, SEE IF -Y AXIS OF IMU IS WITHIN
035029,000511: # 30 DEG OF V*R. IF YES, DISPLAY ALARM: 01427 IMU REVERSED.
035030,000512: # IF NO, DISPLAY ALARM: 01426 IMU UNSATISFACTORY.
035031,000513: # IN EITHER OF THESE LAST 2 CASES, WAIT 10 SEC AND THEN EXIT SUBROUTINE S61.1.
035032,000514:
035033,000515: # REMARK: THERE WILL BE A SHORT 10 SEC DELAY IF AN ALARM EXIT IS TAKEN. THE DELAY FOR INTEGRATION IS
035034,000516: # AS SHORT AS CAN BE MADE, BUT IS ARBITRARY SINCE IT DEPENDS ON THE AGE OF THE STATE VECTOR.
035035,000517:
035036,000518: # CALLING SEQUENCE: CALL
035037,000519: # S61.1
035038,000520:
035039,000521: # C(MPAC) UNSPECIFIED
035040,000522: # PUSHLOC UNSPECIFIED
035041,000523:
035042,000524: # SUBROUTINES CALLED: LOADTIME, CSMPREC, TPAGREE,
035043,000525: # WAITLIST, JOBSLEEP, JOBWAKE, PREREAD, ALARM, GODSPR, BANKCALL, DELAYJOB
035044,000526:
035045,000527: # NORMAL EXIT MODES: RVQ
035046,000528:
035047,000529: # ALARMS: 01426 IMU UNSATISFACTORY
035048,000530: # 01427 IMU REVERSED
035049,000531:
035050,000532: # OUTPUT: POSSIBLE ALARMS
035051,000533: # POSSIBLY TDEC1, RATT, VATT, RN, VN
035052,000534:
035053,000535: # ERASABLE INITIALIZATION REQUIRED:
035054,000536: # AVEGFLAG AVERAGEG ON OR OFF LEFT BY SERVICER
035055,000537: # PIPTIME (-28) CS TIME OF PIPA UPDATE LEFT BY READACCS
035056,000538: # RN (-29) M STATE VECTOR LEFT BY AVERAGEG
035057,000539: # VN (-7) M/CS STATE VECTOR LEFT BY AVERAGEG
035058,000540: # REFSMMAT (-1) .5 REF TO SM MATRIX LEFT BY LAST IMU ALIGNMENT
035059,000541:
035060,000542: # DEBRIS: QPRET
035061,000543: # POSSIBLY PIPTIME1, RATT, VATT, TDEC1, RN1, VN1, QTEMP, X1 IF UPDATED
035062,000544: # PUSH LIST LOCS USED BY CSMPREC
035063,000545:
035064,000546: 26,2544 E6,1661 EBANK= AOG # FOR 60GENRET, S61DT
035065,000547: 26,2544 BANK 26
035066,000548: 26,2000 SETLOC P60S3
035067,000549: 26,2000 BANK
035068,000550:
035069,000551: 26,2544 COUNT* $$/S61.1
035070,000552:
035071,000553: 26,2544 00006 S61.1 EXTEND
035072,000554: 26,2545 23773 QXCH 60GENRET # SAVE RET ADDR IN EB 6
035073,000555: 26,2546 04662 TC BANKCALL
035074,000556: 26,2547 17653 CADR R02BOTH
035075,000557: 26,2550 06006 TC INTPRET
|
|
Page 804
|
035077,000559: 26,2551 45014 BON CALRB
035078,000560: 26,2552 00716 AVEGFLAG # IS AVERAGEG ON
035079,000561: 26,2553 54604 S61.1A # YES
035080,000562: 26,2554 27543 MIDTOAV2 # GET FUTURE STATE VECTOR SOON AS CAN
035081,000563:
035082,000564: 26,2555 30155 CA MPAC +1 # RETURN INHINTED ***
035083,000565: 26,2556 55774 TS S61DT # FOR RESTART.
035084,000566: 26,2557 05245 TC WAITLIST
035085,000567: 26,2560 E7,1431 EBANK= DVCNTR
035086,000568: 26,2560 02565 54067 2CADR S61.1C
035087,000569:
035088,000570: 26,2562 05412 TC PHASCHNG
035089,000571: 26,2563 40434 OCT 40434
035090,000572: 26,2564 05217 TC ENDOFJOB
035091,000573:
035092,000574: 26,2565 35065 S61.1C CA PRIO13
035093,000575: 26,2566 05147 TC FINDVAC
035094,000576: 26,2567 E6,1661 EBANK= AOG
035095,000577: 26,2567 02603 54066 2CADR S61.1A -1
035096,000578:
035097,000579: 26,2571 00006 EXTEND
035098,000580: 26,2572 32643 DCA SERVCAD1 # HE WHO STARTS AVERAGEG MUST SERVICE
035099,000581: 26,2573 53223 DXCH AVEGEXIT # THE EXIT.
035100,000582:
035101,000583: 26,2574 05372 TC 2PHSCHNG
035102,000584: 26,2575 00454 OCT 00454
035103,000585: 26,2576 00415 OCT 00415
035104,000586:
035105,000587: 26,2577 35060 CA EBENTRY # SET EB= 7 FOR PREREAD.
035106,000588: 26,2600 54003 TS EBANK
035107,000589:
035108,000590: 26,2601 04701 TC POSTJUMP
035109,000591: 26,2602 76701 CADR PREREAD # PREREAD DOES TC TASKOVER.
035110,000592:
035111,000593: 26,2603 06006 TC INTPRET
035112,000594: 26,2604 77204 S61.1A BOVB VLOAD
035113,000595: 26,2605 57352 TCDANZIG # TURN OFF OVFIND, IF ON
035114,000596: 26,2606 01177 VN # VN (-7) M/CS
035115,000597: 26,2607 64235 VXV MXV
035116,000598: 26,2610 01171 RN # RN (-29) M
035117,000599: 26,2611 01736 REFSMMAT # .5 UNIT MATRIX
035118,000600: 26,2612 71256 UNIT DLOAD
035119,000601: 26,2613 00160 MPAC +3 # GET COS(THETA)/2
035120,000602: 26,2614 43240 BMN DAD
035121,000603: 26,2615 54622 S61.1B # DO TEST ON -YSM
035122,000604: 26,2616 14645 C(30)LIM # = 1.0 -.5 COS(30)
035123,000605: 26,2617 47004 BOVB RTB
035124,000606: 26,2620 54641 RETRN1
035125,000607: 26,2621 54626 RETRN3
|
|
Page 805
|
035127,000609: 26,2622 43276 S61.1B DCOMP DAD
035128,000610: 26,2623 14645 C(30)LIM # = 1.0 - .5 COS(30)
035129,000611: 26,2624 77404 BOVB EXIT
035130,000612: 26,2625 54631 RETRN2
035131,000613:
035132,000614: 26,2626 05650 RETRN3 TC ALARM
035133,000615: 26,2627 01426 OCT 01426 # IMU UNSATISFACTORY
035134,000616: 26,2630 02633 TC RETRN2 +2
035135,000617:
035136,000618: 26,2631 05650 RETRN2 TC ALARM
035137,000619: 26,2632 01427 OCT 01427 # IMU REVERSED
035138,000620:
035139,000621: 26,2633 35050 +2 CAF V05N09
035140,000622: 26,2634 04662 TC BANKCALL
035141,000623: 26,2635 20676 CADR GODSPR # DO DISPLAY
035142,000624: 26,2636 32646 CA 10SECS
035143,000625: 26,2637 04662 TC BANKCALL
035144,000626: 26,2640 01732 CADR DELAYJOB
035145,000627:
035146,000628: 26,2641 01773 RETRN1 TC 60GENRET
035147,000629:
035148,000630: 26,2642 E7,1431 EBANK= DVCNTR
035149,000631: 26,2642 03227 76067 SERVCAD1 2CADR SERVEXIT
035150,000632:
035151,000633: 26,2644 22111 17335 C(30)LIM 2DEC .566985 # = 1.0 - .5 COS(30)
035152,000634:
035153,000635: 26,2646 01750 10SECS DEC 1000 B-14 # 1000 CS
035154,000636: 26,2647 00000 13560 60SECDP 2DEC 6000 B-28 # 6000 CS
035155,000637:
|
|
Page 806
|
035157,000639: # PROGRAM NAME: S61.2 DATE: 14 FEB 67
035158,000640: # MOD NO: 1 LOG SECTION: P61-P67
035159,000641: # MOD BY: MORTH / BAIRNSFATHER
035160,000642: # MOD NO: 2 MOD BY: MORTH/BAIRNSFATHER DATE: 11 MAY 67 ADD 2ND ITER FOR ERAD AT 400K FT.
035161,000643: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
035162,000644: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 DIFFERENT EARTH/MOON SCALES IN TFF'S
035163,000645:
035164,000646: # FUNCTIONAL DESCRIPTION: CALLED BY P61. PROVIDES DISPLAYS FOR NOUNS N60 AND N63 .
035165,000647: # PROGRAM CALCULATES ENTRY DISPLAY OF MAXIMUM ACCELERATION EXPECTED (GMAX) AND ALSO THE EXPECTED
035166,000648: # INERTIAL VELOCITY (VPRED) AND ENTRY ANGLE (GAMMAEI) THAT WILL OBTAIN AT 400K FT ABOVE THE FISCHER
035167,000649: # ELLIPSOID. PROGRAM ALSO CALCULATES A SECOND DISPLAY RELATIVE TO THE EMSALT ABOVE FISCHER ELLIPSOID
035168,000650: # AND CONSISTS OF RANGE TO SPLASH FROM NOW (RTGO) , PREDICTED INERTIAL VELOCITY (VIO) , AND THE TIME TO
035169,000651: # GO FROM NOW (TTE) .
035170,000652:
035171,000653: # CALLING SEQUENCE: CALL
035172,000654: # S61.2
035173,000655: # C(MPAC) UNSPECIFIED
035174,000656: # PUSHLOC WILL BE SET TO ZERO.
035175,000657:
035176,000658: # SUBROUTINES CALLED: TFFCONIC, CALCTFF, TFF/TRIG, FISHCALC, GETERAD, VGAMCALC
035177,000659:
035178,000660: # NORMAL EXIT MODES: RTB P61.1
035179,000661:
035180,000662: # ALARMS: NONE
035181,000663:
035182,000664: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
035183,000665: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
035184,000666: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
035185,000667: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
035186,000668: # FOR TM, DP(GAMMAEI) = (GAMMAEI, RTGO) / 360
035187,000669: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
035188,000670: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
035189,000671: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
035190,000672: # PUSHLOC = 0
035191,000673: # CONIC PARAMETERS STORED IN VAC AREA (SEE TFF SUBROUTINES)
035192,000674:
035193,000675: # ERASABLE INITIALIZATION REQUIRED:
035194,000676: # RONE (-29) M STATE VECTOR LEFT BY USER
035195,000677: # VONE (-7) M/CS STATE VECTOR LEFT BY USER
035196,000678: # URONE UR/2 LEFT BY USER
035197,000679: # UNI (-1) UNIT NORMAL V*R LEFT BY ENTRY / P61
035198,000680: # THETAH THETAH/360 RANGE ANGLE LEFT BY ENTRY / P61
035199,000681: # UNITW (0) UNIT POLAR VECTOR LEFT BY PAD LOAD
035200,000682: # EMSALT (-29) M EMS INTERFACE ALTITUDE LEFT BY PAD LOAD
035201,000683: # ORBITAL REENTRY: 284643 FT, LUNAR REENTRY: 297431 FT.
035202,000684:
035203,000685: # DEBRIS: QPRET,
035204,000686: # ALL PDL LOCATIONS ABOVE 12D, INCLUDING X1,X2,S1,S2
035205,000687: # ALSO PDL+0 ... PDL+5, WHERE INITIAL PUSHLOC = PDL
035206,000688:
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|
Page 807
|
035208,000690: # THE FOLLOWING PUSH LIST LOCATIONS HAVE BEEN RESERVED FOR TFF ROUTINES AND ARE REPEATED HERE FOR CONVENIENCE.
035209,000691: # OF COURSE FOR S61.2 USAGE, EARTH ORIGIN SCALING IS USED.
035210,000692:
035211,000693: # BELOW E: IS USED FOR EARTH ORIGIN SCALE
035212,000694: # M: IS USED FOR MOON ORIGIN SCALE
035213,000695:
035214,000696: # RTERM = 18D TERMINAL RADIUS M E: (-29) M: (-27)
035215,000697: # NRTERM = 16D TERMINAL RADIUS M E: (-29+NR)
035216,000698: # M: (-27+NR)
035217,000699: # RMAG1 = 12D PRESENT RADIUS M E: (-29) M: (-27)
035218,000700: # NRMAG = 32D PRESENT RADIUS M E: (-29+NR)
035219,000701: # M: (-27+NR)
035220,000702: # SDELF/2 SIN(THETA) / 2
035221,000703: # CDELF/2 = 14D COS(THETA) / 2
035222,000704: # TFFX = 34D X, ARGUMENT OF SERIES T(X).
035223,000705: # TFFTEM = 36D ARG FOR TRANSFER ANGLE CALCULATION.
035224,000706: # TFFNP = 28D LC P M E: (-38+2NR) M: (-36+2NR)
035225,000707: # TFF/RTMU= 30D 1/SQRT(MU) E: (17) M: (14)
035226,000708: # TFFVSQ = 20D -(VN.VN/MU) 1/M E: (20) M: (18)
035227,000709:
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|
Page 808
|
035229,000711: 34,3763 BANK 34
035230,000712: 26,2000 SETLOC P60S2
035231,000713: 26,2000 BANK
035232,000714:
035233,000715: 26,2651 COUNT* $$/S61.2
035234,000716: # PDL LEFT AT ZERO BY TARGETNG
035235,000717:
035236,000718: 26,2651 45345 S61.2 DLOAD DSU
035237,000719: 26,2652 02020 EMSALT
035238,000720: 26,2653 15001 290KFT
035239,000721: 26,2654 71244 BPL DLOAD
035240,000722: 26,2655 54775 LUNENT
035241,000723: 26,2656 17354 1/RTMU # ESTABLISH MU FOR ORBITAL ENTRIES
035242,000724: 26,2657 77624 CALLCON CALL
035243,000725: 26,2660 56757 TFFCONIC # FILL VAC AREA WITH CONIC PARAMETERS
035244,000726:
035245,000727: 26,2661 45145 DLOAD CALL
035246,000728: 26,2662 15021 RTRIAL # 1ST GUESS AT TERMINAL RADIUS (-29)
035247,000729: 26,2663 57067 CALCTFF # SAVES MPAC IN RTERM (18D)
035248,000730:
035249,000731: 26,2664 77624 CALL # CALC SDELF/2, CDELF/2
035250,000732: 26,2665 56631 TFF/TRIG # RETURN WITH S(THETA) IN MPAC
035251,000733:
035252,000734: 26,2666 77624 CALL # GET FISCHER RADIUS (-29) M
035253,000735: 26,2667 55030 FISHCALC # ANS IN MPAC AND IN ERADM.
035254,000736:
035255,000737: 26,2670 45015 DAD CALL
035256,000738: 26,2671 02020 EMSALT
035257,000739: 26,2672 57067 CALCTFF # SAVES MPAC IN RTERM (18D)
035258,000740:
035259,000741: 26,2673 77676 DCOMP # NEGATIVE AS IN COUNTDOWN.
035260,000742: 26,2674 03733 STORE TTE1 # DECR TTE FROM BASE TTE1. (RESTART)
035261,000743: # DNLIST AND DSKY WILL USE TTE.
035262,000744: 26,2675 37727 STCALL TTE # LET MISS CONTRL DECR BY ELAPSED TIME
035263,000745: # TTE= TIME FROM NOW TO EMSALT +FISCHER
035264,000746:
035265,000747: 26,2676 56631 TFF/TRIG # S(THETA) IN MPAC ON RETURNING
035266,000748: # AND THETA= RANGE FROM NOW TO EMSALT
035267,000749:
035268,000750: 26,2677 77624 CALL
035269,000751: 26,2700 55030 FISHCALC
035270,000752: 26,2701 77624 CALL
035271,000753: 26,2702 56664 VRCALC
035272,000754: 26,2703 77624 CALL
035273,000755: 26,2704 56651 DISPTARG
035274,000756: 26,2705 77624 CALL
035275,000757: 26,2706 56651 DISPTARG
035276,000758: 26,2707 37714 STCALL RTGO
|
|
Page 809
|
035278,000760: 26,2710 55051 VGAMCALC
035279,000761:
035280,000762: 26,2711 77605 DMP # MPAC = GAMMA
035281,000763: # PDL0 HAS VGAM.
035282,000764: 26,2712 43265 BDDV DAD
035283,000765: 26,2713 15027 VEMSCON # -HS D 180/PI (-14)
035284,000766: 26,2714 00001 0 # VGAM FROM PDL0.
035285,000767: 26,2715 17725 STODL VIO # PREDICTED VELOCITY AT EMSALT.
035286,000768:
035287,000769: # GAMMA AND VGAM AT 300K FT ARE REQUIRED BY GMAX
035288,000770: # ALGORITHM.
035289,000771:
035290,000772: 26,2716 02241 ERADM # EARTH RADIUS FROM GETERAD (-29) M
035291,000773: # = FISCHER RADIUS (-29)
035292,000774:
035293,000775: 26,2717 77615 DAD
035294,000776: 26,2720 06462 300KFT # M (-29)
035295,000777: 26,2721 34023 STCALL RTERM # TERMINAL RADIUS M (-29)
035296,000778:
035297,000779: 26,2722 55046 PREVGAM # VGAMCALC WITH NEW RTERM
035298,000780:
035299,000781: # VBAR = (V(FPS) - 36KF/S) / 20KF/S
035300,000782: # GMAX = (4/(1 + 4.8 VBARSQ))(GAM - 6.05 - 2.4 VBARSQ) - 10(L/D - .3) + 10 ASSUME L/D = 0.3, BANK =0.
035301,000783:
035302,000784: # GMAXCALC
035303,000785: 26,2723 45325 PDDL DSU # GAM TO PDL2
035304,000786: 26,2724 00001 0 # VGAM IS IN PDL0 (-7)
035305,000787: 26,2725 15005 36KFT/S # (-7) M/CS
035306,000788: 26,2726 63471 DDV DSQ
035307,000789: 26,2727 15007 20KFT/S # (-6) M/CS
035308,000790: 26,2730 00001 STORE 0 # VBARSQ (-2) TO PDL0
035309,000791:
035310,000792: 26,2731 43205 DMP DAD
035311,000793: 26,2732 15011 KR1
035312,000794: # GAM, POS DOWN, FROM PDL2
035313,000795: 26,2733 41215 DAD DMP
035314,000796: 26,2734 15013 -6.05DEG
035315,000797: 26,2735 15015 KR2
035316,000798: 26,2736 77725 PDDL # XCH PDL+0 FOR VBARSQ (-2)
035317,000799: 26,2737 43271 DDV DAD
035318,000800: 26,2740 15025 KR4
035319,000801: 26,2741 17366 DP2(-4)
035320,000802: 26,2742 77665 BDDV
035321,000803: # NUM FROM PDL+0
035322,000804: 26,2743 51015 DAD BPL
035323,000805: 26,2744 15017 KR3
035324,000806: 26,2745 54750 +3
035325,000807: 26,2746 77745 DLOAD
035326,000808: 26,2747 15335 HI6ZEROS
035327,000809: 26,2750 17722 STODL GMAX # 100 GMAX (-14)
|
|
Page 810
|
035329,000811: # DISPLAY USES GMAX AS SP, SO LO WORD IS WRITTEN OVER BY VPRED.
035330,000812: 26,2751 02241 ERADM # = FISCHER RADIUS (-29) M
035331,000813: 26,2752 45015 DAD CALL # 2 ND ITERATION FOR FISCHER RADIUS
035332,000814: 26,2753 15023 400KFT
035333,000815: 26,2754 57067 CALCTFF # ESTABLISH TRANSFER ANGLE DATA.
035334,000816: 26,2755 77624 CALL
035335,000817: 26,2756 56631 TFF/TRIG # GET SIN, COS DELF
035336,000818: 26,2757 77624 CALL
035337,000819: 26,2760 55030 FISHCALC # GET CORRESPONDING FISCHER RADIUS.
035338,000820:
035339,000821: 26,2761 73015 DAD LXA,2 # SAVE HI-WORD FOR DOWNLIST.
035340,000822: 26,2762 15023 400KFT # M (-29)
035341,000823: 26,2763 03713 RTGO # (RANGE ANGLE FROM EMSALT) / 360
035342,000824: 26,2764 34023 STCALL RTERM
035343,000825: 26,2765 55046 PREVGAM # VGAMCALC WITH NEW RTERM
035344,000826:
035345,000827: 26,2766 67076 DCOMP SXA,2 # HI-WORD OF EACH ON DOWNLIST.
035346,000828: 26,2767 00155 MPAC +1
035347,000829: 26,2770 17771 STODL GAMMAEI # CONIC GAMMA/360 AT 400K FT. (HI-WORD)
035348,000830: # CONIC RTGO/360 FROM EMSALT (LOW-WORD)
035349,000831: # FOR TM, DP(GAMMAEI) = (GAMMA, RTGO) / 360
035350,000832:
035351,000833: # VGAM FROM PDL+0 (-7)
035352,000834: 26,2771 77626 STADR
035353,000835: 26,2772 74010 STORE VPRED # CONIC VELOCITY AT 400K FT
035354,000836:
035355,000837: 26,2773 77634 RTB
035356,000838: 26,2774 54267 P61.1
035357,000839: # PDL BACK TO ZERO.
035358,000840:
035359,000841: 26,2775 52145 LUNENT DLOAD GOTO
035360,000842: 26,2776 06456 1/RTMUE # ESTABLISH MU FOR LUNAR TYPE ENTRIES
035361,000843: 26,2777 54657 CALLCON
035362,000844: 26,3000 00002 26244 290KFT 2DEC 88392.0 B-29
035363,000845:
035364,000846: 26,3002 00052 05716 KTETA1 2DEC* .421844723 E2 B-14* # 1100 2PI/16384(163.84)
035365,000847:
035366,000848: 26,3004 33335 05707 36KFT/S 2DEC 109.728 B-7 # (-7) M/CS = 36 KFT/S (-7)
035367,000849:
035368,000850: 26,3006 36365 30244 20KFT/S 2DEC 121.92 B-7 # (-6) M/CS = 2 20KFT/S (-7)
035369,000851:
035370,000852: 26,3010 77113 42770 KR1 2DEC -.026666667 # = -2.4 4 / 360
035371,000853:
035372,000854: 26,3012 77354 65030 -6.05DEG 2DEC -.016805556 # = -6.05 / 360
035373,000855:
035374,000856: 26,3014 21450 00001 KR2 2DEC .54931641 # = (360/4) 100 (-14) = 9000 B-14
035375,000857:
035376,000858: 26,3016 01750 00000 KR3 2DEC 1000 B-14 # = 100 (10.0) (-14) G,S
|
|
Page 811
|
035378,000860: # ASSUMES L/D = 0.3, BANK =0.
035379,000861: 26,3020 00305 04541 RTRIAL 2DEC 6460097.18 B-29 # RPAD +284643 FT =21 194 545 FT
035380,000862: # RPAD DEFINED AS 20 909 901.57 FT =6 373 338 M
035381,000863: 26,3022 00003 27040 400KFT 2DEC 121920 B-29 # METERS
035382,000864:
035383,000865: # 300KFT 2DEC 91440 B-29 (-29) M
035384,000866:
035385,000867: # EMSALT 2DEC 86759.2 B-29 284643 FT (-29) M (ORBITAL REENTRY)
035386,000868:
035387,000869: # EMSALT 2DEC 90657 B-29 297431 FT (-29) M (LUNAR REENTRY)
035388,000870:
035389,000871: 26,3024 32525 12525 KR4 2DEC .833333333
035390,000872:
035391,000873: 26,3026 23,2461 300KFT EQUALS MINPERE
035392,000874: 26,3026 77777 76601 VEMSCON 2DEC -.0389676 B-14 # = -HS D / 2 PI (-14) M SQ / CS SQ
035393,000875:
035394,000876: # = -16369 .05G 32.2 .3048 .3048/2 PI (-14)
035395,000877:
|
|
Page 812
|
035397,000879: # SUBROUTINE NAME: FISHCALC (USED BY S61.2) DATE: 01.21.67
035398,000880: # MOD NO: 0 LOG SECTION: P61-P67
035399,000881: # MOD BY: MORTH / BAIRNSFATHER
035400,000882: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 MAY 67 INCLUDE GETERAD CALL
035401,000883:
035402,000884: # FUNCTIONAL DESCRIPTION: GIVEN THE PRESENT POSITION, UNITR, CALCULATE A NEW UNITR THAT IS ROTATED THROUGH
035403,000885: # TRANSFER ANGLE, THETA, ALONG TRAJECTORY. THEN CALCULATE SIN(LAT) AND USE TO OBTAIN FISCHER RADIUS.
035404,000886:
035405,000887: # SINCE FISHCALC USES UNI (LEFT BY ENTRY) EARTH SCALING IS ASSUMED. (WILL IMPROVE FOR SUITABLE TENNANT)
035406,000888:
035407,000889: # CALLING SEQUENCE: CALL
035408,000890: # FISHCALC
035409,000891: # ENTER WITH .5 SIN(THETA) IN MPAC.
035410,000892: # PUSHLOC IS AT PDL+0, AN ARBITRARY BASE VALUE IF LEQ 8D
035411,000893:
035412,000894: # SUBROUTINES CALLED: GET ERAD
035413,000895:
035414,000896: # NORMAL EXIT MODE: RVQ
035415,000897:
035416,000898: # EXIT MODES: NONE
035417,000899:
035418,000900: # OUTPUT: ERADM (-29) M IN MPAC ON RETURNING
035419,000901: # NEW UNIT VECTOR NOT SAVED.
035420,000902: # SIN(LAT) NOT SAVED.
035421,000903: # PUSHLOC AT PDL+0
035422,000904:
035423,000905: # ERASEABLE INITIALIZATION REQUIRED:
035424,000906: # SDELF/2 =SIN(THETA) / 2, IN MPAC LEFT BY TFF/TRIG
035425,000907: # CDELF/2 =COS(THETA) / 2, STORED IN PDL 14D LEFT BY TFF/TRIG
035426,000908: # RONE (-29) M LEFT BY USER
035427,000909: # VONE (-7) M/CS LEFT BY USER
035428,000910: # URONE UR/2 LEFT BY USER
035429,000911: # UNI .5 UNIT(V*R) LEFT BY ENTRY / P61
035430,000912: # UNITW UNIT NORTH POLE LEFT BY PAD LOAD
035431,000913:
035432,000914: # DEBRIS: QPRET, PDL+0 ... PDL+5
035433,000915: # - - -
035434,000916: 26,3030 47315 FISHCALC PDVL VXV # URPR = UR CDELF + UHOR SDELF
035435,000917: 26,3031 02343 URONE
035436,000918: 26,3032 03502 UNI
035437,000919: 26,3033 76561 VXSC VSL1
035438,000920: # SIN(THETA) / 2 FROM PDL+0
035439,000921: 26,3034 74315 PDVL VXSC # TO PDL+0, +5
035440,000922: 26,3035 02343 URONE
035441,000923: 26,3036 00017 CDELF/2 # COS(THETA) / 2
035442,000924: 26,3037 45455 VAD STADR
035443,000925: 26,3040 74235 STORE URH # FOR USE IN RTGO FROM EMS DISPLAY
035444,000926: 26,3041 72441 DOT SL1
035445,000927: 26,3042 01714 UNITW # FULL UNIT VECTOR UNIT NORTH
035446,000928: 26,3043 02156 STORE ALPHAV +4 # = .5 SIN(LAT)
035447,000929: 26,3044 77650 DUMPFISH GOTO
035448,000930: 26,3045 26505 GETERAD # SAVES FISCHER RAD (-29) M IN ERADM AND
035449,000931: # IN MPAC. RETURNS TO CALLER VIQ QPRET.
035450,000932:
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|
Page 813
|
035452,000934: # SUBROUTINE NAME: VGAMCALC (USED BY S61.2) DATE: 01.21.67
035453,000935: # MOD NO: 0 LOG SECTION: P61-P67
035454,000936: # MOD BY: MORTH / BAIRNSFATHER
035455,000937: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
035456,000938: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
035457,000939: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
035458,000940:
035459,000941: # FUNCTIONAL DESCRIPTION: EARTH CENTERED VIS VIVA CALCULATION OF TERMINAL VELOCITY AND GAMMA (REL TO
035460,000942: # HORIZONTAL) GIVEN THE SCALAR QUANTITIES: PRESENT RADIUS AND VELOCITY AND THE TERMINAL RADIUS.
035461,000943: # THE USER MUST APPEND PROPER SIGN TO GAMMA, SINCE IT IS CALCULATED AS A POSITIVE NUMBER.
035462,000944: # THE EQUATIONS ARE
035463,000945:
035464,000946: # VGAM = SQRT(VN VN/MU + 2(RN-RTERM)/(RN RTERM) ) RTMU
035465,000947:
035466,000948: # COSGAM = H / RTERM VGAM = SQRT (LCP) / (RTERM VGAM/RTMU)
035467,000949:
035468,000950: # VGAMCALC ASSUMES THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT RADIUS. BOTH CALCTFF AND CALCTPER
035469,000951: # MAKE THIS ASSUMPTION.
035470,000952:
035471,000953: # CALLING SEQUENCE: CALL STCALL RTERM
035472,000954: # VGAMCALC PREVGAM
035473,000955: # PUSHLOC AT PDL+0, ARBITRARY IF LEQ 12D
035474,000956: # C(MPAC) UNSPECIFIED C(MPAC)=NEW RTERM
035475,000957:
035476,000958: # SUBROUTINES CALLED: NONE
035477,000959:
035478,000960: # NORMAL EXIT MODE: RVQ
035479,000961:
035480,000962: # ALARMS: NONE
035481,000963: #
035482,000964: # OUTPUT: GAMMA / 360 IN MPAC, POSITIVE NUMBER
035483,000965: # VGAM E: (-7) M: (-5) M/CS IN PDL+0
035484,000966: # PUSHLOC AT PDL+2
035485,000967:
035486,000968: # ERASABLE INITIALIZATION REQD:
035487,000969: # TFF/RTMU E: (17) M: (14) 1/SQRT(MU) LEFT BY TFFCONIC.
035488,000970: # RMAG1 E: (-29) M: (-27) M PRESENT RADIUS LENGTH LEFT BY TFFCONIC
035489,000971: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
035490,000972: # M: (-27+NR)
035491,000973: # RTERM E: (-29) M: (-27) M TERMINAL RADIUS LENGTH LEFT BY CALCTFF
035492,000974: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF
035493,000975: # M: (-27+NR)
035494,000976: # TFFVSQ E: (20) M: (18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORM LEFT BY TFFCONIC
035495,000977: # TFFNP E: (-38+2NR) M LCP, SEMI-LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC
035496,000978: # M: (-36+2NR)
035497,000979:
035498,000980: # DEBRIS: QPRET, PDL+0 ... PDL+3
035499,000981: # RTERM, NRTERM IF PREVGAM ENTERED.
|
|
Page 814
|
035501,000983:
035502,000984: 26,3046 77657 PREVGAM SL* # ENTER WITH NEW RTERM IN MPAC
035503,000985: # E: (-29) M: (-27)
035504,000986: 26,3047 20201 0,1 # X1 = -NR
035505,000987: 26,3050 00021 STORE NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
035506,000988:
035507,000989: 26,3051 41345 VGAMCALC DLOAD DMP
035508,000990: 26,3052 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
035509,000991: 26,3053 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
035510,000992: 26,3054 45325 PDDL DSU # RMAG RTERM M E: (-58+2NR) M: (-54+2NR)
035511,000993: 26,3055 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
035512,000994: 26,3056 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
035513,000995: 26,3057 56257 SL* DDV # 2(RN-RTERM) E: (-30+NR) M: (-28+NR)
035514,000996: 26,3060 20171 0 -8D,1 # (-8+NR)
035515,000997: # PUSH UP PRODUCT.
035516,000998: 26,3061 77625 DSU
035517,000999: 26,3062 00025 TFFVSQ # -(V SQ/MU) E: (20) M: (18)
035518,001000: 26,3063 41566 SQRT PUSH # SAVE VGAM/RT(MU) FOR NOW. E: (10) M: (9)
035519,001001: 26,3064 65271 DDV PDDL # XCH PDL+0, LEAVING VGAM FOR OUTPUT.
035520,001002: # VGAM TO PDL M/CS E: (-7) M: (-2)
035521,001003: 26,3065 00037 TFF/RTMU # E: (17) M: (14)
035522,001004: 26,3066 65205 DMP PDDL # RTERM VGAM/RTMU E: (-19+NR) M: (-18+NR)
035523,001005: 26,3067 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
035524,001006: 26,3070 00035 TFFNP # LC P =H.H/MU M E: (-38+2NR) M: (-36+2NR)
035525,001007: 26,3071 56366 SQRT DDV # E: (-19+NR) M: (-18+NR)
035526,001008: # PUSH UP DEN E: (-19+NR) M: (-18+NR)
035527,001009: # USE DDV OVFL AS LIMITER (|COS| <1.0)
035528,001010: 26,3072 65542 SR1 ACOS
035529,001011: 26,3073 77616 DUMPVGAM RVQ
035530,001012: # CALLER MUST SUPPLY OWN SIGN ...
035531,001013: # 22W 27MS
035532,001014:
|
|
Page 815
|
035534,001016: # SUBROUTINE NAME: TFF/TRIG (USED BY S61.2) DATE 01.17.67
035535,001017: # MOD NO: 0 LOG SECTION: P61-P67
035536,001018: # MOD BY: RR BAIRNSFATHER
035537,001019: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67
035538,001020: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
035539,001021:
035540,001022: # FUNCTIONAL DESCRIPTION: USED BY ENTRY DISPLAY TO CALCULATE SIN(THETA), COS(THETA) FROM DATA LEFT IN
035541,001023: # PDL BY TFF SUBROUTINES. THE EQNS ARE
035542,001024:
035543,001025: # COS(THETA) = 1-2 ABS(ARG) / (RN RTERM (1+X) )
035544,001026: # 2
035545,001027: # SIN(THETA) = SGN(ARG) SQRT(1-COS (THETA) )
035546,001028:
035547,001029: # WHERE THETA = TRANSFER ANGLE
035548,001030: # AND ARG = P Z ABS(Z) IF ALFA ZZ LEQ 1
035549,001031: # ARG = (P / ALFA) SGN(Q1 + R 1/Z) IF ALFA Z Z G 1
035550,001032: # AND ARG HAS BEEN AFFIXED WITH THE SIGN OF SIN(THETA).
035551,001033:
035552,001034: # CALLING SEQUENCE: CALL
035553,001035: # TFF/TRIG
035554,001036: # PUSHLOC AT PDL+0, ARBITRARY IF NOT EQ 14D
035555,001037: # C(MPAC) UNSPECIFIED
035556,001038:
035557,001039: # SUBROUTINES CALLED: NONE
035558,001040:
035559,001041: # NORMAL EXIT MODES: RVQ
035560,001042:
035561,001043: # ALARMS: NONE
035562,001044:
035563,001045: # OUTPUT: C(MPAC) = .5 SIN(THETA)
035564,001046: # CDELF/2 = .5 COS(THETA) (IN PDL 14D)
035565,001047: # PUSHLOC AT PDL+0
035566,001048:
035567,001049: # ERASABLE INITIALIZATION REQUIRED:
035568,001050: # TFFX X LEFT BY CALCTFF OR CALCTPER
035569,001051: # TFFTEM E: (-59+2NR) ARG LEFT BY CALCTFF OR CALCTPER
035570,001052: # M: (-55+2NR) WHERE ARG = LCP ZZ SGN(DELF) OR ARG = LCP/ALFA SGN(DELF)
035571,001053: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF OR CALCTPER
035572,001054: # M: (-27+NR)
035573,001055: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
035574,001056: # M: (-27+NR)
035575,001057:
035576,001058: # DEBRIS: QPRET, CDELF/2
035577,001059:
035578,001060: 27,2631 BANK 27
035579,001061: 27,2000 SETLOC P60S5
035580,001062: 27,2000 BANK
035581,001063: 27,2631 70545 TFF/TRIG DLOAD SR1
035582,001064: 27,2632 00043 TFFX
035583,001065: 27,2633 41215 DAD DMP
035584,001066: 27,2634 15333 HIDPHALF
035585,001067: 27,2635 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
035586,001068: 27,2636 55205 DMP BDDV
035587,001069: 27,2637 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
035588,001070: 27,2640 00045 TFFTEM # P ZSQ OR P/ALFA E: (-59+2NR) M: (-55+2NR)
035589,001071: 27,2641 44246 ABS BDSU # THE SIGN IS FOR SDELF.
035590,001072: 27,2642 15333 HIDPHALF
035591,001073: 27,2643 00017 STORE CDELF/2 # .5 COS(THETA)
035592,001074: 27,2644 57516 DSQ DCOMP # KEEP HONEST FOR SQRT.
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|
Page 816
|
035594,001076: 27,2645 75415 DAD SQRT
035595,001077: 27,2646 15325 HIDP1/4
035596,001078: 27,2647 43565 DUMPTRIG SIGN RVQ
035597,001079: 27,2650 00045 TFFTEM # AFFIX SIGN(DELE/2)
035598,001080: # RETURN WITH .5 SIN(THETA) IN MPAC
035599,001081:
035600,001082: # 16W 15MS
035601,001083:
035602,001084: 27,2651 77620 DISPTARG STQ # C(MPAC) = TRGO ESTIMATE
035603,001085: 27,2652 03373 60GENRET
035604,001086: 27,2653 45205 DMP DSU
035605,001087: 27,2654 15003 KTETA1
035606,001088: 27,2655 03733 TTE1
035607,001089: 27,2656 37606 STCALL DTEAROT
035608,001090: 27,2657 46225 EARROT2
035609,001091: 27,2660 77624 CALL
035610,001092: 27,2661 56664 VRCALC
035611,001093: 27,2662 77650 GOTO
035612,001094: 27,2663 03373 60GENRET
035613,001095: 27,2664 50375 VRCALC VLOAD DOT
035614,001096: 27,2665 03542 URH
035615,001097: 27,2666 03474 RT
035616,001098: 27,2667 65512 SL2 ACOS
035617,001099: 27,2670 77616 RVQ
035618,001100:
035619,001101: # END OF PROGRAM S61.2
035620,001102:
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Page 817
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035622,001104: # PROGRAM DESCRIPTION S62.3 DATE 10JAN67
035623,001105: # MOD NO 1 LOG SECTION P60-P67
035624,001106: # MOD BY ZELDIN
035625,001107: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 15 MAY 67 CHANGED TO REF COORDS.
035626,001108: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 ALFAPAD CHANGES MADE.
035627,001109:
035628,001110: # FUNCTIONAL DESCRIPTION
035629,001111:
035630,001112: # COMPUTE DESIRED GIMBOL ANGLES FOR ENTRY ATTITUDE
035631,001113: # THE FOLLOWING TRAJECTORY TRIAD IS AVAILABLE IN MEMORY AND IS COMPUTED EACH 2 SECONDS BY CM/POSE IN
035632,001114: # REFERENCE COORDINATES (V = VELOCITY RELATIVE TO EARTH) :
035633,001115:
035634,001116: # UXA = -UNIT(V)
035635,001117: # UYA = UNIT(V*R)
035636,001118: # UZA = UXA*UYA
035637,001119:
035638,001120: # GENERATE A DESIRED BODY TRIAD FOR TRIMMED FLIGHT WITH RESPECT TO THE RELATIVE VELOCITY VECTOR, USING
035639,001121: # ROLL COMMAND AND TRIM ANGLE OF ATTACK:
035640,001122:
035641,001123: # UXD = UNIT(UYD*UXA) SIN(ALFATRIM) + UXA COS(ALFATRIM)
035642,001124: # UYD = UYA COS(ROLLC) + UZA SIN(ROLLC)
035643,001125: # UZD = UXD * UYD
035644,001126:
035645,001127: # USE THE DESIRED SET (IN REFERENCE COORDS) AND REFSMMAT TO CALL CALCGA AND OBTAIN GIMBAL ANGLES
035646,001128: # IN 2S, C IN MPAC, +2 AND THETAD, +2.
035647,001129:
035648,001130: # CALLING SEQUENCE
035649,001131:
035650,001132: # L CALL
035651,001133: # L+1 S62.3
035652,001134:
035653,001135: # NORMAL EXIT MODE
035654,001136:
035655,001137: # RETURN VIA QPRET DIRECTLY FROM CALCGA.
035656,001138:
035657,001139: # SUBROUTINES CALLED
035658,001140:
035659,001141: # CALCGA
035660,001142:
035661,001143: # ALARM OR ABORT MODES
035662,001144:
035663,001145: # NONE
035664,001146:
035665,001147: # ERASABLE INITIALIZATION REQUIRED
035666,001148:
035667,001149: # ROLLC ROLL COMMAND DP 1:S COMP AT 1REV
035668,001150: # ALFAPAD SP 1S,C / 180 LEFT BY PAD LOAD ALFATRIM IS NEGATIVE.
035669,001151: # UXA/2 REF COORDS LEFT BY CM/POSE
035670,001152: # UYA/2 REF COORDS LEFT BY CM/POSE
035671,001153: # UZA/2 REF COORDS LEFT BY CM/POSE
035672,001154:
035673,001155: # OUTPUT
035674,001156: #
035675,001157: # CPHI GIMBAL ANGLES (O,I,M) 2:S COMP TP (O,I,M)/180
035676,001158:
035677,001159: # DEBRIS
035678,001160:
035679,001161: # QTEMP, QPRET, PUSHLIST
035680,001162:
035681,001163: 10,2376 BANK 10
035682,001164: 10,2000 SETLOC P60S4
035683,001165: 10,2000 BANK
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Page 818
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035685,001167: 10,2376 COUNT* $$/S62.3
035686,001168:
035687,001169: 10,2376 67201 S62.3 SETPD SLOAD
035688,001170: 10,2377 00001 0
035689,001171: 10,2400 03012 ALFAPAD # ALFATRIM / 180, ALFA IS NEG.
035690,001172: 10,2401 41542 SR1 PUSH
035691,001173: 10,2402 65346 COS PDDL # XCH PDL, COS TO PDL0
035692,001174: 10,2403 65356 SIN PDDL # SIN TO PDL2
035693,001175: 10,2404 03316 ROLLC
035694,001176: 10,2405 74346 COS VXSC
035695,001177: 10,2406 03550 UYA/2 # REF COORDS
035696,001178: 10,2407 73525 PDDL SIN # PUSH VECTOR INTO PDL4,.9
035697,001179: 10,2410 03316 ROLLC
035698,001180: 10,2411 53361 VXSC VAD
035699,001181: 10,2412 03556 UZA/2 # REF COORDS
035700,001182: # VECTOR FROM PDL4, 9
035701,001183: 10,2413 77772 VSL1
035702,001184: 10,2414 02722 STORE YNB # = UYD REF COORDS
035703,001185:
035704,001186: 10,2415 76435 VXV VSL1
035705,001187: 10,2416 03542 UXA/2 # REF COORDS
035706,001188: 10,2417 65361 VXSC PDDL
035707,001189: # SIN TRIM FROM PDL2
035708,001190: # XCH PDL0 FOR COS TRIM
035709,001191: 10,2420 53361 VXSC VAD
035710,001192: 10,2421 03542 UXA/2 # REF COORDS
035711,001193: # FROM PDL0
035712,001194: 10,2422 77772 VSL1
035713,001195: 10,2423 02714 STORE XNB # X SC AXIS (.5 UNIT) REF COORDS
035714,001196:
035715,001197: 10,2424 76435 VXV VSL1
035716,001198: 10,2425 02722 YNB
035717,001199: 10,2426 26730 STOVL ZNB # Z SC IN REF COOR. SCALED AT 2
035718,001200: 10,2427 01736 REFSMMAT
035719,001201: 10,2430 26672 STOVL XSM
035720,001202: 10,2431 01744 REFSMMAT +6
035721,001203: 10,2432 26700 STOVL YSM
035722,001204: 10,2433 01752 REFSMMAT +12D
035723,001205: 10,2434 02706 STORE ZSM
035724,001206:
035725,001207: 10,2435 52014 CLEAR GOTO
035726,001208: 10,2436 00260 CPHIFLAG # CAUSE CALCGA TO STORE ANS IN TP CPHI
035727,001209: 10,2437 47311 CALCGA
035728,001210: # CALCGA WILL RETURN TO ORIGINAL CALLER
035729,001211: # VIA QPRET WITH 2,S COMP. ANGLES IN CPHI
035730,001212:
035731,001213:
035732,001214:
End of include-file P61-P67.agc. Parent file is MAIN.agc