Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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031466,000002: ## Copyright: Public domain.
031467,000003: ## Filename: P40-P47.agc
031468,000004: ## Purpose: A section of LM131 revision 1.
031469,000005: ## It is part of the reconstructed source code for the final
031470,000006: ## release of the flight software for the Lunar Module's (LM)
031471,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
031472,000008: ## been reconstructed from a listing of Luminary 131 and a dump
031473,000009: ## of a core rope memory module B5, part number 2010802-171,
031474,000010: ## which is the only module different between LM131 revision 1
031475,000011: ## and Luminary 131. The executable generated from this source
031476,000012: ## has been verified against the module dump, so while the names,
031477,000013: ## comments, and ordering may not be exactly correct, the
031478,000014: ## resulting binary is.
031479,000015: ## Reference: pp. 747-779
031480,000016: ## Assembler: yaYUL
031481,000017: ## Contact: Ron Burkey <info@sandroid.org>.
031482,000018: ## Website: www.ibiblio.org/apollo/index.html
031483,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
031484,000020:
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Page 747
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031486,000022: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031487,000023: # MOD 03 BY PETER ADLER MARCH 3, 1967
031488,000024: # CALLED VIA JOB FROM V37E
031489,000025:
031490,000026: # FUNCTIONAL DESCRIPTION
031491,000027: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031492,000028: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2003.
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031494,000030: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031495,000031: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031496,000032: # PGNCS CONTROLLED DPS MANEUVER.
031497,000033: # 5) IN POSTBURN -- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031498,000034: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031499,000035: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031500,000036: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031501,000037:
031502,000038: # SUBROUTINES USED
031503,000039: # R02 IMU STATUS CHECK
031504,000040: # S40.1 COMPUTATION OF THRUST DIRECTION
031505,000041: # S40.13 LENGTH OF BURN
031506,000042: # S40.2,3 PREFERRED IMU ORIENATTION
031507,000043: # S40.8 X PRODUCT STEERING
031508,000044: # S40.9 LAMBERT VTOGAIN
031509,000045: # R60LEM ATTITUDE MANEUVER
031510,000046: # LEMPREC EXTRAPOLATE STATE VECTOR
031511,000047: # PREREAD AVERAGE G, SERVICER
031512,000048: # ALLCOAST DAP COASTING INITIALIZATION
031513,000049: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031514,000050: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031515,000051: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031516,000052: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031517,000053:
031518,000054: # RESTARTS VIA GROUP 4
031519,000055:
031520,000056: # DISPLAYS
031521,000057: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
031522,000058: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031523,000059: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031524,000060: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031525,000061: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031526,000062: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031527,000063: # V05N09 POSSIBLE ALARMS
031528,000064: # V50N07 PLEASE SELECT P00
031529,000065:
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Page 748
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031531,000067: # VIA R30
031532,000068:
031533,000069: # V06N44 HAPO, PERI, TFF
031534,000070: # V06N35 TIME TO PERIGEE, HMS
031535,000071:
031536,000072: # ALARM OR ABORT EXIT MODES
031537,000073: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031538,000074: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031539,000075:
031540,000076: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031541,000077: # TIG BY 45 SECS.
031542,000078:
031543,000079: # ERASABLE INITIALIZATION
031544,000080:
031545,000081: # DEBRIS
031546,000082:
031547,000083: # OUTPUT
031548,000084: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031549,000085: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031550,000086: # = 0 FOR AIMPT (LAMBERT) COMP
031551,000087:
031552,000088: 27,2246 COUNT* $$/P40
031553,000089: 27,2246 E7,1455 EBANK= WHICH
031554,000090:
031555,000091: 36,3153 BANK 36
031556,000092: 36,2000 SETLOC P40S
031557,000093: 36,2000 BANK
031558,000094:
031559,000095: 36,3153 05353 P40LM TC PHASCHNG
031560,000096: 36,3154 04024 OCT 04024
031561,000097:
031562,000098: 36,3155 33137 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031563,000099: 36,3156 55455 TS WHICH
031564,000100:
031565,000101: 36,3157 30106 CA FLGWRD10
031566,000102: 36,3160 74737 MASK APSFLBIT
031567,000103: 36,3161 10000 CCS A
031568,000104: 36,3162 13125 TCF P40ALM
031569,000105: 36,3163 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031570,000106: 36,3164 11233 CADR R02BOTH
031571,000107:
031572,000108: 36,3165 40111 CS DAPBOOLS # INITIALIZE DVMON
031573,000109: 36,3166 74737 MASK CSMDOCKD
031574,000110: 36,3167 10000 CCS A
031575,000111: 36,3170 32022 CAF THRESH1
031576,000112: 36,3171 62023 AD THRESH3
031577,000113: 36,3172 55250 TS DVTHRUSH
031578,000114: 36,3173 34751 CAF FOUR
031579,000115: 36,3174 55515 TS DVCNTR
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Page 749
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031581,000117: 36,3175 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031582,000118: 36,3176 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031583,000119: 36,3177 34001 FDPS
031584,000120: 36,3200 02663 NOTHROTL
031585,000121: 36,3201 03735 STORE F
031586,000122: 36,3202 77735 SLOAD
031587,000123: 36,3203 26002 DPSVEX
031588,000124: 36,3204 70476 P40IN DCOMP SR1
031589,000125: 36,3205 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031590,000126: 36,3206 56246 S40.1 # COMPUTES UT AND VGTIG
031591,000127: 36,3207 77624 CALL
031592,000128: 36,3210 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031593,000129: 36,3211 77776 EXIT
031594,000130:
031595,000131: 36,3212 00004 INHINT
031596,000132: 36,3213 04674 TC IBNKCALL
031597,000133: 36,3214 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031598,000134:
031599,000135: 36,3215 03217 TC P40SXT4
031600,000136:
031601,000137: # ***********************
031602,000138:
031603,000139: 36,3216 12130 TCF BURNBABY
031604,000140:
031605,000141: # ***********************
031606,000142:
031607,000143: 36,3217 00006 P40SXT4 EXTEND
031608,000144: 36,3220 23141 QXCH P40/RET
031609,000145: 36,3221 00003 P41MANU RELINT
031610,000146:
031611,000147: 36,3222 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031612,000148: 36,3223 00124 ADRES 3AXISFLG
031613,000149:
031614,000150: 36,3224 04616 TC BANKCALL
031615,000151: 36,3225 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031616,000152: 36,3226 01141 TC P40/RET
031617,000153:
031618,000154: 36,3227 E7,1462 EBANK= TRKMKCNT
031619,000155: 36,3227 30005 POSTBURN CA Z
031620,000156: 36,3230 55162 TS DISPDEX
031621,000157: 36,3231 00006 EXTEND
031622,000158: 36,3232 32060 DCA ACADN85
031623,000159: 36,3233 53252 DXCH AVEGEXIT
031624,000160: 36,3234 33764 CAF V16N40
031625,000161: 36,3235 04616 TC BANKCALL
031626,000162: 36,3236 20636 CADR GOFLASHR
031627,000163: 36,3237 03262 TC TERM40
031628,000164: 36,3240 13245 TCF TIGNOW
031629,000165: 36,3241 03227 TC POSTBURN
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Page 750
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031631,000167: 36,3242 05353 P40PHS1 TC PHASCHNG
031632,000168: 36,3243 00014 OCT 00014
031633,000169: 36,3244 15155 TCF ENDOFJOB
031634,000170:
031635,000171: 36,3245 00004 TIGNOW INHINT
031636,000172: 36,3246 04674 TC IBNKCALL
031637,000173: 36,3247 40154 CADR ZATTEROR
031638,000174: 36,3250 04674 TC IBNKCALL
031639,000175: 36,3251 40141 CADR SETMINDB
031640,000176: 36,3252 00003 RELINT
031641,000177: 36,3253 33765 CAF V16N85B
031642,000178: 36,3254 04616 TC BANKCALL
031643,000179: 36,3255 20463 CADR REFLASHR
031644,000180: 36,3256 03262 TC TERM40
031645,000181: 36,3257 13262 TCF TERM40
031646,000182: 36,3260 03253 TC -5
031647,000183:
031648,000184: 36,3261 13242 TCF P40PHS1
031649,000185:
031650,000186: 36,3262 00006 TERM40 EXTEND
031651,000187: 36,3263 32110 DCA SERVCADR
031652,000188: 36,3264 53252 DXCH AVEGEXIT
031653,000189: 36,3265 34755 CAF ZERO
031654,000190: 36,3266 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
031655,000191: 36,3267 30005 CA Z
031656,000192: 36,3270 55162 TS DISPDEX
031657,000193: 36,3271 00004 INHINT
031658,000194: 36,3272 04674 TC IBNKCALL
031659,000195: 36,3273 40115 CADR RESTORDB
031660,000196: 36,3274 00003 RELINT
031661,000197: 36,3275 06001 TC GOTOPOOH
031662,000198:
031663,000199: 36,3276 E7,1455 EBANK= WHICH
031664,000200: 36,3276 COUNT* $$/P41
031665,000201: 36,3276 33140 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
031666,000202: 36,3277 55455 TS WHICH
031667,000203:
031668,000204: 36,3300 04616 TC BANKCALL
031669,000205: 36,3301 11233 CADR R02BOTH
031670,000206:
031671,000207: 36,3302 06042 TC INTPRET # BOTH LM
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In the original program listing, the following line has a hand-written notation in the
label field which may read "PPPIN".—RSB 2017.
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031674,000210: 36,3303 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
031675,000211: 36,3304 00700 NJETSFLG
031676,000212: 36,3305 75311 P41FJET1
031677,000213: 36,3306 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
031678,000214:
031679,000215: 36,3307 37735 P41FJET STCALL F
031680,000216: 36,3310 75314 P41IN
031681,000217: 36,3311 77745 P41FJET1 DLOAD
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Page 751
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031683,000219: 36,3312 34021 FRCS2
031684,000220: 36,3313 03735 STORE F
031685,000221:
031686,000222: 36,3314 77624 P41IN CALL
031687,000223: 36,3315 56246 S40.1 # BOTH
031688,000224: 36,3316 77624 P41NORM CALL
031689,000225: 36,3317 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
031690,000226: 36,3320 77776 EXIT # SET PFRATFLG.
031691,000227:
031692,000228: 36,3321 00004 INHINT
031693,000229: 36,3322 04674 TC IBNKCALL
031694,000230: 36,3323 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
031695,000231: 36,3324 04674 TC IBNKCALL
031696,000232: 36,3325 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
031697,000233: 36,3326 03217 TC P40SXT4
031698,000234:
031699,000235: 36,3327 06042 TC INTPRET
031700,000236: 36,3330 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
031701,000237: 36,3331 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
031702,000238: 36,3332 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
031703,000239: 36,3333 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
031704,000240: 36,3334 77776 EXIT
031705,000241:
031706,000242: 36,3335 33765 CAF V16N85B
031707,000243: 36,3336 04616 TC BANKCALL
031708,000244: 36,3337 20447 CADR GODSPRET
031709,000245:
031710,000246: 36,3340 35017 CAF PRIO5
031711,000247: 36,3341 55162 TS DISPDEX # FOR SAFETY ONLY
031712,000248: 36,3342 05105 TC FINDVAC
031713,000249: 36,3343 E7,1700 EBANK= VGPREV
031714,000250: 36,3343 03365 74067 2CADR DYNMDISP
031715,000251:
031716,000252: 36,3345 05327 TC 2PHSCHNG
031717,000253: 36,3346 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
031718,000254: 36,3347 04024 OCT 04024 # GROUP 4 RESTARTS HERE
031719,000255:
031720,000256: # ***********************
031721,000257:
031722,000258: 36,3350 12137 TCF B*RNB*B*
031723,000259:
031724,000260: # ***********************
031725,000261:
031726,000262: 36,3351 34777 BLNKWAIT CAF 1SEC
031727,000263: 36,3352 04616 TC BANKCALL
031728,000264: 36,3353 01736 CADR DELAYJOB
031729,000265:
031730,000266: 36,3354 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
031731,000267: 36,3355 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
031732,000268:
031733,000269: # ***********************
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Page 752
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031735,000271:
031736,000272: 36,3356 00006 EXTEND
031737,000273: 36,3357 13351 BZF BLNKWAIT
031738,000274:
031739,000275: 36,3360 33765 CAF V16N85B
031740,000276: 36,3361 04616 TC BANKCALL
031741,000277: 36,3362 20447 CADR GODSPRET
031742,000278:
031743,000279: 36,3363 35017 CAF PRIO5
031744,000280: 36,3364 05146 TC PRIOCHNG
031745,000281:
031746,000282: 36,3365 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
031747,000283: 36,3366 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
031748,000284: 36,3367 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
031749,000285: 36,3370 06042 TC INTPRET
031750,000286: 36,3371 45175 VLOAD CALL
031751,000287: 36,3372 03701 VGPREV
031752,000288: 36,3373 57267 S41.1
031753,000289: 36,3374 03502 STORE VGBODY
031754,000290: 36,3375 77776 EXIT
031755,000291: 36,3376 34777 CAF 1SEC
031756,000292: 36,3377 04616 TC BANKCALL
031757,000293: 36,3400 01736 CADR DELAYJOB
031758,000294: 36,3401 13365 TCF DYNMDISP
031759,000295:
031760,000296: 36,3402 06042 CALCN85 TC INTPRET
031761,000297: 36,3403 77624 CALL
031762,000298: 36,3404 75615 UPDATEVG
031763,000299: 36,3405 45175 VLOAD CALL
031764,000300: 36,3406 03701 VGPREV
031765,000301: 36,3407 57267 S41.1
031766,000302: 36,3410 03502 STORE VGBODY
031767,000303: 36,3411 77776 EXIT
031768,000304: 36,3412 04635 TC POSTJUMP
031769,000305: 36,3413 65746 CADR SERVEXIT
031770,000306:
031771,000307: 36,3414 COUNT* $$/P42
031772,000308: 36,3414 E7,1455 EBANK= WHICH
031773,000309:
031774,000310: 36,3414 05353 P42LM TC PHASCHNG
031775,000311: 36,3415 04024 OCT 04024
031776,000312:
031777,000313: 36,3416 33141 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
031778,000314: 36,3417 55455 TS WHICH
031779,000315:
031780,000316: 36,3420 40106 CS FLGWRD10
031781,000317: 36,3421 74737 MASK APSFLBIT
031782,000318: 36,3422 10000 CCS A
031783,000319: 36,3423 03125 TC P40ALM
031784,000320: 36,3424 04616 P42STAGE TC BANKCALL
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Page 753
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031786,000322: 36,3425 11233 CADR R02BOTH
031787,000323: 36,3426 36000 CAF THRESH2 # INITIALIZE DVMON
031788,000324: 36,3427 55250 TS DVTHRUSH
031789,000325: 36,3430 34751 CAF FOUR
031790,000326: 36,3431 55515 TS DVCNTR
031791,000327:
031792,000328: 36,3432 06042 TC INTPRET
031793,000329: 36,3433 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
031794,000330: 36,3434 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
031795,000331: 36,3435 34007 FAPS
031796,000332: 36,3436 03735 STORE F
031797,000333: 36,3437 52135 SLOAD GOTO
031798,000334: 36,3440 26001 APSVEX
031799,000335: 36,3441 75204 P40IN
031800,000336:
031801,000337: 36,3442 E7,1455 EBANK= WHICH
031802,000338:
031803,000339: 36,3442 COUNT* $$/P47
031804,000340: 36,3442 04616 P47LM TC BANKCALL
031805,000341: 36,3443 11233 CADR R02BOTH
031806,000342: 36,3444 06042 TC INTPRET
031807,000343: 36,3445 77624 CALRB
031808,000344: 36,3446 27547 MIDTOAV2
031809,000345:
031810,000346: 36,3447 30155 CA MPAC +1
031811,000347: 36,3450 05173 TC TWIDDLE
031812,000348: 36,3451 03453 ADRES STARTP47
031813,000349:
031814,000350: 36,3452 15155 TCF ENDOFJOB
031815,000351:
031816,000352: 36,3453 05353 STARTP47 TC PHASCHNG
031817,000353: 36,3454 05014 OCT 05014
031818,000354: 36,3455 77777 OCT 77777
031819,000355:
031820,000356: 36,3456 00006 EXTEND
031821,000357: 36,3457 33770 DCA ACADN83
031822,000358: 36,3460 53252 DXCH AVEGEXIT
031823,000359: 36,3461 34736 CAF PRIO20
031824,000360: 36,3462 05105 TC FINDVAC
031825,000361: 36,3463 E7,1622 EBANK= DELVIMU
031826,000362: 36,3463 03517 74067 2CADR P47BODY
031827,000363:
031828,000364: 36,3465 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
031829,000365: # SEE TIG-30 IN BURNBABY.
031830,000366:
031831,000367: 36,3466 06042 CALCN83 TC INTPRET
031832,000368: 36,3467 53375 VLOAD VAD
031833,000369: 36,3470 03502 DELVCTL
031834,000370: 36,3471 03527 DELVREF
031835,000371: 36,3472 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 754
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031837,000373: 36,3473 77624 CALL
031838,000374: 36,3474 57267 S41.1
031839,000375: 36,3475 03623 STORE DELVIMU
031840,000376: 36,3476 77776 EXIT
031841,000377: 36,3477 05353 TC PHASCHNG
031842,000378: 36,3500 10035 OCT 10035 # REREADAC AND HERE
031843,000379:
031844,000380: 36,3501 06042 TC INTPRET
031845,000381: 36,3502 77775 VLOAD
031846,000382: 36,3503 03656 DELVSIN
031847,000383: 36,3504 03502 STORE DELVCTL
031848,000384: 36,3505 77776 EXIT
031849,000385:
031850,000386: 36,3506 04635 TC POSTJUMP
031851,000387: 36,3507 65746 CADR SERVEXIT
031852,000388:
031853,000389: 36,3510 33766 P47BOD CAF V1683
031854,000390: 36,3511 04616 TC BANKCALL
031855,000391: 36,3512 20636 CADR GOFLASHR
031856,000392: 36,3513 06001 TC GOTOPOOH
031857,000393: 36,3514 06001 TC GOTOPOOH
031858,000394:
031859,000395: 36,3515 13517 TCF P47BODY
031860,000396:
031861,000397: 36,3516 13242 TCF P40PHS1
031862,000398:
031863,000399: 36,3517 06042 P47BODY TC INTPRET
031864,000400: 36,3520 77775 VLOAD
031865,000401: 36,3521 06524 HI6ZEROS
031866,000402: 36,3522 03623 STORE DELVIMU
031867,000403: 36,3523 03502 STORE DELVCTL
031868,000404: 36,3524 77776 EXIT
031869,000405: 36,3525 03510 TC P47BOD
031870,000406:
031871,000407: 36,3526 COUNT* $$/P40
031872,000408: 36,3526 31517 IMPLBURN CA TGO +1
031873,000409: 36,3527 03741 TC GETDT
031874,000410: 36,3530 05173 TC TWIDDLE
031875,000411: 36,3531 03546 ADRES ENGOFTSK
031876,000412: 36,3532 05516 TC DOWNFLAG # TURN OFF IGNFLAG
031877,000413: 36,3533 00153 ADRES IGNFLAG
031878,000414: 36,3534 05516 TC DOWNFLAG # TURN OFF ASTNFLG
031879,000415: 36,3535 00154 ADRES ASTNFLAG
031880,000416: 36,3536 05516 TC DOWNFLAG # TURN OFF IMPULSW
031881,000417: 36,3537 00044 ADRES IMPULSW
031882,000418: 36,3540 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
031883,000419: 36,3541 40114 OCT 40114
031884,000420:
031885,000421: 36,3542 05221 TC FIXDELAY # WAIT HALF A SECOND
031886,000422: 36,3543 00062 DEC 50 B-14
|
|
Page 755
|
031888,000424: 36,3544 02657 TC NOULLAGE # TURN OFF ULLAGE
031889,000425:
031890,000426: 36,3545 05261 TC TASKOVER
031891,000427:
031892,000428: 36,3546 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
031893,000429: 36,3547 75551 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
031894,000430: 36,3550 05261 TC TASKOVER
031895,000431:
031896,000432: 36,3551 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
031897,000433: 36,3552 05105 TC FINDVAC
031898,000434: 36,3553 E7,1462 EBANK= TRKMKCNT
031899,000435: 36,3553 03227 74067 2CADR POSTBURN
031900,000436:
031901,000437: 36,3555 34753 ENGINOF2 CAF BIT1
031902,000438: 36,3556 05203 TC WAITLIST
031903,000439: 36,3557 E6,1422 EBANK= OMEGAQ
031904,000440: 36,3557 03612 74066 2CADR COASTSET
031905,000441:
031906,000442: 36,3561 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
031907,000443: 36,3562 74745 MASK IDLEFBIT
031908,000444: 36,3563 26103 ADS FLAGWRD7
031909,000445:
031910,000446: 36,3564 02657 TC NOULLAGE
031911,000447:
031912,000448: 36,3565 00006 ENGINOF4 EXTEND
031913,000449: 36,3566 30025 DCA TIME2
031914,000450: 36,3567 53342 DXCH TEVENT
031915,000451:
031916,000452: 36,3570 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
031917,000453: 36,3571 70101 MASK FLAGWRD5
031918,000454: 36,3572 54101 TS FLAGWRD5
031919,000455: 36,3573 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
031920,000456: 36,3574 00006 EXTEND # SUBROUTINE.
031921,000457: 36,3575 02011 RAND DSALMOUT
031922,000458: 36,3576 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
031923,000459: 36,3577 00006 EXTEND
031924,000460: 36,3600 01011 WRITE DSALMOUT
031925,000461:
031926,000462: 36,3601 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
031927,000463: 36,3602 74736 MASK USEQRJTS
031928,000464: 36,3603 26111 ADS DAPBOOLS
031929,000465:
031930,000466: 36,3604 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
031931,000467: 36,3605 54055 TS THRUST # IS TURNED OFF.
031932,000468: 36,3606 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
031933,000469: 36,3607 00006 EXTEND # ENGINE IS DISARMED.
031934,000470: 36,3610 05014 WOR CHAN14
031935,000471:
031936,000472: 36,3611 04707 TC ISWRETRN
|
|
Page 756
|
031938,000474: 36,3612 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
031939,000475: 36,3613 40205 CADR ALLCOAST
031940,000476: 36,3614 05261 TC TASKOVER
031941,000477:
031942,000478: 36,3615 E6,1422 EBANK= OMEGAQ
031943,000479: 36,3615 45020 UPDATEVG STQ CALL
031944,000480: 36,3616 03665 QTEMP1
031945,000481: 36,3617 56447 S40.8 # X-PRODUCT STEERING
031946,000482: 36,3620 43014 BON BON
031947,000483: 36,3621 01307 XDELVFLG
031948,000484: 36,3622 03665 QTEMP1
031949,000485: 36,3623 03705 NORMSW
031950,000486: 36,3624 75637 180SETUP
031951,000487: 36,3625 45345 DLOAD DSU
031952,000488: 36,3626 01234 PIPTIME
031953,000489: 36,3627 03763 TIGSAVE
031954,000490: 36,3630 50025 DSU BMN
031955,000491: 36,3631 03432 TNEWA
031956,000492: 36,3632 75662 GETRANS
031957,000493: 36,3633 43345 DLOAD DAD
031958,000494: 36,3634 03763 TIGSAVE
031959,000495: 36,3635 03432 TNEWA
031960,000496: 36,3636 03765 STORE TIGSAVEP
031961,000497: 36,3637 77776 180SETUP EXIT
031962,000498: 36,3640 10754 CCS PHASE2
031963,000499: 36,3641 13667 TCF NO.9
031964,000500: 36,3642 34737 CAF PRIO10
031965,000501: 36,3643 00004 INHINT
031966,000502: 36,3644 05105 TC FINDVAC
031967,000503: 36,3645 E7,1706 EBANK= VG
031968,000504: 36,3645 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
031969,000505:
031970,000506: 36,3647 05327 TC 2PHSCHNG
031971,000507: 36,3650 00172 OCT 00172 # 2.17SPOT FOR S40.9
031972,000508: 36,3651 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
031973,000509:
031974,000510: 36,3652 06042 ENDSTEER TC INTPRET
031975,000511: 36,3653 77745 DLOAD
031976,000512: 36,3654 03765 TIGSAVEP
031977,000513: 36,3655 27763 STOVL TIGSAVE
031978,000514: 36,3656 01220 RN
031979,000515: 36,3657 26323 STOVL RINIT
031980,000516: 36,3660 01226 VN
031981,000517: 36,3661 02331 STORE VINIT
031982,000518: 36,3662 45345 GETRANS DLOAD DSU
031983,000519: 36,3663 03631 TPASS4
031984,000520: 36,3664 01234 PIPTIME
031985,000521: 36,3665 37452 STCALL DELLT4
031986,000522: 36,3666 03665 QTEMP1
031987,000523:
|
|
Page 757
|
031989,000525: 36,3667 06042 NO.9 TC INTPRET
031990,000526: 36,3670 77650 GOTO
031991,000527: 36,3671 03665 QTEMP1
031992,000528: 36,3672 06042 STEERING TC INTPRET
031993,000529:
031994,000530: 36,3673 77624 CALL
031995,000531: 36,3674 75615 UPDATEVG
031996,000532: 36,3675 77776 EXIT
031997,000533:
031998,000534: 36,3676 E7,1515 EBANK= DVCNTR
031999,000535: 36,3676 00004 NSTEER INHINT
032000,000536: 36,3677 35016 CA EBANK7
032001,000537: 36,3700 54003 TS EBANK
032002,000538: 36,3701 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032003,000539: 36,3702 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032004,000540: 36,3703 10000 CCS A # STEERING IS ALMOST DONE.
032005,000541:
032006,000542: 36,3704 13711 TCF +5 # IMPULSW = 0 EXIT
032007,000543: 36,3705 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032008,000544: 36,3706 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032009,000545: 36,3707 10000 CCS A
032010,000546: 36,3710 13713 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032011,000547: 36,3711 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032012,000548: 36,3712 65746 CADR SERVEXIT
032013,000549:
032014,000550: 36,3713 04674 TC IBNKCALL
032015,000551: 36,3714 40166 CADR STOPRATE
032016,000552:
032017,000553: 36,3715 05516 TC DOWNFLAG # TURN OFF IMPULSW
032018,000554: 36,3716 00044 ADRES IMPULSW
032019,000555:
032020,000556: 36,3717 05504 TC UPFLAG
032021,000557: 36,3720 00161 ADRES IDLEFLAG # TURN OFF DVMON
032022,000558:
032023,000559: 36,3721 00004 INHINT
032024,000560: 36,3722 00006 EXTEND
032025,000561: 36,3723 31442 DCA TIG
032026,000562: 36,3724 52155 DXCH MPAC
032027,000563: 36,3725 00006 EXTEND
032028,000564: 36,3726 40025 DCS TIME2
032029,000565: 36,3727 20155 DAS MPAC
032030,000566: 36,3730 07262 TC TPAGREE
032031,000567: 36,3731 30155 CAE MPAC +1
032032,000568: 36,3732 03741 TC GETDT
032033,000569: 36,3733 05173 TC TWIDDLE
032034,000570: 36,3734 03546 ADRES ENGOFTSK
032035,000571: 36,3735 05327 TC 2PHSCHNG
032036,000572: 36,3736 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032037,000573: 36,3737 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 758
|
032039,000575: 36,3740 15155 TCF ENDOFJOB
032040,000576:
032041,000577: 36,3741 10000 GETDT CCS A
032042,000578: 36,3742 13745 TCF +3
032043,000579: 36,3743 13745 TCF +2
032044,000580: 36,3744 34755 CAF ZERO
032045,000581: 36,3745 64753 AD ONE
032046,000582: 36,3746 56001 XCH L
032047,000583: 36,3747 34755 CAF ZERO
032048,000584: 36,3750 53517 DXCH TGO
032049,000585: 36,3751 31517 CA TGO +1
032050,000586: 36,3752 00002 TC Q
032051,000587:
032052,000588: # ************************************************************************
032053,000589:
032054,000590: 36,3753 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032055,000591: 36,3754 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032056,000592: 36,3755 00000 05670 SEC30DP 2DEC 3000 B-28
032057,000593: 36,3757 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032058,000594: 36,3760 10624 SEC45 DEC 4500 B-14
032059,000595: 36,3761 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032060,000596: 36,3762 00764 5SEC DEC 500 B-14
032061,000597: 36,3763 05050 26SECS DEC 2600 B-14
032062,000598: 36,3764 04050 V16N40 VN 1640
032063,000599: 36,3765 04125 V16N85B VN 1685
032064,000600: 36,3766 04123 V1683 VN 1683
032065,000601: 36,3767 4777 SEC01 = 1SEC
032066,000602: 36,3767 36,2057 ACADN85 = P41TABLE +2
032067,000603:
032068,000604: 36,3767 E7,1622 EBANK= DELVIMU
032069,000605: 36,3767 03466 74067 ACADN83 2CADR CALCN83
032070,000606:
032071,000607: # *************************************************
|
|
Page 759
|
032073,000609: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
032074,000610: # MOD N02 LOG SECTION P40-P47
032075,000611: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032076,000612:
032077,000613: # FUNCTIONAL DESCRIPTION
032078,000614: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032079,000615: # VECTOR(VGTIG).
032080,000616:
032081,000617: # CALLING SEQUENCE
032082,000618: # L CALL
032083,000619: # L+1 S40.1
032084,000620:
032085,000621: # NORMAL EXIT MODE
032086,000622: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032087,000623: # ERROR RETURN IF NOSOFLAG =1
032088,000624:
032089,000625: # SUBROUTINES CALLED
032090,000626: # LEMPREC
032091,000627: # INITVEL
032092,000628: # CALCGRAV
032093,000629: # MIDGIM
032094,000630:
032095,000631: # ALARM OR ABORT EXIT MODES
032096,000632: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032097,000633:
032098,000634: # ERASABLE INITIALIZATION REQUIRED
032099,000635: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032100,000636: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032101,000637: # F THRUST FOR ENGINE USED
032102,000638: # IF DELTA-V MANEUVER
032103,000639: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032104,000640: # INERTIAL COORDS. OF ACTIVE VEHICLE
032105,000641: # AT TIME OF IGNITION VECTOR B7 M/CS
032106,000642: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032107,000643: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032108,000644: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032109,000645: # IF AIMPT STEER
032110,000646: # TIG TIME OF IGNITION DP B28 CS
032111,000647: # RTARG POSITION TARGET TIME VECTOR B29 M
032112,000648: # CSTEER C FOR STEER LAW DP B2
032113,000649: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032114,000650:
032115,000651: # OUTPUT
032116,000652: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032117,000653: # VGTIG INITIAL VALUE OF VELOCITY
032118,000654: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032119,000655: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032120,000656: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032121,000657: # -GDT FOR S40.13 VECT B7 M/CS
032122,000658: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032123,000659: # POSITION AT TIME OF IGNITION
032124,000660:
032125,000661: # DEBRIS QTEMP1
032126,000662: # MPAC, QPRET
032127,000663: # PUSHLIST
032128,000664:
032129,000665: 14,2347 BANK 14
032130,000666: 27,2000 SETLOC P40S1
032131,000667: 27,2000 BANK
|
|
Page 760
|
032133,000669: 27,2246 COUNT* $$/S40.1
032134,000670: 27,2246 71220 S40.1 STQ DLOAD
032135,000671: 27,2247 03632 QTEMP
032136,000672: 27,2250 03442 TIG
032137,000673: 27,2251 03763 STORE TIGSAVE
032138,000674: 27,2252 77614 DELVTEST BOFF
032139,000675: 27,2253 01347 XDELVFLG
032140,000676: 27,2254 56336 S40.1B
032141,000677: 27,2255 77201 CALCTHET SETPD VLOAD
032142,000678: 27,2256 00001 0
032143,000679: 27,2257 03650 VTIG
032144,000680: 27,2260 02331 STORE VINIT
032145,000681: 27,2261 53435 VXV UNIT
032146,000682: 27,2262 03642 RTIG
032147,000683: 27,2263 27673 STOVL UT # UP IN UT
032148,000684: 27,2264 03642 RTIG
032149,000685: 27,2265 02323 STORE RINIT
032150,000686: 27,2266 65236 VSQ PDDL
032151,000687: 27,2267 00045 36D
032152,000688: 27,2270 56205 DMP DDV
032153,000689: 27,2271 16412 THETACON
032154,000690: 27,2272 41205 DMP DMP
032155,000691: 27,2273 03664 DELVSAB
032156,000692: 27,2274 01244 WEIGHT/G
032157,000693: 27,2275 77671 DDV
032158,000694: 27,2276 03735 F
032159,000695: 27,2277 24017 STOVL 14D
032160,000696: 27,2300 03656 DELVSIN
032161,000697:
032162,000698: 27,2301 74241 DOT VXSC
032163,000699: 27,2302 03673 UT
032164,000700: 27,2303 03673 UT
032165,000701: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032166,000702: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032167,000703: 27,2306 03656 DELVSIN
032168,000704: 27,2307 00017 14D
032169,000705: 27,2310 63356 SIN PDVL
032170,000706: 27,2311 00007 6D
032171,000707: 27,2312 53435 VXV UNIT
032172,000708: 27,2313 03673 UT
032173,000709: 27,2314 45561 VXSC STADR
032174,000710: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032175,000711: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032176,000712: 27,2317 00017 14D
032177,000713: 27,2320 74346 COS VXSC
032178,000714: 27,2321 74255 VAD VXSC
032179,000715: 27,2322 03701 VGTIG
032180,000716: 27,2323 00045 36D
032181,000717: 27,2324 53352 VSL2 VAD
032182,000718: 27,2325 77626 STADR
|
|
Page 761
|
032184,000720: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032185,000721:
032186,000722: 27,2327 77656 UNIT
032187,000723: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032188,000724: 27,2331 03701 VGTIG
032189,000725: 27,2332 45006 PUSH CALL
032190,000726: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032191,000727: 27,2334 77650 GOTO
032192,000728: 27,2335 03632 QTEMP
032193,000729: 27,2336 77745 S40.1B DLOAD
032194,000730: 27,2337 03442 TIG
032195,000731: 27,2340 00041 STORE TDEC1
032196,000732: 27,2341 77621 BDSU
032197,000733: 27,2342 03631 TPASS4
032198,000734: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032199,000735: 27,2344 27056 LEMPREC
032200,000736: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032201,000737: 27,2346 00001 RATT
032202,000738: 27,2347 00001 0
032203,000739: 27,2350 03642 STORE RTIG
032204,000740: 27,2351 02323 STORE RINIT
032205,000741: 27,2352 77656 UNIT
032206,000742: 27,2353 27537 STOVL UNIT/R/
032207,000743: 27,2354 00007 VATT
032208,000744: 27,2355 03650 STORE VTIG
032209,000745: 27,2356 02331 STORE VINIT
032210,000746: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032211,000747: 27,2360 06524 ZEROVECS
032212,000748: 27,2361 16406 EPS1
032213,000749: 27,2362 43214 BOFF DAD
032214,000750: 27,2363 03745 NORMSW
032215,000751: 27,2364 56366 SMALLEPS
032216,000752: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032217,000753: 27,2366 66006 SMALLEPS PUSH SXA,1
032218,000754: 27,2367 02776 RTX1
032219,000755: 27,2370 45134 SXA,2 CALL
032220,000756: 27,2371 02777 RTX2
032221,000757: 27,2372 22000 INITVEL
032222,000758: 27,2373 41575 VLOAD PUSH
032223,000759: 27,2374 02366 DELVEET3 # VGTIG = VR-VN.
032224,000760: 27,2375 03701 STORE VGTIG
032225,000761: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032226,000762: 27,2377 17673 STODL UT
032227,000763: 27,2400 00045 36D
032228,000764: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032229,000765: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032230,000766: 27,2403 77650 GOTO
032231,000767: 27,2404 03632 QTEMP
032232,000768:
032233,000769: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
|
|
Page 762
|
032235,000771: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032236,000772: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032237,000773:
|
|
Page 763
|
032239,000775: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032240,000776: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032241,000777: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032242,000778: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032243,000779: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032244,000780:
032245,000781: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032246,000782: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032247,000783: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032248,000784: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032249,000785: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032250,000786:
032251,000787: # CALLING SEQUENCE:
032252,000788: # L CALL INTERPRETIVE CALL.
032253,000789: # L +1 S40.2,3
032254,000790: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032255,000791:
032256,000792: # SUBROUTINES CALLED: NONE.
032257,000793:
032258,000794: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032259,000795:
032260,000796: # ALARM/ABORT MODES: NONE.
032261,000797:
032262,000798: # INPUT:
032263,000799: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032264,000800: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032265,000801: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032266,000802:
032267,000803: # OUTPUT:
032268,000804: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032269,000805: # :YSCREF: IN REFERENCE COORDINATES
032270,000806: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032271,000807: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032272,000808: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032273,000809: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032274,000810:
032275,000811: # DEBRIS: NONE.
|
|
Page 764
|
032277,000813:
032278,000814: 27,2413 COUNT* $$/S40.2
032279,000815: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032280,000816: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032281,000817: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032282,000818: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032283,000819: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032284,000820: 27,2420 06522 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032285,000821: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032286,000822:
032287,000823: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032288,000824: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032289,000825: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032290,000826: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032291,000827: 27,2426 46125 PDDL BHIZ
032292,000828: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032293,000829: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032294,000830: 27,2431 45575 STORY VLOAD STADR
032295,000831: 27,2432 74162 STORE YSCREF
032296,000832: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
032297,000833: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032298,000834: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032299,000835: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032300,000836:
032301,000837: 27,2437 43414 SET RVQ
032302,000838: 27,2440 01073 PFRATFLG
032303,000839: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032304,000840: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032305,000841: 27,2443 03650 VTIG
032306,000842: 27,2444 41456 UNIT PUSH
032307,000843: 27,2445 77650 GOTO
032308,000844: 27,2446 56431 STORY
|
|
Page 765
|
032310,000846: # SUBROUTINE S40.8
032311,000847: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032312,000848:
032313,000849: # DESCRIPTION
032314,000850: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032315,000851: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032316,000852: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032317,000853:
032318,000854: # CALLING SEQUENCE
032319,000855: # L-1 CALL
032320,000856: # L S40.8
032321,000857: # L+1 INTERPRETIVE RETURN
032322,000858:
032323,000859: # ALARM
032324,000860: # IF VG.DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032325,000861: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032326,000862:
032327,000863: # INPUT AND INITIALIZATION
032328,000864: # VGPREV REFERENCE 2(7) M/CS
032329,000865: # DELVREF REFERENCE 2(7) M/CS
032330,000866: # BDT REFERENCE 2(7) M/CS
032331,000867: # TDECAY TAIL-OFF TIME 2(28) CS
032332,000868: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032333,000869: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032334,000870: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032335,000871:
032336,000872: # NOTE: VGTIG EQUALS VGPREV
032337,000873:
032338,000874: # OUTPUT
032339,000875: # STEERSW SEE INPUT
032340,000876: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032341,000877: # TGO TIME TO CUT-OFF 2(28) CS
032342,000878: # SEE FINDCDUW FOR STEERING OUTPUTS.
032343,000879:
032344,000880: # SUBROUTINE CALLED
032345,000881: # FINDCDUW
032346,000882:
032347,000883: # DEBRIS
032348,000884: # MPACS, PUSHLIST
032349,000885:
032350,000886: 27,2447 COUNT* $$/S40.8
|
|
Page 766
|
032352,000888: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032353,000889: 27,2450 01347 XDELVFLG
032354,000890: 27,2451 56731 RASTEER1
032355,000891: 27,2452 52375 VLOAD VSU
032356,000892: 27,2453 03701 VGPREV
032357,000893: 27,2454 03527 DELVREF
032358,000894: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032359,000895: 27,2456 76521 MXV VSL1
032360,000896: 27,2457 01734 REFSMMAT
032361,000897: 27,2460 03253 STORE UNFC/2
032362,000898: 27,2461 51575 BDTOK VLOAD ABVAL
032363,000899: 27,2462 03707 VG
032364,000900: 27,2463 03664 STORE VGDISP
032365,000901: 27,2464 77201 TGOCALC SETPD VLOAD
032366,000902: 27,2465 00001 0
032367,000903: 27,2466 03707 VG
032368,000904: 27,2467 27701 STOVL VGPREV
032369,000905: 27,2470 03527 DELVREF
032370,000906: 27,2471 57414 BOFF VCOMP
032371,000907: 27,2472 01344 STEERSW
032372,000908: 27,2473 00052 QPRET
032373,000909: 27,2474 77656 UNIT
032374,000910: 27,2475 41441 DOT PUSH
032375,000911: 27,2476 03707 VG
032376,000912: 27,2477 56244 BPL DDV
032377,000913: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032378,000914: 27,2501 03743 VEX
032379,000915: 27,2502 41215 DAD DMP
032380,000916: 27,2503 06522 DPHALF
032381,000917: 27,2504 56261 SR DDV
032382,000918: 27,2505 20613 10D
032383,000919: 27,2506 00045 36D
032384,000920: 27,2507 43205 DMP DAD
032385,000921: 27,2510 16535 -FOURDT
032386,000922: 27,2511 03741 TDECAY
032387,000923: 27,2512 03517 STORE TGO
032388,000924: 27,2513 77615 DAD
032389,000925: 27,2514 01234 PIPTIME
032390,000926: 27,2515 17442 STODL TIG
032391,000927: 27,2516 03517 TGO
032392,000928: 27,2517 51025 DSU BPL
032393,000929: 27,2520 16537 FOURSECS # 400 CS
032394,000930: 27,2521 61100 FINDCDUW -2
032395,000931: 27,2522 43014 SET CLRGO
032396,000932: 27,2523 01066 IMPULSW
032397,000933: 27,2524 01224 STEERSW
032398,000934: 27,2525 00052 QPRET
032399,000935:
032400,000936: 27,2526 77776 ALARMIT EXIT
032401,000937:
|
|
Page 767
|
032403,000939: 27,2527 05567 TC ALARM
032404,000940: 27,2530 01407 OCT 01407
032405,000941: 27,2531 06042 TC INTPRET
032406,000942: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032407,000943: 27,2533 61100 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032408,000944:
032409,000945: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032410,000946: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032411,000947: 27,2540 E7,1742 2VEXHUST = VEX
032412,000948:
|
|
Page 768
|
032414,000950: # NAME S40.13 - TIMEBURN
032415,000951:
032416,000952: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032417,000953: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032418,000954: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032419,000955: # BURN
032420,000956: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032421,000957: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032422,000958: # SIGNAL
032423,000959:
032424,000960: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032425,000961:
032426,000962: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032427,000963: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032428,000964: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032429,000965: # AND ALSO FOR RCS ENGINE
032430,000966: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032431,000967: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032432,000968: # REQUIRE MODIFICATION FOR SATURN BURNS.
032433,000969: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032434,000970: # =0 DPS
032435,000971: # =1 APS
032436,000972:
032437,000973: # OUTPUT IMPULSW ZERO FOR STEERING
032438,000974: # ONE FOR ATTITUDE HOLD
032439,000975: # NOTHROTL ZERO FOR THROTTLING
032440,000976: # ONE TO INHIBIT THROTTLING
032441,000977: # TGO TIME TO BURN IN CS
032442,000978: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032443,000979: # FORCE
032444,000980:
032445,000981: 27,2540 E7,1516 EBANK= TGO
032446,000982: 27,2540 COUNT* $$/40.13
032447,000983: 27,2540 06042 S40.13 TC INTPRET
032448,000984: 27,2541 43001 SETPD CLEAR
032449,000985: 27,2542 00001 00D
032450,000986: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032451,000987: 27,2544 51575 VLOAD ABVAL
032452,000988: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032453,000989: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032454,000990: 27,2547 21006 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032455,000991: 27,2550 34021 FRCS2
032456,000992: 27,2551 72471 DDV SL1 # SCALE
032457,000993: 27,2552 01244 WEIGHT/G
032458,000994: 27,2553 41421 BDSU PUSH
032459,000995: 27,2554 43014 BOFF SET
032460,000996: 27,2555 05342 APSFLAG
032461,000997: 27,2556 56626 S40.13D # FOR DPS ENGINE
032462,000998: 27,2557 02463 NOTHROTL
032463,000999: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
|
|
In the following line in the original program listing, +24 is crossed
out and +23 written in by hand.—RSB 2003
|
032466,001002: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032467,001003: 27,2562 01244 WEIGHT/G
032468,001004: 27,2563 50021 BDSU BMN
|
|
Page 769
|
032470,001006: 27,2564 00001 00D
032471,001007: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032472,001008: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032473,001009: 27,2567 03737 MDOT
032474,001010:
032475,001011: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032476,001012: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032477,001013: # REQUIRE ADJUSTMENT
032478,001014:
032479,001015: 27,2570 16700 3.5SEC # 350 CS AT +14
032480,001016: 27,2571 65221 BDSU PDDL
032481,001017: 27,2572 01244 WEIGHT/G
032482,001018: 27,2573 03735 F
032483,001019: 27,2574 60405 DMP SR2 # SCALE
032484,001020: 27,2575 16702 5SECS
032485,001021: 27,2576 41471 DDV PUSH # 04D = TEMP2
032486,001022: 27,2577 51021 BDSU BPL
032487,001023: 27,2600 00003 02D
032488,001024: 27,2601 56626 S40.13D
032489,001025: 27,2602 55345 DLOAD BDDV
032490,001026: 27,2603 43205 DMP DAD
032491,001027: 27,2604 16702 5SECS
032492,001028: 27,2605 16676 1SEC2D # 100 CS AT +14
032493,001029: 27,2606 77650 GOTO
032494,001030: 27,2607 56616 S40.132
032495,001031: 27,2610 41345 S40.131 DLOAD DMP
032496,001032: 27,2611 01244 WEIGHT/G
|
|
In the following line in the original program listing, PUSH is
hand-circled.—RSB 2003
|
032499,001035: 27,2612 41542 SR1 PUSH
032500,001036: 27,2613 56215 DAD DDV
032501,001037: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
|
|
In the original printout, "CS" is scribbled out in the following line.
In Luminary 210, the comment has been corrected to
"KG-M/CS/CS AT +10 (SAME VALUE AS FAPS)", which is consistent
with the correction.—RSB 2017
|
032506,001042: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032507,001043: 27,2616 77414 S40.132 SET EXIT
032508,001044: 27,2617 01066 IMPULSW
032509,001045: 27,2620 07262 S40.132* TC TPAGREE
032510,001046: 27,2621 30154 CA MPAC
|
|
In the following line in the original program listing,
TS TGO +1 is hand-written in the comment area.—RSB 2003
|
032513,001049: 27,2622 56001 XCH L
032514,001050: 27,2623 34755 CA ZERO
|
|
In the original program listing, TS TGO is hand-written,
seemingly between CA ZERO and DXCH TGO.—RSB 2003.
|
032517,001053: 27,2624 53517 DXCH TGO
032518,001054: 27,2625 12650 TCF S40.134
032519,001055:
032520,001056: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032521,001057: 27,2627 00001 00D
032522,001058: 27,2630 01244 WEIGHT/G
032523,001059: 27,2631 43006 PUSH BON
032524,001060: 27,2632 05302 APSFLAG
032525,001061: 27,2633 56671 APSTGO
032526,001062: 27,2634 43071 DDV CLEAR
032527,001063: 27,2635 16007 S40.136
032528,001064: 27,2636 02663 NOTHROTL
032529,001065: 27,2637 41400 BOV PUSH
|
|
Page 770
|
032531,001067: 27,2640 56653 S40.130V
032532,001068: 27,2641 51025 S40.137 DSU BPL
032533,001069: 27,2642 16704 6SEC # 600.0 CS AT +14
032534,001070: 27,2643 56661 S40.138
032535,001071: 27,2644 52015 DAD GOTO
032536,001072: 27,2645 16704 6SEC
032537,001073: 27,2646 56616 S40.132
032538,001074: 27,2647 77776 S40.133 EXIT
032539,001075: 27,2650 05353 S40.134 TC PHASCHNG
032540,001076: 27,2651 00003 OCT 00003
032541,001077: 27,2652 05155 TC ENDOFJOB
032542,001078: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032543,001079: 27,2654 77671 DDV
032544,001080: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032545,001081: 27,2656 03517 STORE TGO
032546,001082: 27,2657 77776 EXIT
032547,001083: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032548,001084:
032549,001085: 27,2661 51025 S40.138 DSU BPL
032550,001086: 27,2662 16706 89SECS
032551,001087: 27,2663 56666 STORETGO
032552,001088: 27,2664 77614 SET
032553,001089: 27,2665 02463 NOTHROTL
032554,001090: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032555,001091: 27,2667 77776 EXIT
032556,001092: 27,2670 12620 TCF S40.132*
032557,001093:
032558,001094: 27,2671 62471 APSTGO DDV SL2
032559,001095: 27,2672 34007 FAPS
032560,001096: 27,2673 77650 GOTO
032561,001097: 27,2674 56667 STORETGO +1
032562,001098: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032563,001099: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032564,001100: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032565,001101: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032566,001102: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032567,001103:
032568,001104: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032569,001105: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032570,001106: # COMPUTATION CYCLES (4 SECONDS).
032571,001107: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032572,001108: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032573,001109: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032574,001110:
032575,001111: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032576,001112:
032577,001113: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032578,001114: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
|
|
Page 771
|
032580,001116: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032581,001117: # METERS/CS AT +7.
032582,001118: # TIG - TIME OF IGNITION IN CS AT +28.
032583,001119: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032584,001120: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032585,001121: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032586,001122: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032587,001123: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032588,001124: # METERS/CS AT +7.
032589,001125:
032590,001126: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032591,001127: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032592,001128: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032593,001129: # BDT - B VECTOR IN METERS/CS AT +7.
032594,001130:
032595,001131: # SUBROUTINES USED - INITVEL
032596,001132:
032597,001133: 27,2707 E7,1700 EBANK= VGPREV
032598,001134: 27,2707 COUNT* $$/S40.9
032599,001135: 27,2707 06042 S40.9 TC INTPRET
032600,001136: 27,2710 77601 SETPD
032601,001137: 27,2711 00001 00D
032602,001138: 27,2712 71214 SET DLOAD
032603,001139: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032604,001140: 27,2714 06524 HI6ZEROS
032605,001141: 27,2715 77725 PDDL
032606,001142: 27,2716 16406 EPS1
032607,001143: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032608,001144: 27,2720 03745 NORMSW
032609,001145: 27,2721 56723 EPSSMALL
032610,001146: 27,2722 16410 EPS2
032611,001147: 27,2723 45006 EPSSMALL PUSH CALL
032612,001148: 27,2724 22002 HAVEGUES
032613,001149: 27,2725 77776 ENDS40.9 EXIT
032614,001150: 27,2726 05353 TC PHASCHNG
032615,001151: 27,2727 00002 OCT 2
032616,001152: 27,2730 15155 TCF ENDOFJOB
032617,001153:
032618,001154: 27,2731 51575 RASTEER1 VLOAD ABVAL
032619,001155: 27,2732 01220 RN
032620,001156: 27,2733 53744 LXC,2 SL*
032621,001157: 27,2734 02777 RTX2
032622,001158: 27,2735 57576 0,2
032623,001159: 27,2736 27715 STOVL RMAG
032624,001160: 27,2737 03444 RTARG
032625,001161: 27,2740 47051 VSU RTB
032626,001162: 27,2741 01220 RN
032627,001163: 27,2742 21725 NORMUNX1
032628,001164: 27,2743 17656 STODL IC
032629,001165: 27,2744 00045 36D # C(36D) = ABVAL(C)
032630,001166: 27,2745 53674 XAD,2 SL*
032631,001167: 27,2746 00046 X1
|
|
Page 772
|
032633,001169: 27,2747 57576 0,2
032634,001170: 27,2750 00037 STORE 30D
032635,001171: 27,2751 41301 NORM DMP
032636,001172: 27,2752 00050 X2
032637,001173: 27,2753 03715 RMAG
032638,001174: 27,2754 57101 NORM XAD,2
032639,001175: 27,2755 00047 X1
032640,001176: 27,2756 00046 X1
032641,001177: 27,2757 77734 SXA,2
032642,001178: 27,2760 03766 MUSCALE
032643,001179: 27,2761 17725 STODL R1C # 2(+58 -X)
032644,001180: 27,2762 00037 30D
032645,001181: 27,2763 65342 SR1 PDDL
032646,001182: 27,2764 03715 RMAG
032647,001183: 27,2765 65342 SR1 PDDL
032648,001184: 27,2766 03723 RTMAG
032649,001185: 27,2767 43342 SR1 DAD
032650,001186: 27,2770 45415 DAD STADR
032651,001187: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
032652,001188: 27,2772 41225 DSU DMP
032653,001189: 27,2773 00037 30D
032654,001190: 27,2774 03721 MU/A
032655,001191: 27,2775 77621 BDSU
032656,001192: 27,2776 03717 MUASTEER
|
|
In the original program listing, the following line has a hand-written
comment as follows
(S - C) μ
( μ - --------- )
2 a
Other similar handwritten comments are included below without further apology.—RSB 2003.
(RSB 2016.) If you refer to the equivalent log section for Luminary 210, you'll see that the
code code has remained the same but that actual program comments similar to these hand-written
comments have appeared.
|
032668,001204: 27,2777 45325 PDDL DSU
032669,001205: 27,3000 03733 SS
|
|
(S-R) is written in by hand.
|
032671,001207: 27,3001 03715 RMAG
032672,001208: 27,3002 70501 NORM SR1
032673,001209: 27,3003 00047 X1
|
|
(S - R) μ (S - C)
2 ------- ( μ - --------- )
R C 2 a
|
032679,001215: 27,3004 41271 DDV DMP
032680,001216: 27,3005 03725 R1C
032681,001217: 27,3006 53664 XSU,2 SL*
032682,001218: 27,3007 00046 X1
032683,001219: 27,3010 57575 1,2
032684,001220: 27,3011 77754 LXA,2
032685,001221: 27,3012 03766 MUSCALE
|
|
2 (S - R) μ (S - C)
SQRT ( --------- (μ - --------- ) )
R C 2 a
|
032691,001227: 27,3013 75366 SQRT SIGN
|
|
(GEOMSGN = SGNA) or perhaps (GEOMSGN = SGN1)
|
032693,001229: 27,3014 02673 GEOMSGN
032694,001230: 27,3015 00041 STORE 32D # + OR - A
|
|
2 (S - R) μ (S - C)
A = SGNA (SQRT ( --------- (μ - ---------) ) )
R C 2 a
|
032700,001236: 27,3016 41345 DLOAD DMP
032701,001237: 27,3017 03733 SS
032702,001238: 27,3020 03721 MU/A
|
|
μ S
μ - ___
2 a
|
032708,001244: 27,3021 77621 BDSU
032709,001245: 27,3022 03717 MUASTEER
032710,001246: 27,3023 45325 PDDL DSU
032711,001247: 27,3024 03733 SS
032712,001248: 27,3025 03723 RTMAG
032713,001249: 27,3026 70501 NORM SR1
032714,001250: 27,3027 00047 X1
|
|
2 (S - R T) μ S
----------- ( μ - --- )
R C 2 a
|
032720,001256: 27,3030 41271 DDV DMP
032721,001257:
|
|
Page 773
|
032723,001259: 27,3031 03725 R1C
032724,001260: 27,3032 53664 XSU,2 SL*
032725,001261: 27,3033 00046 X1
032726,001262: 27,3034 57575 1,2
032727,001263: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
032728,001264: 27,3036 03733 SS
032729,001265: 27,3037 56225 DSU DDV
032730,001266: 27,3040 00037 30D
032731,001267: 27,3041 03733 SS
032732,001268: 27,3042 41566 SQRT PUSH
|
|
ASIN ( SQRT (S-C)/S ) )
|
032734,001270: 27,3043 67542 SR1 ASIN
032735,001271: 27,3044 65205 DMP PDDL
032736,001272: 27,3045 17216 2PI+3
032737,001273: 27,3046 56325 PDDL DDV
032738,001274: 27,3047 00037 30D
032739,001275: 27,3050 03733 SS
|
|
SQRT (C/S) SQRT ( (S-C)/S ) =
|
032741,001277: 27,3051 77600 BOV
032742,001278: 27,3052 57053 +1
|
|
SQRT(C/S) SQRT((S-C)/S) = (1/S) SQRT(C(S-C))
|
032744,001280: 27,3053 41366 SQRT DMP
032745,001281: 27,3054 44242 SR3 BDSU
|
|
SGNA( ARCSIN( SQRT((S-C)/S) ) - (1/S) SQRT(C(S-C)) )
|
032747,001283: 27,3055 65365 SIGN PDDL
032748,001284: 27,3056 02673 GEOMSGN
032749,001285: 27,3057 17216 2PI+3
|
|
(C/S) (PI/2 - SGNA( empty, aligned with the contents of SGNA above ) )
|
032751,001287: 27,3060 45302 SR2 DSU
032752,001288: 27,3061 65205 DMP PDDL
032753,001289: 27,3062 03733 SS
032754,001290: 27,3063 03733 SS
|
|
S SQRT(S) = SQRT(S3)
|
032756,001292: 27,3064 75442 SR3 SQRT
032757,001293: 27,3065 77605 DMP
032758,001294: 27,3066 52525 PDDL SL3
032759,001295: 27,3067 03717 MUASTEER
|
|
3
S
SQRT(---)
2 μ
TMIN ENERGY
|
032767,001303: 27,3070 55366 SQRT BDDV
032768,001304: 27,3071 43225 DSU DAD
032769,001305: 27,3072 03631 TPASS4
032770,001306: 27,3073 01234 PIPTIME
|
|
(tM - t2 )
|
032772,001308: 27,3074 14037 STODL 30D
032773,001309: 27,3075 77765 SIGN
032774,001310: 27,3076 00037 30D # B WITH SIGN
032775,001311: 27,3077 00037 STORE 30D
032776,001312: 27,3100 77214 BON VLOAD
032777,001313: 27,3101 03705 NORMSW
032778,001314: 27,3102 57123 180MESS
032779,001315: 27,3103 03656 IC
032780,001316: 27,3104 53451 VSU UNIT
032781,001317: 27,3105 03537 UNIT/R/
|
|
UNCM
|
032783,001319: 27,3106 63361 VXSC PDVL
|
|
B UNCM
|
032785,001321: 27,3107 00037 30D
032786,001322: 27,3110 03656 IC
032787,001323: 27,3111 53455 VAD UNIT
|
|
VNCP
|
032789,001325: 27,3112 03537 UNIT/R/
|
|
Page 774
|
032791,001327:
|
|
A UNCP
|
032793,001329: 27,3113 53361 GETVRVG1 VXSC VAD
032794,001330: 27,3114 00041 32D
032795,001331: 27,3115 53744 GETVRVG2 LXC,2 VSR*
032796,001332: 27,3116 02777 RTX2
032797,001333: 27,3117 57177 0 -1,2
032798,001334: 27,3120 02337 STORE VIPRIME
032799,001335: 27,3121 77650 GOTO
032800,001336: 27,3122 57166 ASTREND -2
032801,001337: 27,3123 50375 180MESS VLOAD DOT
032802,001338: 27,3124 03656 IC
032803,001339: 27,3125 03537 UNIT/R/
032804,001340: 27,3126 77240 BMN VLOAD
032805,001341: 27,3127 57146 NEGPROD
032806,001342: 27,3130 03656 IC
032807,001343: 27,3131 63362 VSR1 PDVL
032808,001344: 27,3132 03537 UNIT/R/
032809,001345: 27,3133 53362 VSR1 VAD
032810,001346: 27,3134 77656 UNIT
032811,001347: 27,3135 57406 PUSH VCOMP # FOR A
032812,001348: 27,3136 75235 VXV SIGN
032813,001349: 27,3137 02674 UN
032814,001350: 27,3140 02673 GEOMSGN
032815,001351: 27,3141 74256 UNIT VXSC
032816,001352: 27,3142 00037 30D
032817,001353: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
032818,001354: 27,3144 77650 GOTO
032819,001355: 27,3145 57113 GETVRVG1
032820,001356: 27,3146 74575 NEGPROD VLOAD VSR1
032821,001357: 27,3147 03537 UNIT/R/
032822,001358: 27,3150 74515 PDVL VSR1
032823,001359: 27,3151 03656 IC
032824,001360: 27,3152 53451 VSU UNIT
032825,001361: 27,3153 77606 PUSH
032826,001362: 27,3154 75235 VXV SIGN
032827,001363: 27,3155 02674 UN # FOR B
032828,001364: 27,3156 02673 GEOMSGN
032829,001365: 27,3157 74256 UNIT VXSC
032830,001366: 27,3160 00041 32D
032831,001367: 27,3161 77715 PDVL
032832,001368: 27,3162 53361 VXSC VAD
032833,001369: 27,3163 00037 30D
032834,001370: 27,3164 77650 GOTO
032835,001371: 27,3165 57115 GETVRVG2
032836,001372: 27,3166 77651 VSU
032837,001373: 27,3167 03553 VN1
032838,001374: 27,3170 02366 ASTREND STORE DELVEET3
032839,001375: 27,3171 53135 FIRSTTME SLOAD BZE
032840,001376: 27,3172 03000 RTX2
032841,001377: 27,3173 57177 GETGOBL
032842,001378: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
|
|
Page 775
|
032844,001380: 27,3175 02366 DELVEET3
032845,001381: 27,3176 57212 NOGOBL
|
|
In the original program listing, VLOAD UNIT RN below is circled, and connected to the
comment after 34D ("34D = /RN/ etc.") with an arrow.—RSB 2003.
|
032848,001384: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
032849,001385: 27,3200 01220 RN
032850,001386: 27,3201 45345 DLOAD DSU
032851,001387: 27,3202 01234 PIPTIME # 2
032852,001388: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
032853,001389: 27,3204 56205 DMP DDV # OBL
032854,001390: 27,3205 16023 EARTHMU
032855,001391: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
032856,001392: 27,3207 53361 VXSC VAD
032857,001393: 27,3210 03521 UNITGOBL
032858,001394: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
032859,001395: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
032860,001396: 27,3213 77650 GOTO
032861,001397: 27,3214 56455 VGAIN*
032862,001398:
032863,001399: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
032864,001400:
|
|
Page 776
|
032866,001402: # TRIMGIMB (FORMERLY S40.6)
032867,001403: # MOD 0 24 FEB 67 PETER ADLER
032868,001404:
032869,001405: # FUNCTION:
032870,001406: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
032871,001407: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
032872,001408: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
032873,001409:
032874,001410: # CALLING SEQUENCE:
032875,001411: # VIA WAITLIST FROM R03
032876,001412:
032877,001413: # INPUT:
032878,001414: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
032879,001415: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
032880,001416:
032881,001417: # SUBROUTINES USED:
032882,001418: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
032883,001419:
032884,001420: 27,3217 COUNT* $$/S40.6
032885,001421: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
032886,001422:
032887,001423: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
032888,001424: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
032889,001425:
032890,001426: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
032891,001427: 27,3222 00006 EXTEND
032892,001428: 27,3223 03012 WAND CHAN12
032893,001429: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
032894,001430: 27,3225 00006 EXTEND
032895,001431: 27,3226 05012 WOR CHAN12
032896,001432: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
032897,001433: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
032898,001434: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
032899,001435: 27,3232 00006 EXTEND
032900,001436: 27,3233 03012 WAND CHAN12
032901,001437: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
032902,001438: 27,3235 00006 EXTEND
032903,001439: 27,3236 05012 WOR CHAN12
032904,001440: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
032905,001441: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
032906,001442: 27,3241 03260 ADRES PITCHOFF
032907,001443:
032908,001444: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
032909,001445: 27,3243 05224 TC VARDELAY # UNTIL THEN
032910,001446: 27,3244 44740 CS BIT12
032911,001447: 27,3245 00006 EXTEND
032912,001448: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
032913,001449: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
032914,001450: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
032915,001451: 27,3251 00006 EXTEND
032916,001452: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
032917,001453: 27,3253 34737 CAF PRIO10 # RETURN TO R03
032918,001454: 27,3254 05072 TC NOVAC
032919,001455: 27,3255 E7,1471 EBANK= WHOCARES
|
|
Page 777
|
032921,001457: 27,3255 02325 02067 2CADR TRIMDONE
032922,001458:
032923,001459: 27,3257 05261 TC TASKOVER
032924,001460: 27,3260 44742 PITCHOFF CS BIT10
032925,001461: 27,3261 00006 EXTEND
032926,001462: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
032927,001463: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
032928,001464: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
032929,001465: 27,3265 00137 ADRES GMBDRVSW
032930,001466: 27,3266 05261 TC TASKOVER
032931,001467:
|
|
Page 778
|
032933,001469: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
032934,001470: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
032935,001471:
032936,001472: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032937,001473:
032938,001474: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
032939,001475: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
032940,001476: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
032941,001477: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
032942,001478: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
032943,001479: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
032944,001480: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
032945,001481: # CALLER WITH C(MPAC) = VELOCITY(LM).
032946,001482:
032947,001483: # CALLING SEQUENCE:
032948,001484: # L VLOAD CALL
032949,001485: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
032950,001486: # L +2 S41.1
032951,001487: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
032952,001488:
032953,001489: # SUBROUTINES CALLED:
032954,001490: # 1. CDUTRIG,
032955,001491: # WHICH CALLS CDULOGIC.
032956,001492: # 2. *SMNB*
032957,001493:
032958,001494: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
032959,001495:
032960,001496: # ALARM/ABORT MODES: NONE.
032961,001497:
032962,001498: # RESTART PROTECTION: NONE.
032963,001499:
|
|
Page 779
|
032965,001501: # INPUT:
032966,001502: # 1. REFSMMAT.
032967,001503: # 2. CDUX, CDUY, CDUZ.
032968,001504: # 3. VELOCITY (REF) IN MPAC.
032969,001505:
032970,001506: # OUTPUT:
032971,001507: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
032972,001508: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
032973,001509: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
032974,001510: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
032975,001511:
032976,001512: # DEBRIS: NONE.
032977,001513:
032978,001514: # CHECKOUT STATUS: CODED.
032979,001515:
032980,001516: 27,3267 COUNT* $$/S41.1
032981,001517: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
032982,001518: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
032983,001519: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
032984,001520: 27,3272 47650 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
032985,001521: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc