Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
033217,000002: ## Copyright: Public domain.
033218,000003: ## Filename: P40-P47.agc
033219,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
033220,000005: ## otherwise known as Luminary Rev 99, the third release
033221,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
033222,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
033223,000008: ## placement of a single label. The corrections shown here have
033224,000009: ## been verified to have the same bank checksums as AGC developer
033225,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
033226,000011: ## to be accurate. This file is intended to be a faithful
033227,000012: ## recreation, except that the code format has been changed to
033228,000013: ## conform to the requirements of the yaYUL assembler rather than
033229,000014: ## the original YUL assembler.
033230,000015: ##
033231,000016: ## Assembler: yaYUL
033232,000017: ## Contact: Ron Burkey <info@sandroid.org>.
033233,000018: ## Website: www.ibiblio.org/apollo.
033234,000019: ## Pages: 752-784
033235,000020: ## Mod history: 2009-05-19 RSB Adapted from the corresponding
033236,000021: ## Luminary131 file, using page
033237,000022: ## images from Luminary 1A.
033238,000023: ## 2011-01-06 JL Fixed interpretive indentation.
033239,000024: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
033240,000025: ## 2016-12-15 RSB Proofed text comments with octopus/ProoferComments
033241,000026: ## and corrected the errors found.
033242,000027: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
033243,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
033244,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
033245,000030: ## 2017-08-01 MAS Created from LMY99 Rev 1.
033246,000031: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
033247,000032: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
033248,000033: ## Zerlina 56 (it was unreferenced so caused no errors).
033249,000034: ## 2021-05-30 ABS TGDCALC -> TGOCALC
033250,000035:
033251,000036: ## This source code has been transcribed or otherwise adapted from
033252,000037: ## digitized images of a hardcopy from the MIT Museum. The digitization
033253,000038: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
033254,000039: ## the Museum. Many thanks to both. The images (with suitable reduction
033255,000040: ## in storage size and consequent reduction in image quality as well) are
033256,000041: ## available online at www.ibiblio.org/apollo. If for some reason you
033257,000042: ## find that the images are illegible, contact me at info@sandroid.org
033258,000043: ## about getting access to the (much) higher-quality images which Paul
033259,000044: ## actually created.
033260,000045: ##
033261,000046: ## The code has been modified to match LMY99 Revision 0, otherwise
033262,000047: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
033263,000048: ## the listing from which it was transcribed. It has been verified to
033264,000049: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
033265,000050: ## of Luminary Revision 99 (for which we do not have scans).
033266,000051: ##
033267,000052: ## Notations on Allan Klumpp's listing read, in part:
033268,000053: ##
033269,000054: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
033270,000055:
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Page 752 |
033272,000057: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
033273,000058: # MOD 03 BY PETER ADLER MARCH 3, 1967
033274,000059: # CALLED VIA JOB FROM V37E
033275,000060:
033276,000061: # FUNCTIONAL DESCRIPTION
033277,000062:
033278,000063: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
033279,000064: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009. |
033281,000066: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
033282,000067: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
033283,000068: # PGNCS CONTROLLED DPS MANEUVER.
033284,000069: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
033285,000070: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
033286,000071:
033287,000072: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
033288,000073: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
033289,000074:
033290,000075: # SUBROUTINES USED
033291,000076:
033292,000077: # R02 IMU STATUS CHECK
033293,000078: # S40.1 COMPUTATION OF THRUST DIRECTION
033294,000079: # S40.13 LENGTH OF BURN
033295,000080: # S40.2,3 PREFERRED IMU ORIENATTION
033296,000081: # S40.8 X PRODUCT STEERING
033297,000082: # S40.9 LAMBERT VTOGAIN
033298,000083: # R60LEM ATTITUDE MANEUVER
033299,000084: # LEMPREC EXTRAPOLATE STATE VECTOR
033300,000085: # PREREAD AVERAGE G, SERVICER
033301,000086: # ALLCOAST DAP COASTING INITIALIZATION
033302,000087: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
033303,000088: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
033304,000089: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
033305,000090: # KILLTASK, SGNAGREE, TPAGREE, ETC.
033306,000091:
033307,000092: # RESTARTS VIA GROUP 4
033308,000093:
033309,000094: # DISPLAYS
033310,000095:
033311,000096: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
033312,000097: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
033313,000098: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
033314,000099: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
033315,000100: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
033316,000101: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
033317,000102: # V05N09 POSSIBLE ALARMS
033318,000103: # V50N07 PLEASE SELECT P00
033319,000104:
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Page 753 |
033321,000106: # VIA R30
033322,000107:
033323,000108: # V06N44 HAPO, PERI, TFF
033324,000109: # V06N35 TIME TO PERIGEE, HMS
033325,000110:
033326,000111: # ALARM OR ABORT EXIT MODES
033327,000112:
033328,000113: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
033329,000114: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
033330,000115:
033331,000116: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
033332,000117: # TIG BY 45 SECS.
033333,000118:
033334,000119: # ERASABLE INITIALIZATION
033335,000120:
033336,000121: # DEBRIS
033337,000122:
033338,000123: # OUTPUT
033339,000124:
033340,000125: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
033341,000126: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
033342,000127: # = 0 FOR AIMPT (LAMBERT) COMP
033343,000128:
033344,000129: 27,2246 COUNT* $$/P40
033345,000130: 27,2246 E7,1455 EBANK= WHICH
033346,000131:
033347,000132: 36,3147 BANK 36
033348,000133: 36,2000 SETLOC P40S
033349,000134: 36,2000 BANK
033350,000135:
033351,000136: 36,3147 05353 P40LM TC PHASCHNG
033352,000137: 36,3150 04024 OCT 04024
033353,000138:
033354,000139: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
033355,000140: 36,3152 55455 TS WHICH
033356,000141:
033357,000142: 36,3153 30106 CA FLGWRD10
033358,000143: 36,3154 74737 MASK APSFLBIT
033359,000144: 36,3155 10000 CCS A
033360,000145: 36,3156 13121 TCF P40ALM
033361,000146: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
033362,000147: 36,3160 11254 CADR R02BOTH
033363,000148:
033364,000149: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
033365,000150: 36,3162 74737 MASK CSMDOCKD
033366,000151: 36,3163 10000 CCS A
033367,000152: 36,3164 32020 CAF THRESH1
033368,000153: 36,3165 62021 AD THRESH3
033369,000154: 36,3166 55251 TS DVTHRUSH
033370,000155: 36,3167 34751 CAF FOUR
033371,000156: 36,3170 55515 TS DVCNTR
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Page 754 |
033373,000158: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
033374,000159: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
033375,000160: 36,3173 34001 FDPS
033376,000161: 36,3174 02663 NOTHROTL
033377,000162: 36,3175 03735 STORE F
033378,000163: 36,3176 77735 SLOAD
033379,000164: 36,3177 26002 DPSVEX
033380,000165: 36,3200 70476 P40IN DCOMP SR1
033381,000166: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
033382,000167: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
033383,000168: 36,3203 77624 CALL
033384,000169: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
033385,000170: 36,3205 77776 EXIT
033386,000171:
033387,000172: 36,3206 00004 INHINT
033388,000173: 36,3207 04674 TC IBNKCALL
033389,000174: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
033390,000175:
033391,000176: 36,3211 03213 TC P40SXT4
033392,000177:
033393,000178: # ***********************
033394,000179:
033395,000180: 36,3212 12126 TCF BURNBABY
033396,000181:
033397,000182: # ***********************
033398,000183:
033399,000184: 36,3213 00006 P40SXT4 EXTEND
033400,000185: 36,3214 23142 QXCH P40/RET
033401,000186: 36,3215 00003 P41MANU RELINT
033402,000187:
033403,000188: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
033404,000189: 36,3217 00124 ADRES 3AXISFLG
033405,000190:
033406,000191: 36,3220 04616 TC BANKCALL
033407,000192: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
033408,000193: 36,3222 01142 TC P40/RET
033409,000194:
033410,000195: 36,3223 E7,1462 EBANK= TRKMKCNT
033411,000196: 36,3223 30005 POSTBURN CA Z
033412,000197: 36,3224 55163 TS DISPDEX
033413,000198: 36,3225 00006 EXTEND
033414,000199: 36,3226 32056 DCA ACADN85
033415,000200: 36,3227 53253 DXCH AVEGEXIT
033416,000201: 36,3230 33760 CAF V16N40
033417,000202: 36,3231 04616 TC BANKCALL
033418,000203: 36,3232 20635 CADR GOFLASHR
033419,000204: 36,3233 03256 TC TERM40
033420,000205: 36,3234 13241 TCF TIGNOW
033421,000206: 36,3235 03223 TC POSTBURN
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Page 755 |
033423,000208: 36,3236 05353 P40PHS1 TC PHASCHNG
033424,000209: 36,3237 00014 OCT 00014
033425,000210: 36,3240 15155 TCF ENDOFJOB
033426,000211:
033427,000212: 36,3241 00004 TIGNOW INHINT
033428,000213: 36,3242 04674 TC IBNKCALL
033429,000214: 36,3243 40153 CADR ZATTEROR
033430,000215: 36,3244 04674 TC IBNKCALL
033431,000216: 36,3245 40140 CADR SETMINDB
033432,000217: 36,3246 00003 RELINT
033433,000218: 36,3247 33761 CAF V16N85B
033434,000219: 36,3250 04616 TC BANKCALL
033435,000220: 36,3251 20462 CADR REFLASHR
033436,000221: 36,3252 03256 TC TERM40
033437,000222: 36,3253 13256 TCF TERM40
033438,000223: 36,3254 03247 TC -5
033439,000224:
033440,000225: 36,3255 13236 TCF P40PHS1
033441,000226:
033442,000227: 36,3256 00006 TERM40 EXTEND
033443,000228: 36,3257 32106 DCA SERVCADR
033444,000229: 36,3260 53253 DXCH AVEGEXIT
033445,000230: 36,3261 34755 CAF ZERO
033446,000231: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
033447,000232: 36,3263 30005 CA Z
033448,000233: 36,3264 55163 TS DISPDEX
033449,000234: 36,3265 00004 INHINT
033450,000235: 36,3266 04674 TC IBNKCALL
033451,000236: 36,3267 40123 CADR RESTORDB
033452,000237: 36,3270 00003 RELINT
033453,000238: 36,3271 06001 TC GOTOPOOH
033454,000239:
033455,000240: 36,3272 E7,1455 EBANK= WHICH
033456,000241: 36,3272 COUNT* $$/P41
033457,000242: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
033458,000243: 36,3273 55455 TS WHICH
033459,000244:
033460,000245: 36,3274 04616 TC BANKCALL
033461,000246: 36,3275 11254 CADR R02BOTH
033462,000247:
033463,000248: 36,3276 06037 TC INTPRET # BOTH LM
033464,000249: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
033465,000250: 36,3300 00700 NJETSFLG
033466,000251: 36,3301 75305 P41FJET1
033467,000252: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033468,000253:
033469,000254: 36,3303 37735 P41FJET STCALL F
033470,000255: 36,3304 75310 P41IN
033471,000256: 36,3305 77745 P41FJET1 DLOAD
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Page 756 |
033473,000258: 36,3306 34017 FRCS2
033474,000259: 36,3307 03735 STORE F
033475,000260:
033476,000261: 36,3310 77624 P41IN CALL
033477,000262: 36,3311 56246 S40.1 # BOTH
033478,000263: 36,3312 77624 P41NORM CALL
033479,000264: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
033480,000265: 36,3314 77776 EXIT # SET PFRATFLG.
033481,000266:
033482,000267: 36,3315 00004 INHINT
033483,000268: 36,3316 04674 TC IBNKCALL
033484,000269: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
033485,000270: 36,3320 04674 TC IBNKCALL
033486,000271: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
033487,000272: 36,3322 03213 TC P40SXT4
033488,000273:
033489,000274: 36,3323 06037 TC INTPRET
033490,000275: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033491,000276: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
033492,000277: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
033493,000278: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
033494,000279: 36,3330 77776 EXIT
033495,000280:
033496,000281: 36,3331 33761 CAF V16N85B
033497,000282: 36,3332 04616 TC BANKCALL
033498,000283: 36,3333 20446 CADR GODSPRET
033499,000284:
033500,000285: 36,3334 35017 CAF PRIO5
033501,000286: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
033502,000287: 36,3336 05105 TC FINDVAC
033503,000288: 36,3337 E7,1700 EBANK= VGPREV
033504,000289: 36,3337 03361 74067 2CADR DYNMDISP
033505,000290:
033506,000291: 36,3341 05327 TC 2PHSCHNG
033507,000292: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
033508,000293: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
033509,000294:
033510,000295: # ***********************
033511,000296:
033512,000297: 36,3344 12135 TCF B*RNB*B*
033513,000298:
033514,000299: # ***********************
033515,000300:
033516,000301: 36,3345 34777 BLNKWAIT CAF 1SEC
033517,000302: 36,3346 04616 TC BANKCALL
033518,000303: 36,3347 01735 CADR DELAYJOB
033519,000304:
033520,000305: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
033521,000306: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
033522,000307:
033523,000308: # ***********************
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Page 757 |
033525,000310:
033526,000311: 36,3352 00006 EXTEND
033527,000312: 36,3353 13345 BZF BLNKWAIT
033528,000313:
033529,000314: 36,3354 33761 CAF V16N85B
033530,000315: 36,3355 04616 TC BANKCALL
033531,000316: 36,3356 20446 CADR GODSPRET
033532,000317:
033533,000318: 36,3357 35017 CAF PRIO5
033534,000319: 36,3360 05146 TC PRIOCHNG
033535,000320:
033536,000321: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
033537,000322: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
033538,000323: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
033539,000324: 36,3364 06037 TC INTPRET
033540,000325: 36,3365 45175 VLOAD CALL
033541,000326: 36,3366 03701 VGPREV
033542,000327: 36,3367 57267 S41.1
033543,000328: 36,3370 03502 STORE VGBODY
033544,000329: 36,3371 77776 EXIT
033545,000330: 36,3372 34777 CAF 1SEC
033546,000331: 36,3373 04616 TC BANKCALL
033547,000332: 36,3374 01735 CADR DELAYJOB
033548,000333: 36,3375 13361 TCF DYNMDISP
033549,000334:
033550,000335: 36,3376 06037 CALCN85 TC INTPRET
033551,000336: 36,3377 77624 CALL
033552,000337: 36,3400 75611 UPDATEVG
033553,000338: 36,3401 45175 VLOAD CALL
033554,000339: 36,3402 03701 VGPREV
033555,000340: 36,3403 57267 S41.1
033556,000341: 36,3404 03502 STORE VGBODY
033557,000342: 36,3405 77776 EXIT
033558,000343: 36,3406 04635 TC POSTJUMP
033559,000344: 36,3407 65770 CADR SERVEXIT
033560,000345:
033561,000346: 36,3410 COUNT* $$/P42
033562,000347: 36,3410 E7,1455 EBANK= WHICH
033563,000348:
033564,000349: 36,3410 05353 P42LM TC PHASCHNG
033565,000350: 36,3411 04024 OCT 04024
033566,000351:
033567,000352: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
033568,000353: 36,3413 55455 TS WHICH
033569,000354:
033570,000355: 36,3414 40106 CS FLGWRD10
033571,000356: 36,3415 74737 MASK APSFLBIT
033572,000357: 36,3416 10000 CCS A
033573,000358: 36,3417 03121 TC P40ALM
033574,000359: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758 |
033576,000361: 36,3421 11254 CADR R02BOTH
033577,000362: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
033578,000363: 36,3423 55251 TS DVTHRUSH
033579,000364: 36,3424 34751 CAF FOUR
033580,000365: 36,3425 55515 TS DVCNTR
033581,000366:
033582,000367: 36,3426 06037 TC INTPRET
033583,000368: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033584,000369: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
033585,000370: 36,3431 34007 FAPS
033586,000371: 36,3432 03735 STORE F
033587,000372: 36,3433 52135 SLOAD GOTO
033588,000373: 36,3434 26001 APSVEX
033589,000374: 36,3435 75200 P40IN
033590,000375:
033591,000376: 36,3436 E7,1455 EBANK= WHICH
033592,000377:
033593,000378: 36,3436 COUNT* $$/P47
033594,000379: 36,3436 04616 P47LM TC BANKCALL
033595,000380: 36,3437 11254 CADR R02BOTH
033596,000381: 36,3440 06037 TC INTPRET
033597,000382: 36,3441 77624 CALRB
033598,000383: 36,3442 27553 MIDTOAV2
033599,000384:
033600,000385: 36,3443 30155 CA MPAC +1
033601,000386: 36,3444 05173 TC TWIDDLE
033602,000387: 36,3445 03447 ADRES STARTP47
033603,000388:
033604,000389: 36,3446 15155 TCF ENDOFJOB
033605,000390:
033606,000391: 36,3447 05353 STARTP47 TC PHASCHNG
033607,000392: 36,3450 05014 OCT 05014
033608,000393: 36,3451 77777 OCT 77777
033609,000394:
033610,000395: 36,3452 00006 EXTEND
033611,000396: 36,3453 33764 DCA ACADN83
033612,000397: 36,3454 53253 DXCH AVEGEXIT
033613,000398: 36,3455 34736 CAF PRIO20
033614,000399: 36,3456 05105 TC FINDVAC
033615,000400: 36,3457 E7,1622 EBANK= DELVIMU
033616,000401: 36,3457 03513 74067 2CADR P47BODY
033617,000402:
033618,000403: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
033619,000404: # SEE TIG-30 IN BURNBABY.
033620,000405:
033621,000406: 36,3462 06037 CALCN83 TC INTPRET
033622,000407: 36,3463 53375 VLOAD VAD
033623,000408: 36,3464 03502 DELVCTL
033624,000409: 36,3465 03527 DELVREF
033625,000410: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
|
|
Page 759 |
033627,000412: 36,3467 77624 CALL
033628,000413: 36,3470 57267 S41.1
033629,000414: 36,3471 03623 STORE DELVIMU
033630,000415: 36,3472 77776 EXIT
033631,000416: 36,3473 05353 TC PHASCHNG
033632,000417: 36,3474 10035 OCT 10035 # REREADAC AND HERE
033633,000418:
033634,000419: 36,3475 06037 TC INTPRET
033635,000420: 36,3476 77775 VLOAD
033636,000421: 36,3477 03656 DELVSIN
033637,000422: 36,3500 03502 STORE DELVCTL
033638,000423: 36,3501 77776 EXIT
033639,000424:
033640,000425: 36,3502 04635 TC POSTJUMP
033641,000426: 36,3503 65770 CADR SERVEXIT
033642,000427:
033643,000428: 36,3504 33762 P47BOD CAF V1683
033644,000429: 36,3505 04616 TC BANKCALL
033645,000430: 36,3506 20635 CADR GOFLASHR
033646,000431: 36,3507 06001 TC GOTOPOOH
033647,000432: 36,3510 06001 TC GOTOPOOH
033648,000433:
033649,000434: 36,3511 13513 TCF P47BODY
033650,000435:
033651,000436: 36,3512 13236 TCF P40PHS1
033652,000437:
033653,000438: 36,3513 06037 P47BODY TC INTPRET
033654,000439: 36,3514 77775 VLOAD
033655,000440: 36,3515 06522 HI6ZEROS
033656,000441: 36,3516 03623 STORE DELVIMU
033657,000442: 36,3517 03502 STORE DELVCTL
033658,000443: 36,3520 77776 EXIT
033659,000444: 36,3521 03504 TC P47BOD
033660,000445:
033661,000446: 36,3522 COUNT* $$/P40
033662,000447: 36,3522 31517 IMPLBURN CA TGO +1
033663,000448: 36,3523 03735 TC GETDT
033664,000449: 36,3524 05173 TC TWIDDLE
033665,000450: 36,3525 03542 ADRES ENGOFTSK
033666,000451: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
033667,000452: 36,3527 00153 ADRES IGNFLAG
033668,000453: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
033669,000454: 36,3531 00154 ADRES ASTNFLAG
033670,000455: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
033671,000456: 36,3533 00044 ADRES IMPULSW
033672,000457: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033673,000458: 36,3535 40114 OCT 40114
033674,000459:
033675,000460: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
033676,000461: 36,3537 00062 DEC 50 B-14
|
|
Page 760 |
033678,000463: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
033679,000464:
033680,000465: 36,3541 05261 TC TASKOVER
033681,000466:
033682,000467: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033683,000468: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033684,000469: 36,3544 05261 TC TASKOVER
033685,000470:
033686,000471: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033687,000472: 36,3546 05105 TC FINDVAC
033688,000473: 36,3547 E7,1462 EBANK= TRKMKCNT
033689,000474: 36,3547 03223 74067 2CADR POSTBURN
033690,000475:
033691,000476: 36,3551 34753 ENGINOF2 CAF BIT1
033692,000477: 36,3552 05203 TC WAITLIST
033693,000478: 36,3553 E6,1422 EBANK= OMEGAQ
033694,000479: 36,3553 03606 74066 2CADR COASTSET
033695,000480:
033696,000481: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033697,000482: 36,3556 74745 MASK IDLEFBIT
033698,000483: 36,3557 26103 ADS FLAGWRD7
033699,000484:
033700,000485: 36,3560 02653 TC NOULLAGE
033701,000486:
033702,000487: 36,3561 00006 ENGINOF4 EXTEND
033703,000488: 36,3562 30025 DCA TIME2
033704,000489: 36,3563 53345 DXCH TEVENT
033705,000490:
033706,000491: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033707,000492: 36,3565 70101 MASK FLAGWRD5
033708,000493: 36,3566 54101 TS FLAGWRD5
033709,000494: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033710,000495: 36,3570 00006 EXTEND # SUBROUTINE.
033711,000496: 36,3571 02011 RAND DSALMOUT
033712,000497: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033713,000498: 36,3573 00006 EXTEND
033714,000499: 36,3574 01011 WRITE DSALMOUT
033715,000500:
033716,000501: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033717,000502: 36,3576 74736 MASK USEQRJTS
033718,000503: 36,3577 26111 ADS DAPBOOLS
033719,000504:
033720,000505: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033721,000506: 36,3601 54055 TS THRUST # IS TURNED OFF.
033722,000507: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033723,000508: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033724,000509: 36,3604 05014 WOR CHAN14
033725,000510:
033726,000511: 36,3605 04707 TC ISWRETRN
|
|
Page 761 |
033728,000513: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033729,000514: 36,3607 40204 CADR ALLCOAST
033730,000515: 36,3610 05261 TC TASKOVER
033731,000516:
033732,000517: 36,3611 E6,1422 EBANK= OMEGAQ
033733,000518: 36,3611 45020 UPDATEVG STQ CALL
033734,000519: 36,3612 03665 QTEMP1
033735,000520: 36,3613 56447 S40.8 # X-PRODUCT STEERING
033736,000521: 36,3614 43014 BON BON
033737,000522: 36,3615 01307 XDELVFLG
033738,000523: 36,3616 03665 QTEMP1
033739,000524: 36,3617 03705 NORMSW
033740,000525: 36,3620 75633 180SETUP
033741,000526: 36,3621 45345 DLOAD DSU
033742,000527: 36,3622 01235 PIPTIME
033743,000528: 36,3623 03763 TIGSAVE
033744,000529: 36,3624 50025 DSU BMN
033745,000530: 36,3625 03432 TNEWA
033746,000531: 36,3626 75656 GETRANS
033747,000532: 36,3627 43345 DLOAD DAD
033748,000533: 36,3630 03763 TIGSAVE
033749,000534: 36,3631 03432 TNEWA
033750,000535: 36,3632 03765 STORE TIGSAVEP
033751,000536: 36,3633 77776 180SETUP EXIT
033752,000537: 36,3634 10755 CCS PHASE2
033753,000538: 36,3635 13663 TCF NO.9
033754,000539: 36,3636 34737 CAF PRIO10
033755,000540: 36,3637 00004 INHINT
033756,000541: 36,3640 05105 TC FINDVAC
033757,000542: 36,3641 E7,1706 EBANK= VG
033758,000543: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
033759,000544:
033760,000545: 36,3643 05327 TC 2PHSCHNG
033761,000546: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
033762,000547: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
033763,000548:
033764,000549: 36,3646 06037 ENDSTEER TC INTPRET
033765,000550: 36,3647 77745 DLOAD
033766,000551: 36,3650 03765 TIGSAVEP
033767,000552: 36,3651 27763 STOVL TIGSAVE
033768,000553: 36,3652 01221 RN
033769,000554: 36,3653 26323 STOVL RINIT
033770,000555: 36,3654 01227 VN
033771,000556: 36,3655 02331 STORE VINIT
033772,000557: 36,3656 45345 GETRANS DLOAD DSU
033773,000558: 36,3657 03631 TPASS4
033774,000559: 36,3660 01235 PIPTIME
033775,000560: 36,3661 37452 STCALL DELLT4
033776,000561: 36,3662 03665 QTEMP1
033777,000562:
|
|
Page 762 |
033779,000564: 36,3663 06037 NO.9 TC INTPRET
033780,000565: 36,3664 77650 GOTO
033781,000566: 36,3665 03665 QTEMP1
033782,000567: 36,3666 06037 STEERING TC INTPRET
033783,000568:
033784,000569: 36,3667 77624 CALL
033785,000570: 36,3670 75611 UPDATEVG
033786,000571: 36,3671 77776 EXIT
033787,000572:
033788,000573: 36,3672 E7,1515 EBANK= DVCNTR
033789,000574: 36,3672 00004 NSTEER INHINT
033790,000575: 36,3673 35016 CA EBANK7
033791,000576: 36,3674 54003 TS EBANK
033792,000577: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033793,000578: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033794,000579: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
033795,000580:
033796,000581: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
033797,000582: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033798,000583: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033799,000584: 36,3703 10000 CCS A
033800,000585: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033801,000586: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033802,000587: 36,3706 65770 CADR SERVEXIT
033803,000588:
033804,000589: 36,3707 04674 TC IBNKCALL
033805,000590: 36,3710 40165 CADR STOPRATE
033806,000591:
033807,000592: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
033808,000593: 36,3712 00044 ADRES IMPULSW
033809,000594:
033810,000595: 36,3713 05504 TC UPFLAG
033811,000596: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
033812,000597:
033813,000598: 36,3715 00004 INHINT
033814,000599: 36,3716 00006 EXTEND
033815,000600: 36,3717 31442 DCA TIG
033816,000601: 36,3720 52155 DXCH MPAC
033817,000602: 36,3721 00006 EXTEND
033818,000603: 36,3722 40025 DCS TIME2
033819,000604: 36,3723 20155 DAS MPAC
033820,000605: 36,3724 07257 TC TPAGREE
033821,000606: 36,3725 30155 CAE MPAC +1
033822,000607: 36,3726 03735 TC GETDT
033823,000608: 36,3727 05173 TC TWIDDLE
033824,000609: 36,3730 03542 ADRES ENGOFTSK
033825,000610: 36,3731 05327 TC 2PHSCHNG
033826,000611: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033827,000612: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763 |
033829,000614: 36,3734 15155 TCF ENDOFJOB
033830,000615:
033831,000616: 36,3735 10000 GETDT CCS A
033832,000617: 36,3736 13741 TCF +3
033833,000618: 36,3737 13741 TCF +2
033834,000619: 36,3740 34755 CAF ZERO
033835,000620: 36,3741 64753 AD ONE
033836,000621: 36,3742 56001 XCH L
033837,000622: 36,3743 34755 CAF ZERO
033838,000623: 36,3744 53517 DXCH TGO
033839,000624: 36,3745 31517 CA TGO +1
033840,000625: 36,3746 00002 TC Q
033841,000626:
033842,000627: # ************************************************************************
033843,000628:
033844,000629: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
033845,000630: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
033846,000631: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
033847,000632:
033848,000633: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
033849,000634: 36,3754 10624 SEC45 DEC 4500 B-14
033850,000635: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033851,000636: 36,3756 00764 5SEC DEC 500 B-14
033852,000637: 36,3757 05050 26SECS DEC 2600 B-14
033853,000638: 36,3760 04050 V16N40 VN 1640
033854,000639: 36,3761 04125 V16N85B VN 1685
033855,000640: 36,3762 04123 V1683 VN 1683
033856,000641: 36,3763 4777 SEC01 = 1SEC
033857,000642: 36,3763 36,2055 ACADN85 = P41TABLE +2
033858,000643:
033859,000644: 36,3763 E7,1622 EBANK= DELVIMU
033860,000645: 36,3763 03462 74067 ACADN83 2CADR CALCN83
033861,000646:
033862,000647: # *************************************************
|
|
Page 764 |
033864,000649: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
033865,000650: # MOD N02 LOG SECTION P40-P47
033866,000651: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033867,000652:
033868,000653: # FUNCTIONAL DESCRIPTION
033869,000654: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033870,000655: # VECTOR(VGTIG).
033871,000656:
033872,000657: # CALLING SEQUENCE
033873,000658: # L CALL
033874,000659: # L+1 S40.1
033875,000660:
033876,000661: # NORMAL EXIT MODE
033877,000662: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033878,000663: # ERROR RETURN IF NOSOFLAG =1
033879,000664:
033880,000665: # SUBROUTINES CALLED
033881,000666: # LEMPREC
033882,000667: # INITVEL
033883,000668: # CALCGRAV
033884,000669: # MIDGIM
033885,000670:
033886,000671: # ALARM OR ABORT EXIT MODES
033887,000672: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033888,000673:
033889,000674: # ERASABLE INITIALIZATION REQUIRED
033890,000675: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
033891,000676: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
033892,000677: # F THRUST FOR ENGINE USED
033893,000678: # IF DELTA-V MANEUVER
033894,000679: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033895,000680: # INERTIAL COORDS. OF ACTIVE VEHICLE
033896,000681: # AT TIME OF IGNITION VECTOR B7 M/CS
033897,000682: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
033898,000683: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
033899,000684: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
033900,000685: # IF AIMPT STEER
033901,000686: # TIG TIME OF IGNITION DP B28 CS
033902,000687: # RTARG POSITION TARGET TIME VECTOR B29 M
033903,000688: # CSTEER C FOR STEER LAW DP B2
033904,000689: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
033905,000690:
033906,000691: # OUTPUT
033907,000692: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
033908,000693: # VGTIG INITIAL VALUE OF VELOCITY
033909,000694: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
033910,000695: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
033911,000696: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033912,000697: # -GDT FOR S40.13 VECT B7 M/CS
033913,000698: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
033914,000699: # POSITION AT TIME OF IGNITION
033915,000700:
033916,000701: # DEBRIS QTEMP1
033917,000702: # MPAC, QPRET
033918,000703: # PUSHLIST
033919,000704:
033920,000705: 14,2347 BANK 14
033921,000706: 27,2000 SETLOC P40S1
033922,000707: 27,2000 BANK
|
|
Page 765 |
033924,000709: 27,2246 COUNT* $$/S40.1
033925,000710: 27,2246 71220 S40.1 STQ DLOAD
033926,000711: 27,2247 03632 QTEMP
033927,000712: 27,2250 03442 TIG
033928,000713: 27,2251 03763 STORE TIGSAVE
033929,000714: 27,2252 77614 DELVTEST BOFF
033930,000715: 27,2253 01347 XDELVFLG
033931,000716: 27,2254 56336 S40.1B
033932,000717: 27,2255 77201 CALCTHET SETPD VLOAD
033933,000718: 27,2256 00001 0
033934,000719: 27,2257 03650 VTIG
033935,000720: 27,2260 02331 STORE VINIT
033936,000721: 27,2261 53435 VXV UNIT
033937,000722: 27,2262 03642 RTIG
033938,000723: 27,2263 27673 STOVL UT # UP IN UT
033939,000724: 27,2264 03642 RTIG
033940,000725: 27,2265 02323 STORE RINIT
033941,000726: 27,2266 65236 VSQ PDDL
033942,000727: 27,2267 00045 36D
033943,000728: 27,2270 56205 DMP DDV
033944,000729: 27,2271 16412 THETACON
033945,000730: 27,2272 41205 DMP DMP
033946,000731: 27,2273 03664 DELVSAB
033947,000732: 27,2274 01245 WEIGHT/G
033948,000733: 27,2275 77671 DDV
033949,000734: 27,2276 03735 F
033950,000735: 27,2277 24017 STOVL 14D
033951,000736: 27,2300 03656 DELVSIN
033952,000737:
033953,000738: 27,2301 74241 DOT VXSC
033954,000739: 27,2302 03673 UT
033955,000740: 27,2303 03673 UT
033956,000741: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033957,000742: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
033958,000743: 27,2306 03656 DELVSIN
033959,000744: 27,2307 00017 14D
033960,000745: 27,2310 63356 SIN PDVL
033961,000746: 27,2311 00007 6D
033962,000747: 27,2312 53435 VXV UNIT
033963,000748: 27,2313 03673 UT
033964,000749: 27,2314 45561 VXSC STADR
033965,000750: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033966,000751: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
033967,000752: 27,2317 00017 14D
033968,000753: 27,2320 74346 COS VXSC
033969,000754: 27,2321 74255 VAD VXSC
033970,000755: 27,2322 03701 VGTIG
033971,000756: 27,2323 00045 36D
033972,000757: 27,2324 53352 VSL2 VAD
033973,000758: 27,2325 77626 STADR
|
|
Page 766 |
033975,000760: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
033976,000761:
033977,000762: 27,2327 77656 UNIT
033978,000763: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
033979,000764: 27,2331 03701 VGTIG
033980,000765: 27,2332 45006 PUSH CALL
033981,000766: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033982,000767: 27,2334 77650 GOTO
033983,000768: 27,2335 03632 QTEMP
033984,000769: 27,2336 77745 S40.1B DLOAD
033985,000770: 27,2337 03442 TIG
033986,000771: 27,2340 00041 STORE TDEC1
033987,000772: 27,2341 77621 BDSU
033988,000773: 27,2342 03631 TPASS4
033989,000774: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
033990,000775: 27,2344 27057 LEMPREC
033991,000776: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
033992,000777: 27,2346 00001 RATT
033993,000778: 27,2347 00001 0
033994,000779: 27,2350 03642 STORE RTIG
033995,000780: 27,2351 02323 STORE RINIT
033996,000781: 27,2352 77656 UNIT
033997,000782: 27,2353 27537 STOVL UNIT/R/
033998,000783: 27,2354 00007 VATT
033999,000784: 27,2355 03650 STORE VTIG
034000,000785: 27,2356 02331 STORE VINIT
034001,000786: 27,2357 65345 DLOAD PDDL # NUMIT = 0
034002,000787: 27,2360 06522 ZEROVECS
034003,000788: 27,2361 16406 EPS1
034004,000789: 27,2362 43214 BOFF DAD
034005,000790: 27,2363 03745 NORMSW
034006,000791: 27,2364 56366 SMALLEPS
034007,000792: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
034008,000793: 27,2366 66006 SMALLEPS PUSH SXA,1
034009,000794: 27,2367 02776 RTX1
034010,000795: 27,2370 45134 SXA,2 CALL
034011,000796: 27,2371 02777 RTX2
034012,000797: 27,2372 22000 INITVEL
034013,000798: 27,2373 41575 VLOAD PUSH
034014,000799: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
034015,000800: 27,2375 03701 STORE VGTIG
034016,000801: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
034017,000802: 27,2377 17673 STODL UT
034018,000803: 27,2400 00045 36D
034019,000804: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
034020,000805: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
034021,000806: 27,2403 77650 GOTO
034022,000807: 27,2404 03632 QTEMP
034023,000808:
034024,000809: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
034025,000810:
|
|
Page 767 |
034027,000812: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
034028,000813:
034029,000814: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
034030,000815:
|
|
Page 768 |
034032,000817: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
034033,000818: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034034,000819: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
034035,000820: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
034036,000821: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
034037,000822:
034038,000823: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
034039,000824: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
034040,000825: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
034041,000826: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
034042,000827: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
034043,000828:
034044,000829: # CALLING SEQUENCE:
034045,000830: # L CALL INTERPRETIVE CALL.
034046,000831: # L +1 S40.2,3
034047,000832: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
034048,000833:
034049,000834: # SUBROUTINES CALLED: NONE.
034050,000835:
034051,000836: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
034052,000837:
034053,000838: # ALARM/ABORT MODES: NONE.
034054,000839:
034055,000840: # INPUT:
034056,000841: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
034057,000842: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
034058,000843: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
034059,000844:
034060,000845: # OUTPUT:
034061,000846: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
034062,000847: # :YSCREF: IN REFERENCE COORDINATES
034063,000848: # :ZSCREF: (PREFERRED IMU ORIENTATION).
034064,000849: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
034065,000850: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
034066,000851: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
034067,000852:
034068,000853: # DEBRIS: NONE.
|
|
Page 769 |
034070,000855:
034071,000856: 27,2413 COUNT* $$/S40.2
034072,000857: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
034073,000858: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
034074,000859: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
034075,000860: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
034076,000861: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
034077,000862: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
034078,000863: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
034079,000864:
034080,000865: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
034081,000866: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
034082,000867: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
034083,000868: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
034084,000869: 27,2426 46125 PDDL BHIZ
034085,000870: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
034086,000871: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
034087,000872: 27,2431 45575 STORY VLOAD STADR
034088,000873: 27,2432 74162 STORE YSCREF
034089,000874: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
034090,000875: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
034091,000876: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
034092,000877: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
034093,000878:
034094,000879: 27,2437 43414 SET RVQ
034095,000880: 27,2440 01073 PFRATFLG
034096,000881: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
034097,000882: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
034098,000883: 27,2443 03650 VTIG
034099,000884: 27,2444 41456 UNIT PUSH
034100,000885: 27,2445 77650 GOTO
034101,000886: 27,2446 56431 STORY
|
|
Page 770 |
034103,000888: # SUBROUTINE S40.8
034104,000889: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
034105,000890:
034106,000891: # DESCRIPTION
034107,000892: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
034108,000893: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
034109,000894: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
034110,000895:
034111,000896: # CALLING SEQUENCE
034112,000897: # L-1 CALL
034113,000898: # L S40.8
034114,000899: # L+1 INTERPRETIVE RETURN
034115,000900:
034116,000901: # ALARM
034117,000902: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
034118,000903: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
034119,000904:
034120,000905: # INPUT AND INITIALIZATION
034121,000906: # VGPREV REFERENCE 2(7) M/CS
034122,000907: # DELVREF REFERENCE 2(7) M/CS
034123,000908: # BDT REFERENCE 2(7) M/CS
034124,000909: # TDECAY TAIL-OFF TIME 2(28) CS
034125,000910: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
034126,000911: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
034127,000912: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
034128,000913:
034129,000914: # NOTE: VGTIG EQUALS VGPREV
034130,000915:
034131,000916: # OUTPUT
034132,000917: # STEERSW SEE INPUT
034133,000918: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
034134,000919: # TGO TIME TO CUT-OFF 2(28) CS
034135,000920: # SEE FINDCDUW FOR STEERING OUTPUTS.
034136,000921:
034137,000922: # SUBROUTINE CALLED
034138,000923: # FINDCDUW
034139,000924:
034140,000925: # DEBRIS
034141,000926: # MPACS, PUSHLIST
034142,000927:
034143,000928: 27,2447 COUNT* $$/S40.8
|
|
Page 771 |
034145,000930: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
034146,000931: 27,2450 01347 XDELVFLG
034147,000932: 27,2451 56731 RASTEER1
034148,000933: 27,2452 52375 VLOAD VSU
034149,000934: 27,2453 03701 VGPREV
034150,000935: 27,2454 03527 DELVREF
034151,000936: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
034152,000937: 27,2456 76521 MXV VSL1
034153,000938: 27,2457 01734 REFSMMAT
034154,000939: 27,2460 03254 STORE UNFC/2
034155,000940: 27,2461 51575 BDTOK VLOAD ABVAL
034156,000941: 27,2462 03707 VG
034157,000942: 27,2463 03664 STORE VGDISP
034158,000943: 27,2464 77201 TGOCALC SETPD VLOAD
034159,000944: 27,2465 00001 0
034160,000945: 27,2466 03707 VG
034161,000946: 27,2467 27701 STOVL VGPREV
034162,000947: 27,2470 03527 DELVREF
034163,000948: 27,2471 57414 BOFF VCOMP
034164,000949: 27,2472 01344 STEERSW
034165,000950: 27,2473 00052 QPRET
034166,000951: 27,2474 77656 UNIT
034167,000952: 27,2475 41441 DOT PUSH
034168,000953: 27,2476 03707 VG
034169,000954: 27,2477 56244 BPL DDV
034170,000955: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
034171,000956: 27,2501 03743 VEX
034172,000957: 27,2502 41215 DAD DMP
034173,000958: 27,2503 06520 DPHALF
034174,000959: 27,2504 56261 SR DDV
034175,000960: 27,2505 20613 10D
034176,000961: 27,2506 00045 36D
034177,000962: 27,2507 43205 DMP DAD
034178,000963: 27,2510 16535 -FOURDT
034179,000964: 27,2511 03741 TDECAY
034180,000965: 27,2512 03517 STORE TGO
034181,000966: 27,2513 77615 DAD
034182,000967: 27,2514 01235 PIPTIME
034183,000968: 27,2515 17442 STODL TIG
034184,000969: 27,2516 03517 TGO
034185,000970: 27,2517 51025 DSU BPL
034186,000971: 27,2520 16537 FOURSECS # 400 CS
034187,000972: 27,2521 61111 FINDCDUW -2
034188,000973: 27,2522 43014 SET CLRGO
034189,000974: 27,2523 01066 IMPULSW
034190,000975: 27,2524 01224 STEERSW
034191,000976: 27,2525 00052 QPRET
034192,000977:
034193,000978: 27,2526 77776 ALARMIT EXIT
034194,000979:
|
|
Page 772 |
034196,000981: 27,2527 05567 TC ALARM
034197,000982: 27,2530 01407 OCT 01407
034198,000983: 27,2531 06037 TC INTPRET
034199,000984: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
034200,000985: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
034201,000986:
034202,000987: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
034203,000988: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
034204,000989: 27,2540 E7,1742 2VEXHUST = VEX
034205,000990:
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|
Page 773 |
034207,000992: # NAME S40.13 - TIMEBURN
034208,000993:
034209,000994: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
034210,000995: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
034211,000996: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
034212,000997: # BURN
034213,000998: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
034214,000999: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
034215,001000: # SIGNAL
034216,001001:
034217,001002: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
034218,001003:
034219,001004: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
034220,001005: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
034221,001006: # F APS ENGINE THRUST IN M.NEWTONS AT +7
034222,001007: # AND ALSO FOR RCS ENGINE
034223,001008: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034224,001009: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
034225,001010: # REQUIRE MODIFICATION FOR SATURN BURNS.
034226,001011: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
034227,001012: # =0 DPS
034228,001013: # =1 APS
034229,001014:
034230,001015: # OUTPUT IMPULSW ZERO FOR STEERING
034231,001016: # ONE FOR ATTITUDE HOLD
034232,001017: # NOTHROTL ZERO FOR THROTTLING
034233,001018: # ONE TO INHIBIT THROTTLING
034234,001019: # TGO TIME TO BURN IN CS
034235,001020:
034236,001021: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
034237,001022: # FORCE
034238,001023:
034239,001024: 27,2540 E7,1516 EBANK= TGO
034240,001025: 27,2540 COUNT* $$/40.13
034241,001026: 27,2540 06037 S40.13 TC INTPRET
034242,001027: 27,2541 43001 SETPD CLEAR
034243,001028: 27,2542 00001 00D
034244,001029: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
034245,001030: 27,2544 51575 VLOAD ABVAL
034246,001031: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
034247,001032: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
034248,001033: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
034249,001034: 27,2550 34017 FRCS2
034250,001035: 27,2551 72471 DDV SL1 # SCALE
034251,001036: 27,2552 01245 WEIGHT/G
034252,001037: 27,2553 41421 BDSU PUSH
034253,001038: 27,2554 43014 BOFF SET
034254,001039: 27,2555 05342 APSFLAG
034255,001040: 27,2556 56626 S40.13D # FOR DPS ENGINE
034256,001041: 27,2557 02463 NOTHROTL
034257,001042: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
034258,001043: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
034259,001044: 27,2562 01245 WEIGHT/G
034260,001045: 27,2563 50021 BDSU BMN
|
|
Page 774 |
034262,001047: 27,2564 00001 00D
034263,001048: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
034264,001049: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
034265,001050: 27,2567 03737 MDOT
034266,001051:
034267,001052: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034268,001053: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
034269,001054: # REQUIRE ADJUSTMENT
034270,001055:
034271,001056: 27,2570 16700 3.5SEC # 350 CS AT +14
034272,001057: 27,2571 65221 BDSU PDDL
034273,001058: 27,2572 01245 WEIGHT/G
034274,001059: 27,2573 03735 F
034275,001060: 27,2574 60405 DMP SR2 # SCALE
034276,001061: 27,2575 16702 5SECS
034277,001062: 27,2576 41471 DDV PUSH # 04D = TEMP2
034278,001063: 27,2577 51021 BDSU BPL
034279,001064: 27,2600 00003 02D
034280,001065: 27,2601 56626 S40.13D
034281,001066: 27,2602 55345 DLOAD BDDV
034282,001067: 27,2603 43205 DMP DAD
034283,001068: 27,2604 16702 5SECS
034284,001069: 27,2605 16676 1SEC2D # 100 CS AT +14
034285,001070: 27,2606 77650 GOTO
034286,001071: 27,2607 56616 S40.132
034287,001072: 27,2610 41345 S40.131 DLOAD DMP
034288,001073: 27,2611 01245 WEIGHT/G
034289,001074: 27,2612 41542 SR1 PUSH
034290,001075: 27,2613 56215 DAD DDV
034291,001076: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
034292,001077: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
034293,001078: 27,2616 77414 S40.132 SET EXIT
034294,001079: 27,2617 01066 IMPULSW
034295,001080: 27,2620 07257 S40.132* TC TPAGREE
034296,001081: 27,2621 30154 CA MPAC
034297,001082: 27,2622 56001 XCH L
034298,001083: 27,2623 34755 CA ZERO
034299,001084: 27,2624 53517 DXCH TGO
034300,001085: 27,2625 12650 TCF S40.134
034301,001086:
034302,001087: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
034303,001088: 27,2627 00001 00D
034304,001089: 27,2630 01245 WEIGHT/G
034305,001090: 27,2631 43006 PUSH BON
034306,001091: 27,2632 05302 APSFLAG
034307,001092: 27,2633 56671 APSTGO
034308,001093: 27,2634 43071 DDV CLEAR
034309,001094: 27,2635 16007 S40.136
034310,001095: 27,2636 02663 NOTHROTL
034311,001096: 27,2637 41400 BOV PUSH
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|
Page 775 |
034313,001098: 27,2640 56653 S40.130V
034314,001099: 27,2641 51025 S40.137 DSU BPL
034315,001100: 27,2642 16704 6SEC # 600.0 CS AT +14
034316,001101: 27,2643 56661 S40.138
034317,001102: 27,2644 52015 DAD GOTO
034318,001103: 27,2645 16704 6SEC
034319,001104: 27,2646 56616 S40.132
034320,001105: 27,2647 77776 S40.133 EXIT
034321,001106: 27,2650 05353 S40.134 TC PHASCHNG
034322,001107: 27,2651 00003 OCT 00003
034323,001108: 27,2652 05155 TC ENDOFJOB
034324,001109: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
034325,001110: 27,2654 77671 DDV
034326,001111: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
034327,001112: 27,2656 03517 STORE TGO
034328,001113: 27,2657 77776 EXIT
034329,001114: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
034330,001115:
034331,001116: 27,2661 51025 S40.138 DSU BPL
034332,001117: 27,2662 16706 89SECS
034333,001118: 27,2663 56666 STORETGO
034334,001119: 27,2664 77614 SET
034335,001120: 27,2665 02463 NOTHROTL
034336,001121: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
034337,001122: 27,2667 77776 EXIT
034338,001123: 27,2670 12620 TCF S40.132*
034339,001124:
034340,001125: 27,2671 62471 APSTGO DDV SL2
034341,001126: 27,2672 34007 FAPS
034342,001127: 27,2673 77650 GOTO
034343,001128: 27,2674 56667 STORETGO +1
034344,001129: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
034345,001130:
034346,001131: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
034347,001132:
034348,001133: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
034349,001134:
034350,001135: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
034351,001136:
034352,001137: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
034353,001138:
034354,001139: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
034355,001140: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
034356,001141: # COMPUTATION CYCLES (4 SECONDS).
034357,001142: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
034358,001143: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
034359,001144: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
034360,001145:
034361,001146: # CALLING SEQ VIA FINDVAC AS NEW JOB.
034362,001147:
034363,001148: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
034364,001149: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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|
Page 776 |
034366,001151: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
034367,001152: # METERS/CS AT +7.
034368,001153: # TIG - TIME OF IGNITION IN CS AT +28.
034369,001154: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
034370,001155: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
034371,001156: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
034372,001157: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
034373,001158: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
034374,001159: # METERS/CS AT +7.
034375,001160:
034376,001161: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
034377,001162: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
034378,001163: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
034379,001164: # BDT - B VECTOR IN METERS/CS AT +7.
034380,001165:
034381,001166: # SUBROUTINES USED - INITVEL
034382,001167:
034383,001168: 27,2707 E7,1700 EBANK= VGPREV
034384,001169: 27,2707 COUNT* $$/S40.9
034385,001170: 27,2707 06037 S40.9 TC INTPRET
034386,001171: 27,2710 77601 SETPD
034387,001172: 27,2711 00001 00D
034388,001173: 27,2712 71214 SET DLOAD
034389,001174: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
034390,001175: 27,2714 06522 HI6ZEROS
034391,001176: 27,2715 77725 PDDL
034392,001177: 27,2716 16406 EPS1
034393,001178: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
034394,001179: 27,2720 03745 NORMSW
034395,001180: 27,2721 56723 EPSSMALL
034396,001181: 27,2722 16410 EPS2
034397,001182: 27,2723 45006 EPSSMALL PUSH CALL
034398,001183: 27,2724 22002 HAVEGUES
034399,001184: 27,2725 77776 ENDS40.9 EXIT
034400,001185: 27,2726 05353 TC PHASCHNG
034401,001186: 27,2727 00002 OCT 2
034402,001187: 27,2730 15155 TCF ENDOFJOB
034403,001188:
034404,001189: 27,2731 51575 RASTEER1 VLOAD ABVAL
034405,001190: 27,2732 01221 RN
034406,001191: 27,2733 53744 LXC,2 SL*
034407,001192: 27,2734 02777 RTX2
034408,001193: 27,2735 57576 0,2
034409,001194: 27,2736 27715 STOVL RMAG
034410,001195: 27,2737 03444 RTARG
034411,001196: 27,2740 47051 VSU RTB
034412,001197: 27,2741 01221 RN
034413,001198: 27,2742 21724 NORMUNX1
034414,001199: 27,2743 17656 STODL IC
034415,001200: 27,2744 00045 36D # C(36D) = ABVAL(C)
034416,001201: 27,2745 53674 XAD,2 SL*
034417,001202: 27,2746 00046 X1
|
|
Page 777 |
034419,001204: 27,2747 57576 0,2
034420,001205: 27,2750 00037 STORE 30D
034421,001206: 27,2751 41301 NORM DMP
034422,001207: 27,2752 00050 X2
034423,001208: 27,2753 03715 RMAG
034424,001209: 27,2754 57101 NORM XAD,2
034425,001210: 27,2755 00047 X1
034426,001211: 27,2756 00046 X1
034427,001212: 27,2757 77734 SXA,2
034428,001213: 27,2760 03766 MUSCALE
034429,001214: 27,2761 17725 STODL R1C # 2(+58 -X)
034430,001215: 27,2762 00037 30D
034431,001216: 27,2763 65342 SR1 PDDL
034432,001217: 27,2764 03715 RMAG
034433,001218: 27,2765 65342 SR1 PDDL
034434,001219: 27,2766 03723 RTMAG
034435,001220: 27,2767 43342 SR1 DAD
034436,001221: 27,2770 45415 DAD STADR
034437,001222: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
034438,001223: 27,2772 41225 DSU DMP
034439,001224: 27,2773 00037 30D
034440,001225: 27,2774 03721 MU/A
034441,001226: 27,2775 77621 BDSU
034442,001227: 27,2776 03717 MUASTEER
034443,001228: 27,2777 45325 PDDL DSU
034444,001229: 27,3000 03733 SS
034445,001230: 27,3001 03715 RMAG
034446,001231: 27,3002 70501 NORM SR1
034447,001232: 27,3003 00047 X1
034448,001233: 27,3004 41271 DDV DMP
034449,001234: 27,3005 03725 R1C
034450,001235: 27,3006 53664 XSU,2 SL*
034451,001236: 27,3007 00046 X1
034452,001237: 27,3010 57575 1,2
034453,001238: 27,3011 77754 LXA,2
034454,001239: 27,3012 03766 MUSCALE
034455,001240: 27,3013 75366 SQRT SIGN
034456,001241: 27,3014 02673 GEOMSGN
034457,001242: 27,3015 00041 STORE 32D # + OR - A
034458,001243: 27,3016 41345 DLOAD DMP
034459,001244: 27,3017 03733 SS
034460,001245: 27,3020 03721 MU/A
034461,001246: 27,3021 77621 BDSU
034462,001247: 27,3022 03717 MUASTEER
034463,001248: 27,3023 45325 PDDL DSU
034464,001249: 27,3024 03733 SS
034465,001250: 27,3025 03723 RTMAG
034466,001251: 27,3026 70501 NORM SR1
034467,001252: 27,3027 00047 X1
034468,001253: 27,3030 41271 DDV DMP
034469,001254:
|
|
Page 778 |
034471,001256: 27,3031 03725 R1C
034472,001257: 27,3032 53664 XSU,2 SL*
034473,001258: 27,3033 00046 X1
034474,001259: 27,3034 57575 1,2
034475,001260: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
034476,001261: 27,3036 03733 SS
034477,001262: 27,3037 56225 DSU DDV
034478,001263: 27,3040 00037 30D
034479,001264: 27,3041 03733 SS
034480,001265: 27,3042 41566 SQRT PUSH
034481,001266: 27,3043 67542 SR1 ASIN
034482,001267: 27,3044 65205 DMP PDDL
034483,001268: 27,3045 17216 2PI+3
034484,001269: 27,3046 56325 PDDL DDV
034485,001270: 27,3047 00037 30D
034486,001271: 27,3050 03733 SS
034487,001272: 27,3051 77600 BOV
034488,001273: 27,3052 57053 +1
034489,001274: 27,3053 41366 SQRT DMP
034490,001275: 27,3054 44242 SR3 BDSU
034491,001276: 27,3055 65365 SIGN PDDL
034492,001277: 27,3056 02673 GEOMSGN
034493,001278: 27,3057 17216 2PI+3
034494,001279: 27,3060 45302 SR2 DSU
034495,001280: 27,3061 65205 DMP PDDL
034496,001281: 27,3062 03733 SS
034497,001282: 27,3063 03733 SS
034498,001283: 27,3064 75442 SR3 SQRT
034499,001284: 27,3065 77605 DMP
034500,001285: 27,3066 52525 PDDL SL3
034501,001286: 27,3067 03717 MUASTEER
034502,001287: 27,3070 55366 SQRT BDDV
034503,001288: 27,3071 43225 DSU DAD
034504,001289: 27,3072 03631 TPASS4
034505,001290: 27,3073 01235 PIPTIME
034506,001291: 27,3074 14037 STODL 30D
034507,001292: 27,3075 77765 SIGN
034508,001293: 27,3076 00037 30D # B WITH SIGN
034509,001294: 27,3077 00037 STORE 30D
034510,001295: 27,3100 77214 BON VLOAD
034511,001296: 27,3101 03705 NORMSW
034512,001297: 27,3102 57123 180MESS
034513,001298: 27,3103 03656 IC
034514,001299: 27,3104 53451 VSU UNIT
034515,001300: 27,3105 03537 UNIT/R/
034516,001301: 27,3106 63361 VXSC PDVL
034517,001302: 27,3107 00037 30D
034518,001303: 27,3110 03656 IC
034519,001304: 27,3111 53455 VAD UNIT
034520,001305: 27,3112 03537 UNIT/R/
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|
Page 779 |
034522,001307: 27,3113 53361 GETVRVG1 VXSC VAD
034523,001308: 27,3114 00041 32D
034524,001309: 27,3115 53744 GETVRVG2 LXC,2 VSR*
034525,001310: 27,3116 02777 RTX2
034526,001311: 27,3117 57177 0 -1,2
034527,001312: 27,3120 02337 STORE VIPRIME
034528,001313: 27,3121 77650 GOTO
034529,001314: 27,3122 57166 ASTREND -2
034530,001315: 27,3123 50375 180MESS VLOAD DOT
034531,001316: 27,3124 03656 IC
034532,001317: 27,3125 03537 UNIT/R/
034533,001318: 27,3126 77240 BMN VLOAD
034534,001319: 27,3127 57146 NEGPROD
034535,001320: 27,3130 03656 IC
034536,001321: 27,3131 63362 VSR1 PDVL
034537,001322: 27,3132 03537 UNIT/R/
034538,001323: 27,3133 53362 VSR1 VAD
034539,001324: 27,3134 77656 UNIT
034540,001325: 27,3135 57406 PUSH VCOMP # FOR A
034541,001326: 27,3136 75235 VXV SIGN
034542,001327: 27,3137 02674 UN
034543,001328: 27,3140 02673 GEOMSGN
034544,001329: 27,3141 74256 UNIT VXSC
034545,001330: 27,3142 00037 30D
034546,001331: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
034547,001332: 27,3144 77650 GOTO
034548,001333: 27,3145 57113 GETVRVG1
034549,001334: 27,3146 74575 NEGPROD VLOAD VSR1
034550,001335: 27,3147 03537 UNIT/R/
034551,001336: 27,3150 74515 PDVL VSR1
034552,001337: 27,3151 03656 IC
034553,001338: 27,3152 53451 VSU UNIT
034554,001339: 27,3153 77606 PUSH
034555,001340: 27,3154 75235 VXV SIGN
034556,001341: 27,3155 02674 UN # FOR B
034557,001342: 27,3156 02673 GEOMSGN
034558,001343: 27,3157 74256 UNIT VXSC
034559,001344: 27,3160 00041 32D
034560,001345: 27,3161 77715 PDVL
034561,001346: 27,3162 53361 VXSC VAD
034562,001347: 27,3163 00037 30D
034563,001348: 27,3164 77650 GOTO
034564,001349: 27,3165 57115 GETVRVG2
034565,001350: 27,3166 77651 VSU
034566,001351: 27,3167 03553 VN1
034567,001352: 27,3170 02366 ASTREND STORE DELVEET3
034568,001353: 27,3171 53135 FIRSTTME SLOAD BZE
034569,001354: 27,3172 03000 RTX2
034570,001355: 27,3173 57177 GETGOBL
034571,001356: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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|
Page 780 |
034573,001358: 27,3175 02366 DELVEET3
034574,001359: 27,3176 57212 NOGOBL
034575,001360: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
034576,001361: 27,3200 01221 RN
034577,001362: 27,3201 45345 DLOAD DSU
034578,001363: 27,3202 01235 PIPTIME # 2
034579,001364: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
034580,001365: 27,3204 56205 DMP DDV # OBL
034581,001366: 27,3205 16023 EARTHMU
034582,001367: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
034583,001368: 27,3207 53361 VXSC VAD
034584,001369: 27,3210 03521 UNITGOBL
034585,001370: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
034586,001371: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
034587,001372: 27,3213 77650 GOTO
034588,001373: 27,3214 56455 VGAIN*
034589,001374:
034590,001375: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
034591,001376:
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|
Page 781 |
034593,001378: # TRIMGIMB (FORMERLY S40.6)
034594,001379: # MOD 0 24 FEB 67 PETER ADLER
034595,001380:
034596,001381: # FUNCTION:
034597,001382: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034598,001383: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034599,001384: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034600,001385:
034601,001386: # CALLING SEQUENCE:
034602,001387: # VIA WAITLIST FROM R03
034603,001388:
034604,001389: # INPUT:
034605,001390: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
034606,001391: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
034607,001392:
034608,001393: # SUBROUTINES USED:
034609,001394: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034610,001395:
034611,001396: 27,3217 COUNT* $$/S40.6
034612,001397: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
034613,001398:
034614,001399: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034615,001400: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
034616,001401:
034617,001402: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
034618,001403: 27,3222 00006 EXTEND
034619,001404: 27,3223 03012 WAND CHAN12
034620,001405: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
034621,001406: 27,3225 00006 EXTEND
034622,001407: 27,3226 05012 WOR CHAN12
034623,001408: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034624,001409: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
034625,001410: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
034626,001411: 27,3232 00006 EXTEND
034627,001412: 27,3233 03012 WAND CHAN12
034628,001413: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034629,001414: 27,3235 00006 EXTEND
034630,001415: 27,3236 05012 WOR CHAN12
034631,001416: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034632,001417: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034633,001418: 27,3241 03260 ADRES PITCHOFF
034634,001419:
034635,001420: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034636,001421: 27,3243 05224 TC VARDELAY # UNTIL THEN
034637,001422: 27,3244 44740 CS BIT12
034638,001423: 27,3245 00006 EXTEND
034639,001424: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
034640,001425: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034641,001426: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034642,001427: 27,3251 00006 EXTEND
034643,001428: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034644,001429: 27,3253 34737 CAF PRIO10 # RETURN TO R03
034645,001430: 27,3254 05072 TC NOVAC
034646,001431: 27,3255 E7,1471 EBANK= WHOCARES
|
|
Page 782 |
034648,001433: 27,3255 02323 02067 2CADR TRIMDONE
034649,001434:
034650,001435: 27,3257 05261 TC TASKOVER
034651,001436: 27,3260 44742 PITCHOFF CS BIT10
034652,001437: 27,3261 00006 EXTEND
034653,001438: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
034654,001439: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034655,001440: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034656,001441: 27,3265 00137 ADRES GMBDRVSW
034657,001442: 27,3266 05261 TC TASKOVER
034658,001443:
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|
Page 783 |
034660,001445: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034661,001446: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034662,001447:
034663,001448: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034664,001449:
034665,001450: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034666,001451: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034667,001452: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034668,001453: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034669,001454: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034670,001455: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034671,001456: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034672,001457: # CALLER WITH C(MPAC) = VELOCITY(LM).
034673,001458:
034674,001459: # CALLING SEQUENCE:
034675,001460: # L VLOAD CALL
034676,001461: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034677,001462: # L +2 S41.1
034678,001463: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034679,001464:
034680,001465: # SUBROUTINES CALLED:
034681,001466: # 1. CDUTRIG,
034682,001467: # WHICH CALLS CDULOGIC.
034683,001468: # 2. *SMNB*
034684,001469:
034685,001470: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034686,001471:
034687,001472: # ALARM/ABORT MODES: NONE.
034688,001473:
034689,001474: # RESTART PROTECTION: NONE.
034690,001475:
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|
Page 784 |
034692,001477: # INPUT:
034693,001478: # 1. REFSMMAT.
034694,001479: # 2. CDUX, CDUY, CDUZ.
034695,001480: # 3. VELOCITY (REF) IN MPAC.
034696,001481:
034697,001482: # OUTPUT:
034698,001483: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034699,001484: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034700,001485: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034701,001486: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034702,001487:
034703,001488: # DEBRIS: NONE.
034704,001489:
034705,001490: # CHECKOUT STATUS: CODED.
034706,001491:
034707,001492: 27,3267 COUNT* $$/S41.1
034708,001493: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034709,001494: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034710,001495: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034711,001496: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034712,001497: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc