Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 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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031909,000002: ## Copyright: Public domain.
031910,000003: ## Filename: P40-P47.agc
031911,000004: ## Purpose: A section of Luminary revision 96.
031912,000005: ## It is part of the reconstructed source code for the
031913,000006: ## original release of the flight software for the Lunar
031914,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
031915,000008: ## The code has been recreated from a previously reconstructed
031916,000009: ## copy of Luminary 97 by undoing changes described in anomaly
031917,000010: ## report LNY-59. The code has been adapted such that the
031918,000011: ## resulting bugger words exactly match those specified for
031919,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
031920,000013: ## high confidence that the reconstruction is correct.
031921,000014: ## Reference: pp. 752-784
031922,000015: ## Assembler: yaYUL
031923,000016: ## Contact: Ron Burkey <info@sandroid.org>.
031924,000017: ## Website: www.ibiblio.org/apollo/index.html
031925,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
031926,000019:
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Page 752
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031928,000021: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031929,000022: # MOD 03 BY PETER ADLER MARCH 3, 1967
031930,000023: # CALLED VIA JOB FROM V37E
031931,000024:
031932,000025: # FUNCTIONAL DESCRIPTION
031933,000026:
031934,000027: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031935,000028: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009.
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031937,000030: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031938,000031: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031939,000032: # PGNCS CONTROLLED DPS MANEUVER.
031940,000033: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031941,000034: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031942,000035:
031943,000036: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031944,000037: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031945,000038:
031946,000039: # SUBROUTINES USED
031947,000040:
031948,000041: # R02 IMU STATUS CHECK
031949,000042: # S40.1 COMPUTATION OF THRUST DIRECTION
031950,000043: # S40.13 LENGTH OF BURN
031951,000044: # S40.2,3 PREFERRED IMU ORIENATTION
031952,000045: # S40.8 X PRODUCT STEERING
031953,000046: # S40.9 LAMBERT VTOGAIN
031954,000047: # R60LEM ATTITUDE MANEUVER
031955,000048: # LEMPREC EXTRAPOLATE STATE VECTOR
031956,000049: # PREREAD AVERAGE G, SERVICER
031957,000050: # ALLCOAST DAP COASTING INITIALIZATION
031958,000051: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031959,000052: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031960,000053: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031961,000054: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031962,000055:
031963,000056: # RESTARTS VIA GROUP 4
031964,000057:
031965,000058: # DISPLAYS
031966,000059:
031967,000060: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031968,000061: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031969,000062: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031970,000063: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031971,000064: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031972,000065: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031973,000066: # V05N09 POSSIBLE ALARMS
031974,000067: # V50N07 PLEASE SELECT P00
031975,000068:
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Page 753
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031977,000070: # VIA R30
031978,000071:
031979,000072: # V06N44 HAPO, PERI, TFF
031980,000073: # V06N35 TIME TO PERIGEE, HMS
031981,000074:
031982,000075: # ALARM OR ABORT EXIT MODES
031983,000076:
031984,000077: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031985,000078: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031986,000079:
031987,000080: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031988,000081: # TIG BY 45 SECS.
031989,000082:
031990,000083: # ERASABLE INITIALIZATION
031991,000084:
031992,000085: # DEBRIS
031993,000086:
031994,000087: # OUTPUT
031995,000088:
031996,000089: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031997,000090: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031998,000091: # = 0 FOR AIMPT (LAMBERT) COMP
031999,000092:
032000,000093: 27,2246 COUNT* $$/P40
032001,000094: 27,2246 E7,1455 EBANK= WHICH
032002,000095:
032003,000096: 36,3147 BANK 36
032004,000097: 36,2000 SETLOC P40S
032005,000098: 36,2000 BANK
032006,000099:
032007,000100: 36,3147 05353 P40LM TC PHASCHNG
032008,000101: 36,3150 04024 OCT 04024
032009,000102:
032010,000103: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032011,000104: 36,3152 55455 TS WHICH
032012,000105:
032013,000106: 36,3153 30106 CA FLGWRD10
032014,000107: 36,3154 74737 MASK APSFLBIT
032015,000108: 36,3155 10000 CCS A
032016,000109: 36,3156 13121 TCF P40ALM
032017,000110: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032018,000111: 36,3160 11254 CADR R02BOTH
032019,000112:
032020,000113: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
032021,000114: 36,3162 74737 MASK CSMDOCKD
032022,000115: 36,3163 10000 CCS A
032023,000116: 36,3164 32020 CAF THRESH1
032024,000117: 36,3165 62021 AD THRESH3
032025,000118: 36,3166 55251 TS DVTHRUSH
032026,000119: 36,3167 34751 CAF FOUR
032027,000120: 36,3170 55515 TS DVCNTR
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Page 754
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032029,000122: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032030,000123: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032031,000124: 36,3173 34001 FDPS
032032,000125: 36,3174 02663 NOTHROTL
032033,000126: 36,3175 03735 STORE F
032034,000127: 36,3176 77735 SLOAD
032035,000128: 36,3177 26002 DPSVEX
032036,000129: 36,3200 70476 P40IN DCOMP SR1
032037,000130: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032038,000131: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
032039,000132: 36,3203 77624 CALL
032040,000133: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032041,000134: 36,3205 77776 EXIT
032042,000135:
032043,000136: 36,3206 00004 INHINT
032044,000137: 36,3207 04674 TC IBNKCALL
032045,000138: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032046,000139:
032047,000140: 36,3211 03213 TC P40SXT4
032048,000141:
032049,000142: # ***********************
032050,000143:
032051,000144: 36,3212 12126 TCF BURNBABY
032052,000145:
032053,000146: # ***********************
032054,000147:
032055,000148: 36,3213 00006 P40SXT4 EXTEND
032056,000149: 36,3214 23142 QXCH P40/RET
032057,000150: 36,3215 00003 P41MANU RELINT
032058,000151:
032059,000152: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032060,000153: 36,3217 00124 ADRES 3AXISFLG
032061,000154:
032062,000155: 36,3220 04616 TC BANKCALL
032063,000156: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032064,000157: 36,3222 01142 TC P40/RET
032065,000158:
032066,000159: 36,3223 E7,1462 EBANK= TRKMKCNT
032067,000160: 36,3223 30005 POSTBURN CA Z
032068,000161: 36,3224 55163 TS DISPDEX
032069,000162: 36,3225 00006 EXTEND
032070,000163: 36,3226 32056 DCA ACADN85
032071,000164: 36,3227 53253 DXCH AVEGEXIT
032072,000165: 36,3230 33760 CAF V16N40
032073,000166: 36,3231 04616 TC BANKCALL
032074,000167: 36,3232 20635 CADR GOFLASHR
032075,000168: 36,3233 03256 TC TERM40
032076,000169: 36,3234 13241 TCF TIGNOW
032077,000170: 36,3235 03223 TC POSTBURN
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Page 755
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032079,000172: 36,3236 05353 P40PHS1 TC PHASCHNG
032080,000173: 36,3237 00014 OCT 00014
032081,000174: 36,3240 15155 TCF ENDOFJOB
032082,000175:
032083,000176: 36,3241 00004 TIGNOW INHINT
032084,000177: 36,3242 04674 TC IBNKCALL
032085,000178: 36,3243 40153 CADR ZATTEROR
032086,000179: 36,3244 04674 TC IBNKCALL
032087,000180: 36,3245 40140 CADR SETMINDB
032088,000181: 36,3246 00003 RELINT
032089,000182: 36,3247 33761 CAF V16N85B
032090,000183: 36,3250 04616 TC BANKCALL
032091,000184: 36,3251 20462 CADR REFLASHR
032092,000185: 36,3252 03256 TC TERM40
032093,000186: 36,3253 13256 TCF TERM40
032094,000187: 36,3254 03247 TC -5
032095,000188:
032096,000189: 36,3255 13236 TCF P40PHS1
032097,000190:
032098,000191: 36,3256 00006 TERM40 EXTEND
032099,000192: 36,3257 32106 DCA SERVCADR
032100,000193: 36,3260 53253 DXCH AVEGEXIT
032101,000194: 36,3261 34755 CAF ZERO
032102,000195: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032103,000196: 36,3263 30005 CA Z
032104,000197: 36,3264 55163 TS DISPDEX
032105,000198: 36,3265 00004 INHINT
032106,000199: 36,3266 04674 TC IBNKCALL
032107,000200: 36,3267 40123 CADR RESTORDB
032108,000201: 36,3270 00003 RELINT
032109,000202: 36,3271 06001 TC GOTOPOOH
032110,000203:
032111,000204: 36,3272 E7,1455 EBANK= WHICH
032112,000205: 36,3272 COUNT* $$/P41
032113,000206: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032114,000207: 36,3273 55455 TS WHICH
032115,000208:
032116,000209: 36,3274 04616 TC BANKCALL
032117,000210: 36,3275 11254 CADR R02BOTH
032118,000211:
032119,000212: 36,3276 06037 TC INTPRET # BOTH LM
032120,000213: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032121,000214: 36,3300 00700 NJETSFLG
032122,000215: 36,3301 75305 P41FJET1
032123,000216: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032124,000217:
032125,000218: 36,3303 37735 P41FJET STCALL F
032126,000219: 36,3304 75310 P41IN
032127,000220: 36,3305 77745 P41FJET1 DLOAD
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Page 756
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032129,000222: 36,3306 34017 FRCS2
032130,000223: 36,3307 03735 STORE F
032131,000224:
032132,000225: 36,3310 77624 P41IN CALL
032133,000226: 36,3311 56246 S40.1 # BOTH
032134,000227: 36,3312 77624 P41NORM CALL
032135,000228: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032136,000229: 36,3314 77776 EXIT # SET PFRATFLG.
032137,000230:
032138,000231: 36,3315 00004 INHINT
032139,000232: 36,3316 04674 TC IBNKCALL
032140,000233: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032141,000234: 36,3320 04674 TC IBNKCALL
032142,000235: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032143,000236: 36,3322 03213 TC P40SXT4
032144,000237:
032145,000238: 36,3323 06037 TC INTPRET
032146,000239: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032147,000240: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032148,000241: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032149,000242: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032150,000243: 36,3330 77776 EXIT
032151,000244:
032152,000245: 36,3331 33761 CAF V16N85B
032153,000246: 36,3332 04616 TC BANKCALL
032154,000247: 36,3333 20446 CADR GODSPRET
032155,000248:
032156,000249: 36,3334 35017 CAF PRIO5
032157,000250: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032158,000251: 36,3336 05105 TC FINDVAC
032159,000252: 36,3337 E7,1700 EBANK= VGPREV
032160,000253: 36,3337 03361 74067 2CADR DYNMDISP
032161,000254:
032162,000255: 36,3341 05327 TC 2PHSCHNG
032163,000256: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032164,000257: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032165,000258:
032166,000259: # ***********************
032167,000260:
032168,000261: 36,3344 12135 TCF B*RNB*B*
032169,000262:
032170,000263: # ***********************
032171,000264:
032172,000265: 36,3345 34777 BLNKWAIT CAF 1SEC
032173,000266: 36,3346 04616 TC BANKCALL
032174,000267: 36,3347 01735 CADR DELAYJOB
032175,000268:
032176,000269: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032177,000270: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032178,000271:
032179,000272: # ***********************
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Page 757
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032181,000274:
032182,000275: 36,3352 00006 EXTEND
032183,000276: 36,3353 13345 BZF BLNKWAIT
032184,000277:
032185,000278: 36,3354 33761 CAF V16N85B
032186,000279: 36,3355 04616 TC BANKCALL
032187,000280: 36,3356 20446 CADR GODSPRET
032188,000281:
032189,000282: 36,3357 35017 CAF PRIO5
032190,000283: 36,3360 05146 TC PRIOCHNG
032191,000284:
032192,000285: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032193,000286: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032194,000287: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032195,000288: 36,3364 06037 TC INTPRET
032196,000289: 36,3365 45175 VLOAD CALL
032197,000290: 36,3366 03701 VGPREV
032198,000291: 36,3367 57267 S41.1
032199,000292: 36,3370 03502 STORE VGBODY
032200,000293: 36,3371 77776 EXIT
032201,000294: 36,3372 34777 CAF 1SEC
032202,000295: 36,3373 04616 TC BANKCALL
032203,000296: 36,3374 01735 CADR DELAYJOB
032204,000297: 36,3375 13361 TCF DYNMDISP
032205,000298:
032206,000299: 36,3376 06037 CALCN85 TC INTPRET
032207,000300: 36,3377 77624 CALL
032208,000301: 36,3400 75611 UPDATEVG
032209,000302: 36,3401 45175 VLOAD CALL
032210,000303: 36,3402 03701 VGPREV
032211,000304: 36,3403 57267 S41.1
032212,000305: 36,3404 03502 STORE VGBODY
032213,000306: 36,3405 77776 EXIT
032214,000307: 36,3406 04635 TC POSTJUMP
032215,000308: 36,3407 65770 CADR SERVEXIT
032216,000309:
032217,000310: 36,3410 COUNT* $$/P42
032218,000311: 36,3410 E7,1455 EBANK= WHICH
032219,000312:
032220,000313: 36,3410 05353 P42LM TC PHASCHNG
032221,000314: 36,3411 04024 OCT 04024
032222,000315:
032223,000316: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032224,000317: 36,3413 55455 TS WHICH
032225,000318:
032226,000319: 36,3414 40106 CS FLGWRD10
032227,000320: 36,3415 74737 MASK APSFLBIT
032228,000321: 36,3416 10000 CCS A
032229,000322: 36,3417 03121 TC P40ALM
032230,000323: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758
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032232,000325: 36,3421 11254 CADR R02BOTH
032233,000326: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032234,000327: 36,3423 55251 TS DVTHRUSH
032235,000328: 36,3424 34751 CAF FOUR
032236,000329: 36,3425 55515 TS DVCNTR
032237,000330:
032238,000331: 36,3426 06037 TC INTPRET
032239,000332: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032240,000333: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032241,000334: 36,3431 34007 FAPS
032242,000335: 36,3432 03735 STORE F
032243,000336: 36,3433 52135 SLOAD GOTO
032244,000337: 36,3434 26001 APSVEX
032245,000338: 36,3435 75200 P40IN
032246,000339:
032247,000340: 36,3436 E7,1455 EBANK= WHICH
032248,000341:
032249,000342: 36,3436 COUNT* $$/P47
032250,000343: 36,3436 04616 P47LM TC BANKCALL
032251,000344: 36,3437 11254 CADR R02BOTH
032252,000345: 36,3440 06037 TC INTPRET
032253,000346: 36,3441 77624 CALRB
032254,000347: 36,3442 27553 MIDTOAV2
032255,000348:
032256,000349: 36,3443 30155 CA MPAC +1
032257,000350: 36,3444 05173 TC TWIDDLE
032258,000351: 36,3445 03447 ADRES STARTP47
032259,000352:
032260,000353: 36,3446 15155 TCF ENDOFJOB
032261,000354:
032262,000355: 36,3447 05353 STARTP47 TC PHASCHNG
032263,000356: 36,3450 05014 OCT 05014
032264,000357: 36,3451 77777 OCT 77777
032265,000358:
032266,000359: 36,3452 00006 EXTEND
032267,000360: 36,3453 33764 DCA ACADN83
032268,000361: 36,3454 53253 DXCH AVEGEXIT
032269,000362: 36,3455 34736 CAF PRIO20
032270,000363: 36,3456 05105 TC FINDVAC
032271,000364: 36,3457 E7,1622 EBANK= DELVIMU
032272,000365: 36,3457 03513 74067 2CADR P47BODY
032273,000366:
032274,000367: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032275,000368: # SEE TIG-30 IN BURNBABY.
032276,000369:
032277,000370: 36,3462 06037 CALCN83 TC INTPRET
032278,000371: 36,3463 53375 VLOAD VAD
032279,000372: 36,3464 03502 DELVCTL
032280,000373: 36,3465 03527 DELVREF
032281,000374: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759
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032283,000376: 36,3467 77624 CALL
032284,000377: 36,3470 57267 S41.1
032285,000378: 36,3471 03623 STORE DELVIMU
032286,000379: 36,3472 77776 EXIT
032287,000380: 36,3473 05353 TC PHASCHNG
032288,000381: 36,3474 10035 OCT 10035 # REREADAC AND HERE
032289,000382:
032290,000383: 36,3475 06037 TC INTPRET
032291,000384: 36,3476 77775 VLOAD
032292,000385: 36,3477 03656 DELVSIN
032293,000386: 36,3500 03502 STORE DELVCTL
032294,000387: 36,3501 77776 EXIT
032295,000388:
032296,000389: 36,3502 04635 TC POSTJUMP
032297,000390: 36,3503 65770 CADR SERVEXIT
032298,000391:
032299,000392: 36,3504 33762 P47BOD CAF V1683
032300,000393: 36,3505 04616 TC BANKCALL
032301,000394: 36,3506 20635 CADR GOFLASHR
032302,000395: 36,3507 06001 TC GOTOPOOH
032303,000396: 36,3510 06001 TC GOTOPOOH
032304,000397:
032305,000398: 36,3511 13513 TCF P47BODY
032306,000399:
032307,000400: 36,3512 13236 TCF P40PHS1
032308,000401:
032309,000402: 36,3513 06037 P47BODY TC INTPRET
032310,000403: 36,3514 77775 VLOAD
032311,000404: 36,3515 06522 HI6ZEROS
032312,000405: 36,3516 03623 STORE DELVIMU
032313,000406: 36,3517 03502 STORE DELVCTL
032314,000407: 36,3520 77776 EXIT
032315,000408: 36,3521 03504 TC P47BOD
032316,000409:
032317,000410: 36,3522 COUNT* $$/P40
032318,000411: 36,3522 31517 IMPLBURN CA TGO +1
032319,000412: 36,3523 03735 TC GETDT
032320,000413: 36,3524 05173 TC TWIDDLE
032321,000414: 36,3525 03542 ADRES ENGOFTSK
032322,000415: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032323,000416: 36,3527 00153 ADRES IGNFLAG
032324,000417: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032325,000418: 36,3531 00154 ADRES ASTNFLAG
032326,000419: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
032327,000420: 36,3533 00044 ADRES IMPULSW
032328,000421: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032329,000422: 36,3535 40114 OCT 40114
032330,000423:
032331,000424: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
032332,000425: 36,3537 00062 DEC 50 B-14
|
|
Page 760
|
032334,000427: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
032335,000428:
032336,000429: 36,3541 05261 TC TASKOVER
032337,000430:
032338,000431: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032339,000432: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032340,000433: 36,3544 05261 TC TASKOVER
032341,000434:
032342,000435: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032343,000436: 36,3546 05105 TC FINDVAC
032344,000437: 36,3547 E7,1462 EBANK= TRKMKCNT
032345,000438: 36,3547 03223 74067 2CADR POSTBURN
032346,000439:
032347,000440: 36,3551 34753 ENGINOF2 CAF BIT1
032348,000441: 36,3552 05203 TC WAITLIST
032349,000442: 36,3553 E6,1422 EBANK= OMEGAQ
032350,000443: 36,3553 03606 74066 2CADR COASTSET
032351,000444:
032352,000445: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032353,000446: 36,3556 74745 MASK IDLEFBIT
032354,000447: 36,3557 26103 ADS FLAGWRD7
032355,000448:
032356,000449: 36,3560 02653 TC NOULLAGE
032357,000450:
032358,000451: 36,3561 00006 ENGINOF4 EXTEND
032359,000452: 36,3562 30025 DCA TIME2
032360,000453: 36,3563 53345 DXCH TEVENT
032361,000454:
032362,000455: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032363,000456: 36,3565 70101 MASK FLAGWRD5
032364,000457: 36,3566 54101 TS FLAGWRD5
032365,000458: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032366,000459: 36,3570 00006 EXTEND # SUBROUTINE.
032367,000460: 36,3571 02011 RAND DSALMOUT
032368,000461: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032369,000462: 36,3573 00006 EXTEND
032370,000463: 36,3574 01011 WRITE DSALMOUT
032371,000464:
032372,000465: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032373,000466: 36,3576 74736 MASK USEQRJTS
032374,000467: 36,3577 26111 ADS DAPBOOLS
032375,000468:
032376,000469: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032377,000470: 36,3601 54055 TS THRUST # IS TURNED OFF.
032378,000471: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032379,000472: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
032380,000473: 36,3604 05014 WOR CHAN14
032381,000474:
032382,000475: 36,3605 04707 TC ISWRETRN
|
|
Page 761
|
032384,000477: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032385,000478: 36,3607 40204 CADR ALLCOAST
032386,000479: 36,3610 05261 TC TASKOVER
032387,000480:
032388,000481: 36,3611 E6,1422 EBANK= OMEGAQ
032389,000482: 36,3611 45020 UPDATEVG STQ CALL
032390,000483: 36,3612 03665 QTEMP1
032391,000484: 36,3613 56447 S40.8 # X-PRODUCT STEERING
032392,000485: 36,3614 43014 BON BON
032393,000486: 36,3615 01307 XDELVFLG
032394,000487: 36,3616 03665 QTEMP1
032395,000488: 36,3617 03705 NORMSW
032396,000489: 36,3620 75633 180SETUP
032397,000490: 36,3621 45345 DLOAD DSU
032398,000491: 36,3622 01235 PIPTIME
032399,000492: 36,3623 03763 TIGSAVE
032400,000493: 36,3624 50025 DSU BMN
032401,000494: 36,3625 03432 TNEWA
032402,000495: 36,3626 75656 GETRANS
032403,000496: 36,3627 43345 DLOAD DAD
032404,000497: 36,3630 03763 TIGSAVE
032405,000498: 36,3631 03432 TNEWA
032406,000499: 36,3632 03765 STORE TIGSAVEP
032407,000500: 36,3633 77776 180SETUP EXIT
032408,000501: 36,3634 10755 CCS PHASE2
032409,000502: 36,3635 13663 TCF NO.9
032410,000503: 36,3636 34737 CAF PRIO10
032411,000504: 36,3637 00004 INHINT
032412,000505: 36,3640 05105 TC FINDVAC
032413,000506: 36,3641 E7,1706 EBANK= VG
032414,000507: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032415,000508:
032416,000509: 36,3643 05327 TC 2PHSCHNG
032417,000510: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
032418,000511: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032419,000512:
032420,000513: 36,3646 06037 ENDSTEER TC INTPRET
032421,000514: 36,3647 77745 DLOAD
032422,000515: 36,3650 03765 TIGSAVEP
032423,000516: 36,3651 27763 STOVL TIGSAVE
032424,000517: 36,3652 01221 RN
032425,000518: 36,3653 26323 STOVL RINIT
032426,000519: 36,3654 01227 VN
032427,000520: 36,3655 02331 STORE VINIT
032428,000521: 36,3656 45345 GETRANS DLOAD DSU
032429,000522: 36,3657 03631 TPASS4
032430,000523: 36,3660 01235 PIPTIME
032431,000524: 36,3661 37452 STCALL DELLT4
032432,000525: 36,3662 03665 QTEMP1
032433,000526:
|
|
Page 762
|
032435,000528: 36,3663 06037 NO.9 TC INTPRET
032436,000529: 36,3664 77650 GOTO
032437,000530: 36,3665 03665 QTEMP1
032438,000531: 36,3666 06037 STEERING TC INTPRET
032439,000532:
032440,000533: 36,3667 77624 CALL
032441,000534: 36,3670 75611 UPDATEVG
032442,000535: 36,3671 77776 EXIT
032443,000536:
032444,000537: 36,3672 E7,1515 EBANK= DVCNTR
032445,000538: 36,3672 00004 NSTEER INHINT
032446,000539: 36,3673 35016 CA EBANK7
032447,000540: 36,3674 54003 TS EBANK
032448,000541: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032449,000542: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032450,000543: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
032451,000544:
032452,000545: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
032453,000546: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032454,000547: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032455,000548: 36,3703 10000 CCS A
032456,000549: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032457,000550: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032458,000551: 36,3706 65770 CADR SERVEXIT
032459,000552:
032460,000553: 36,3707 04674 TC IBNKCALL
032461,000554: 36,3710 40165 CADR STOPRATE
032462,000555:
032463,000556: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
032464,000557: 36,3712 00044 ADRES IMPULSW
032465,000558:
032466,000559: 36,3713 05504 TC UPFLAG
032467,000560: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
032468,000561:
032469,000562: 36,3715 00004 INHINT
032470,000563: 36,3716 00006 EXTEND
032471,000564: 36,3717 31442 DCA TIG
032472,000565: 36,3720 52155 DXCH MPAC
032473,000566: 36,3721 00006 EXTEND
032474,000567: 36,3722 40025 DCS TIME2
032475,000568: 36,3723 20155 DAS MPAC
032476,000569: 36,3724 07257 TC TPAGREE
032477,000570: 36,3725 30155 CAE MPAC +1
032478,000571: 36,3726 03735 TC GETDT
032479,000572: 36,3727 05173 TC TWIDDLE
032480,000573: 36,3730 03542 ADRES ENGOFTSK
032481,000574: 36,3731 05327 TC 2PHSCHNG
032482,000575: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032483,000576: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763
|
032485,000578: 36,3734 15155 TCF ENDOFJOB
032486,000579:
032487,000580: 36,3735 10000 GETDT CCS A
032488,000581: 36,3736 13741 TCF +3
032489,000582: 36,3737 13741 TCF +2
032490,000583: 36,3740 34755 CAF ZERO
032491,000584: 36,3741 64753 AD ONE
032492,000585: 36,3742 56001 XCH L
032493,000586: 36,3743 34755 CAF ZERO
032494,000587: 36,3744 53517 DXCH TGO
032495,000588: 36,3745 31517 CA TGO +1
032496,000589: 36,3746 00002 TC Q
032497,000590:
032498,000591: # ************************************************************************
032499,000592:
032500,000593: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032501,000594: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032502,000595: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
032503,000596:
032504,000597: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032505,000598: 36,3754 10624 SEC45 DEC 4500 B-14
032506,000599: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032507,000600: 36,3756 00764 5SEC DEC 500 B-14
032508,000601: 36,3757 05050 26SECS DEC 2600 B-14
032509,000602: 36,3760 04050 V16N40 VN 1640
032510,000603: 36,3761 04125 V16N85B VN 1685
032511,000604: 36,3762 04123 V1683 VN 1683
032512,000605: 36,3763 4777 SEC01 = 1SEC
032513,000606: 36,3763 36,2055 ACADN85 = P41TABLE +2
032514,000607:
032515,000608: 36,3763 E7,1622 EBANK= DELVIMU
032516,000609: 36,3763 03462 74067 ACADN83 2CADR CALCN83
032517,000610:
032518,000611: # *************************************************
|
|
Page 764
|
032520,000613: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032521,000614: # MOD N02 LOG SECTION P40-P47
032522,000615: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032523,000616:
032524,000617: # FUNCTIONAL DESCRIPTION
032525,000618: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032526,000619: # VECTOR(VGTIG).
032527,000620:
032528,000621: # CALLING SEQUENCE
032529,000622: # L CALL
032530,000623: # L+1 S40.1
032531,000624:
032532,000625: # NORMAL EXIT MODE
032533,000626: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032534,000627: # ERROR RETURN IF NOSOFLAG =1
032535,000628:
032536,000629: # SUBROUTINES CALLED
032537,000630: # LEMPREC
032538,000631: # INITVEL
032539,000632: # CALCGRAV
032540,000633: # MIDGIM
032541,000634:
032542,000635: # ALARM OR ABORT EXIT MODES
032543,000636: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032544,000637:
032545,000638: # ERASABLE INITIALIZATION REQUIRED
032546,000639: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032547,000640: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032548,000641: # F THRUST FOR ENGINE USED
032549,000642: # IF DELTA-V MANEUVER
032550,000643: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032551,000644: # INERTIAL COORDS. OF ACTIVE VEHICLE
032552,000645: # AT TIME OF IGNITION VECTOR B7 M/CS
032553,000646: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032554,000647: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032555,000648: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032556,000649: # IF AIMPT STEER
032557,000650: # TIG TIME OF IGNITION DP B28 CS
032558,000651: # RTARG POSITION TARGET TIME VECTOR B29 M
032559,000652: # CSTEER C FOR STEER LAW DP B2
032560,000653: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032561,000654:
032562,000655: # OUTPUT
032563,000656: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032564,000657: # VGTIG INITIAL VALUE OF VELOCITY
032565,000658: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032566,000659: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032567,000660: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032568,000661: # -GDT FOR S40.13 VECT B7 M/CS
032569,000662: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032570,000663: # POSITION AT TIME OF IGNITION
032571,000664:
032572,000665: # DEBRIS QTEMP1
032573,000666: # MPAC, QPRET
032574,000667: # PUSHLIST
032575,000668:
032576,000669: 14,2347 BANK 14
032577,000670: 27,2000 SETLOC P40S1
032578,000671: 27,2000 BANK
|
|
Page 765
|
032580,000673: 27,2246 COUNT* $$/S40.1
032581,000674: 27,2246 71220 S40.1 STQ DLOAD
032582,000675: 27,2247 03632 QTEMP
032583,000676: 27,2250 03442 TIG
032584,000677: 27,2251 03763 STORE TIGSAVE
032585,000678: 27,2252 77614 DELVTEST BOFF
032586,000679: 27,2253 01347 XDELVFLG
032587,000680: 27,2254 56336 S40.1B
032588,000681: 27,2255 77201 CALCTHET SETPD VLOAD
032589,000682: 27,2256 00001 0
032590,000683: 27,2257 03650 VTIG
032591,000684: 27,2260 02331 STORE VINIT
032592,000685: 27,2261 53435 VXV UNIT
032593,000686: 27,2262 03642 RTIG
032594,000687: 27,2263 27673 STOVL UT # UP IN UT
032595,000688: 27,2264 03642 RTIG
032596,000689: 27,2265 02323 STORE RINIT
032597,000690: 27,2266 65236 VSQ PDDL
032598,000691: 27,2267 00045 36D
032599,000692: 27,2270 56205 DMP DDV
032600,000693: 27,2271 16412 THETACON
032601,000694: 27,2272 41205 DMP DMP
032602,000695: 27,2273 03664 DELVSAB
032603,000696: 27,2274 01245 WEIGHT/G
032604,000697: 27,2275 77671 DDV
032605,000698: 27,2276 03735 F
032606,000699: 27,2277 24017 STOVL 14D
032607,000700: 27,2300 03656 DELVSIN
032608,000701:
032609,000702: 27,2301 74241 DOT VXSC
032610,000703: 27,2302 03673 UT
032611,000704: 27,2303 03673 UT
032612,000705: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032613,000706: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032614,000707: 27,2306 03656 DELVSIN
032615,000708: 27,2307 00017 14D
032616,000709: 27,2310 63356 SIN PDVL
032617,000710: 27,2311 00007 6D
032618,000711: 27,2312 53435 VXV UNIT
032619,000712: 27,2313 03673 UT
032620,000713: 27,2314 45561 VXSC STADR
032621,000714: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032622,000715: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032623,000716: 27,2317 00017 14D
032624,000717: 27,2320 74346 COS VXSC
032625,000718: 27,2321 74255 VAD VXSC
032626,000719: 27,2322 03701 VGTIG
032627,000720: 27,2323 00045 36D
032628,000721: 27,2324 53352 VSL2 VAD
032629,000722: 27,2325 77626 STADR
|
|
Page 766
|
032631,000724: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032632,000725:
032633,000726: 27,2327 77656 UNIT
032634,000727: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032635,000728: 27,2331 03701 VGTIG
032636,000729: 27,2332 45006 PUSH CALL
032637,000730: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032638,000731: 27,2334 77650 GOTO
032639,000732: 27,2335 03632 QTEMP
032640,000733: 27,2336 77745 S40.1B DLOAD
032641,000734: 27,2337 03442 TIG
032642,000735: 27,2340 00041 STORE TDEC1
032643,000736: 27,2341 77621 BDSU
032644,000737: 27,2342 03631 TPASS4
032645,000738: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032646,000739: 27,2344 27057 LEMPREC
032647,000740: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032648,000741: 27,2346 00001 RATT
032649,000742: 27,2347 00001 0
032650,000743: 27,2350 03642 STORE RTIG
032651,000744: 27,2351 02323 STORE RINIT
032652,000745: 27,2352 77656 UNIT
032653,000746: 27,2353 27537 STOVL UNIT/R/
032654,000747: 27,2354 00007 VATT
032655,000748: 27,2355 03650 STORE VTIG
032656,000749: 27,2356 02331 STORE VINIT
032657,000750: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032658,000751: 27,2360 06522 ZEROVECS
032659,000752: 27,2361 16406 EPS1
032660,000753: 27,2362 43214 BOFF DAD
032661,000754: 27,2363 03745 NORMSW
032662,000755: 27,2364 56366 SMALLEPS
032663,000756: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032664,000757: 27,2366 66006 SMALLEPS PUSH SXA,1
032665,000758: 27,2367 02776 RTX1
032666,000759: 27,2370 45134 SXA,2 CALL
032667,000760: 27,2371 02777 RTX2
032668,000761: 27,2372 22000 INITVEL
032669,000762: 27,2373 41575 VLOAD PUSH
032670,000763: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032671,000764: 27,2375 03701 STORE VGTIG
032672,000765: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032673,000766: 27,2377 17673 STODL UT
032674,000767: 27,2400 00045 36D
032675,000768: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032676,000769: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
032677,000770: 27,2403 77650 GOTO
032678,000771: 27,2404 03632 QTEMP
032679,000772:
032680,000773: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032681,000774:
|
|
Page 767
|
032683,000776: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032684,000777:
032685,000778: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032686,000779:
|
|
Page 768
|
032688,000781: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032689,000782: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032690,000783: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032691,000784: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032692,000785: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032693,000786:
032694,000787: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032695,000788: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032696,000789: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032697,000790: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032698,000791: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032699,000792:
032700,000793: # CALLING SEQUENCE:
032701,000794: # L CALL INTERPRETIVE CALL.
032702,000795: # L +1 S40.2,3
032703,000796: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032704,000797:
032705,000798: # SUBROUTINES CALLED: NONE.
032706,000799:
032707,000800: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032708,000801:
032709,000802: # ALARM/ABORT MODES: NONE.
032710,000803:
032711,000804: # INPUT:
032712,000805: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032713,000806: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032714,000807: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032715,000808:
032716,000809: # OUTPUT:
032717,000810: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032718,000811: # :YSCREF: IN REFERENCE COORDINATES
032719,000812: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032720,000813: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032721,000814: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032722,000815: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032723,000816:
032724,000817: # DEBRIS: NONE.
|
|
Page 769
|
032726,000819:
032727,000820: 27,2413 COUNT* $$/S40.2
032728,000821: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032729,000822: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032730,000823: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032731,000824: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032732,000825: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032733,000826: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032734,000827: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032735,000828:
032736,000829: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032737,000830: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032738,000831: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032739,000832: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032740,000833: 27,2426 46125 PDDL BHIZ
032741,000834: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032742,000835: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032743,000836: 27,2431 45575 STORY VLOAD STADR
032744,000837: 27,2432 74162 STORE YSCREF
032745,000838: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032746,000839: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032747,000840: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032748,000841: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032749,000842:
032750,000843: 27,2437 43414 SET RVQ
032751,000844: 27,2440 01073 PFRATFLG
032752,000845: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032753,000846: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032754,000847: 27,2443 03650 VTIG
032755,000848: 27,2444 41456 UNIT PUSH
032756,000849: 27,2445 77650 GOTO
032757,000850: 27,2446 56431 STORY
|
|
Page 770
|
032759,000852: # SUBROUTINE S40.8
032760,000853: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032761,000854:
032762,000855: # DESCRIPTION
032763,000856: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032764,000857: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032765,000858: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032766,000859:
032767,000860: # CALLING SEQUENCE
032768,000861: # L-1 CALL
032769,000862: # L S40.8
032770,000863: # L+1 INTERPRETIVE RETURN
032771,000864:
032772,000865: # ALARM
032773,000866: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032774,000867: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032775,000868:
032776,000869: # INPUT AND INITIALIZATION
032777,000870: # VGPREV REFERENCE 2(7) M/CS
032778,000871: # DELVREF REFERENCE 2(7) M/CS
032779,000872: # BDT REFERENCE 2(7) M/CS
032780,000873: # TDECAY TAIL-OFF TIME 2(28) CS
032781,000874: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032782,000875: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032783,000876: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032784,000877:
032785,000878: # NOTE: VGTIG EQUALS VGPREV
032786,000879:
032787,000880: # OUTPUT
032788,000881: # STEERSW SEE INPUT
032789,000882: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032790,000883: # TGO TIME TO CUT-OFF 2(28) CS
032791,000884: # SEE FINDCDUW FOR STEERING OUTPUTS.
032792,000885:
032793,000886: # SUBROUTINE CALLED
032794,000887: # FINDCDUW
032795,000888:
032796,000889: # DEBRIS
032797,000890: # MPACS, PUSHLIST
032798,000891:
032799,000892: 27,2447 COUNT* $$/S40.8
|
|
Page 771
|
032801,000894: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032802,000895: 27,2450 01347 XDELVFLG
032803,000896: 27,2451 56731 RASTEER1
032804,000897: 27,2452 52375 VLOAD VSU
032805,000898: 27,2453 03701 VGPREV
032806,000899: 27,2454 03527 DELVREF
032807,000900: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032808,000901: 27,2456 76521 MXV VSL1
032809,000902: 27,2457 01734 REFSMMAT
032810,000903: 27,2460 03254 STORE UNFC/2
032811,000904: 27,2461 51575 BDTOK VLOAD ABVAL
032812,000905: 27,2462 03707 VG
032813,000906: 27,2463 03664 STORE VGDISP
032814,000907: 27,2464 77201 TGDCALC SETPD VLOAD
032815,000908: 27,2465 00001 0
032816,000909: 27,2466 03707 VG
032817,000910: 27,2467 27701 STOVL VGPREV
032818,000911: 27,2470 03527 DELVREF
032819,000912: 27,2471 57414 BOFF VCOMP
032820,000913: 27,2472 01344 STEERSW
032821,000914: 27,2473 00052 QPRET
032822,000915: 27,2474 77656 UNIT
032823,000916: 27,2475 41441 DOT PUSH
032824,000917: 27,2476 03707 VG
032825,000918: 27,2477 56244 BPL DDV
032826,000919: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032827,000920: 27,2501 03743 VEX
032828,000921: 27,2502 41215 DAD DMP
032829,000922: 27,2503 06520 DPHALF
032830,000923: 27,2504 56261 SR DDV
032831,000924: 27,2505 20613 10D
032832,000925: 27,2506 00045 36D
032833,000926: 27,2507 43205 DMP DAD
032834,000927: 27,2510 16535 -FOURDT
032835,000928: 27,2511 03741 TDECAY
032836,000929: 27,2512 03517 STORE TGO
032837,000930: 27,2513 77615 DAD
032838,000931: 27,2514 01235 PIPTIME
032839,000932: 27,2515 17442 STODL TIG
032840,000933: 27,2516 03517 TGO
032841,000934: 27,2517 51025 DSU BPL
032842,000935: 27,2520 16537 FOURSECS # 400 CS
032843,000936: 27,2521 61111 FINDCDUW -2
032844,000937: 27,2522 43014 SET CLRGO
032845,000938: 27,2523 01066 IMPULSW
032846,000939: 27,2524 01224 STEERSW
032847,000940: 27,2525 00052 QPRET
032848,000941:
032849,000942: 27,2526 77776 ALARMIT EXIT
032850,000943:
|
|
Page 772
|
032852,000945: 27,2527 05567 TC ALARM
032853,000946: 27,2530 01407 OCT 01407
032854,000947: 27,2531 06037 TC INTPRET
032855,000948: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032856,000949: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032857,000950:
032858,000951: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032859,000952: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032860,000953: 27,2540 E7,1742 2VEXHUST = VEX
032861,000954:
|
|
Page 773
|
032863,000956: # NAME S40.13 - TIMEBURN
032864,000957:
032865,000958: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032866,000959: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032867,000960: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032868,000961: # BURN
032869,000962: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032870,000963: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032871,000964: # SIGNAL
032872,000965:
032873,000966: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032874,000967:
032875,000968: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032876,000969: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032877,000970: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032878,000971: # AND ALSO FOR RCS ENGINE
032879,000972: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032880,000973: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032881,000974: # REQUIRE MODIFICATION FOR SATURN BURNS.
032882,000975: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032883,000976: # =0 DPS
032884,000977: # =1 APS
032885,000978:
032886,000979: # OUTPUT IMPULSW ZERO FOR STEERING
032887,000980: # ONE FOR ATTITUDE HOLD
032888,000981: # NOTHROTL ZERO FOR THROTTLING
032889,000982: # ONE TO INHIBIT THROTTLING
032890,000983: # TGO TIME TO BURN IN CS
032891,000984:
032892,000985: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032893,000986: # FORCE
032894,000987:
032895,000988: 27,2540 E7,1516 EBANK= TGO
032896,000989: 27,2540 COUNT* $$/40.13
032897,000990: 27,2540 06037 S40.13 TC INTPRET
032898,000991: 27,2541 43001 SETPD CLEAR
032899,000992: 27,2542 00001 00D
032900,000993: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032901,000994: 27,2544 51575 VLOAD ABVAL
032902,000995: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032903,000996: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032904,000997: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032905,000998: 27,2550 34017 FRCS2
032906,000999: 27,2551 72471 DDV SL1 # SCALE
032907,001000: 27,2552 01245 WEIGHT/G
032908,001001: 27,2553 41421 BDSU PUSH
032909,001002: 27,2554 43014 BOFF SET
032910,001003: 27,2555 05342 APSFLAG
032911,001004: 27,2556 56626 S40.13D # FOR DPS ENGINE
032912,001005: 27,2557 02463 NOTHROTL
032913,001006: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032914,001007: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032915,001008: 27,2562 01245 WEIGHT/G
032916,001009: 27,2563 50021 BDSU BMN
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|
Page 774
|
032918,001011: 27,2564 00001 00D
032919,001012: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032920,001013: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032921,001014: 27,2567 03737 MDOT
032922,001015:
032923,001016: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032924,001017: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032925,001018: # REQUIRE ADJUSTMENT
032926,001019:
032927,001020: 27,2570 16700 3.5SEC # 350 CS AT +14
032928,001021: 27,2571 65221 BDSU PDDL
032929,001022: 27,2572 01245 WEIGHT/G
032930,001023: 27,2573 03735 F
032931,001024: 27,2574 60405 DMP SR2 # SCALE
032932,001025: 27,2575 16702 5SECS
032933,001026: 27,2576 41471 DDV PUSH # 04D = TEMP2
032934,001027: 27,2577 51021 BDSU BPL
032935,001028: 27,2600 00003 02D
032936,001029: 27,2601 56626 S40.13D
032937,001030: 27,2602 55345 DLOAD BDDV
032938,001031: 27,2603 43205 DMP DAD
032939,001032: 27,2604 16702 5SECS
032940,001033: 27,2605 16676 1SEC2D # 100 CS AT +14
032941,001034: 27,2606 77650 GOTO
032942,001035: 27,2607 56616 S40.132
032943,001036: 27,2610 41345 S40.131 DLOAD DMP
032944,001037: 27,2611 01245 WEIGHT/G
032945,001038: 27,2612 41542 SR1 PUSH
032946,001039: 27,2613 56215 DAD DDV
032947,001040: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
032948,001041: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032949,001042: 27,2616 77414 S40.132 SET EXIT
032950,001043: 27,2617 01066 IMPULSW
032951,001044: 27,2620 07257 S40.132* TC TPAGREE
032952,001045: 27,2621 30154 CA MPAC
032953,001046: 27,2622 56001 XCH L
032954,001047: 27,2623 34755 CA ZERO
032955,001048: 27,2624 53517 DXCH TGO
032956,001049: 27,2625 12650 TCF S40.134
032957,001050:
032958,001051: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032959,001052: 27,2627 00001 00D
032960,001053: 27,2630 01245 WEIGHT/G
032961,001054: 27,2631 43006 PUSH BON
032962,001055: 27,2632 05302 APSFLAG
032963,001056: 27,2633 56671 APSTGO
032964,001057: 27,2634 43071 DDV CLEAR
032965,001058: 27,2635 16007 S40.136
032966,001059: 27,2636 02663 NOTHROTL
032967,001060: 27,2637 41400 BOV PUSH
|
|
Page 775
|
032969,001062: 27,2640 56653 S40.130V
032970,001063: 27,2641 51025 S40.137 DSU BPL
032971,001064: 27,2642 16704 6SEC # 600.0 CS AT +14
032972,001065: 27,2643 56661 S40.138
032973,001066: 27,2644 52015 DAD GOTO
032974,001067: 27,2645 16704 6SEC
032975,001068: 27,2646 56616 S40.132
032976,001069: 27,2647 77776 S40.133 EXIT
032977,001070: 27,2650 05353 S40.134 TC PHASCHNG
032978,001071: 27,2651 00003 OCT 00003
032979,001072: 27,2652 05155 TC ENDOFJOB
032980,001073: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032981,001074: 27,2654 77671 DDV
032982,001075: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032983,001076: 27,2656 03517 STORE TGO
032984,001077: 27,2657 77776 EXIT
032985,001078: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032986,001079:
032987,001080: 27,2661 51025 S40.138 DSU BPL
032988,001081: 27,2662 16706 89SECS
032989,001082: 27,2663 56666 STORETGO
032990,001083: 27,2664 77614 SET
032991,001084: 27,2665 02463 NOTHROTL
032992,001085: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032993,001086: 27,2667 77776 EXIT
032994,001087: 27,2670 12620 TCF S40.132*
032995,001088:
032996,001089: 27,2671 62471 APSTGO DDV SL2
032997,001090: 27,2672 34007 FAPS
032998,001091: 27,2673 77650 GOTO
032999,001092: 27,2674 56667 STORETGO +1
033000,001093: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033001,001094:
033002,001095: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033003,001096:
033004,001097: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033005,001098:
033006,001099: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033007,001100:
033008,001101: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
033009,001102:
033010,001103: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033011,001104: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033012,001105: # COMPUTATION CYCLES (4 SECONDS).
033013,001106: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033014,001107: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033015,001108: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033016,001109:
033017,001110: # CALLING SEQ VIA FINDVAC AS NEW JOB.
033018,001111:
033019,001112: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033020,001113: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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|
Page 776
|
033022,001115: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033023,001116: # METERS/CS AT +7.
033024,001117: # TIG - TIME OF IGNITION IN CS AT +28.
033025,001118: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033026,001119: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033027,001120: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033028,001121: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033029,001122: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033030,001123: # METERS/CS AT +7.
033031,001124:
033032,001125: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033033,001126: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033034,001127: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033035,001128: # BDT - B VECTOR IN METERS/CS AT +7.
033036,001129:
033037,001130: # SUBROUTINES USED - INITVEL
033038,001131:
033039,001132: 27,2707 E7,1700 EBANK= VGPREV
033040,001133: 27,2707 COUNT* $$/S40.9
033041,001134: 27,2707 06037 S40.9 TC INTPRET
033042,001135: 27,2710 77601 SETPD
033043,001136: 27,2711 00001 00D
033044,001137: 27,2712 71214 SET DLOAD
033045,001138: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033046,001139: 27,2714 06522 HI6ZEROS
033047,001140: 27,2715 77725 PDDL
033048,001141: 27,2716 16406 EPS1
033049,001142: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033050,001143: 27,2720 03745 NORMSW
033051,001144: 27,2721 56723 EPSSMALL
033052,001145: 27,2722 16410 EPS2
033053,001146: 27,2723 45006 EPSSMALL PUSH CALL
033054,001147: 27,2724 22002 HAVEGUES
033055,001148: 27,2725 77776 ENDS40.9 EXIT
033056,001149: 27,2726 05353 TC PHASCHNG
033057,001150: 27,2727 00002 OCT 2
033058,001151: 27,2730 15155 TCF ENDOFJOB
033059,001152:
033060,001153: 27,2731 51575 RASTEER1 VLOAD ABVAL
033061,001154: 27,2732 01221 RN
033062,001155: 27,2733 53744 LXC,2 SL*
033063,001156: 27,2734 02777 RTX2
033064,001157: 27,2735 57576 0,2
033065,001158: 27,2736 27715 STOVL RMAG
033066,001159: 27,2737 03444 RTARG
033067,001160: 27,2740 47051 VSU RTB
033068,001161: 27,2741 01221 RN
033069,001162: 27,2742 21724 NORMUNX1
033070,001163: 27,2743 17656 STODL IC
033071,001164: 27,2744 00045 36D # C(36D) = ABVAL(C)
033072,001165: 27,2745 53674 XAD,2 SL*
033073,001166: 27,2746 00046 X1
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|
Page 777
|
033075,001168: 27,2747 57576 0,2
033076,001169: 27,2750 00037 STORE 30D
033077,001170: 27,2751 41301 NORM DMP
033078,001171: 27,2752 00050 X2
033079,001172: 27,2753 03715 RMAG
033080,001173: 27,2754 57101 NORM XAD,2
033081,001174: 27,2755 00047 X1
033082,001175: 27,2756 00046 X1
033083,001176: 27,2757 77734 SXA,2
033084,001177: 27,2760 03766 MUSCALE
033085,001178: 27,2761 17725 STODL R1C # 2(+58 -X)
033086,001179: 27,2762 00037 30D
033087,001180: 27,2763 65342 SR1 PDDL
033088,001181: 27,2764 03715 RMAG
033089,001182: 27,2765 65342 SR1 PDDL
033090,001183: 27,2766 03723 RTMAG
033091,001184: 27,2767 43342 SR1 DAD
033092,001185: 27,2770 45415 DAD STADR
033093,001186: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033094,001187: 27,2772 41225 DSU DMP
033095,001188: 27,2773 00037 30D
033096,001189: 27,2774 03721 MU/A
033097,001190: 27,2775 77621 BDSU
033098,001191: 27,2776 03717 MUASTEER
033099,001192: 27,2777 45325 PDDL DSU
033100,001193: 27,3000 03733 SS
033101,001194: 27,3001 03715 RMAG
033102,001195: 27,3002 70501 NORM SR1
033103,001196: 27,3003 00047 X1
033104,001197: 27,3004 41271 DDV DMP
033105,001198: 27,3005 03725 R1C
033106,001199: 27,3006 53664 XSU,2 SL*
033107,001200: 27,3007 00046 X1
033108,001201: 27,3010 57575 1,2
033109,001202: 27,3011 77754 LXA,2
033110,001203: 27,3012 03766 MUSCALE
033111,001204: 27,3013 75366 SQRT SIGN
033112,001205: 27,3014 02673 GEOMSGN
033113,001206: 27,3015 00041 STORE 32D # + OR - A
033114,001207: 27,3016 41345 DLOAD DMP
033115,001208: 27,3017 03733 SS
033116,001209: 27,3020 03721 MU/A
033117,001210: 27,3021 77621 BDSU
033118,001211: 27,3022 03717 MUASTEER
033119,001212: 27,3023 45325 PDDL DSU
033120,001213: 27,3024 03733 SS
033121,001214: 27,3025 03723 RTMAG
033122,001215: 27,3026 70501 NORM SR1
033123,001216: 27,3027 00047 X1
033124,001217: 27,3030 41271 DDV DMP
033125,001218:
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Page 778
|
033127,001220: 27,3031 03725 R1C
033128,001221: 27,3032 53664 XSU,2 SL*
033129,001222: 27,3033 00046 X1
033130,001223: 27,3034 57575 1,2
033131,001224: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033132,001225: 27,3036 03733 SS
033133,001226: 27,3037 56225 DSU DDV
033134,001227: 27,3040 00037 30D
033135,001228: 27,3041 03733 SS
033136,001229: 27,3042 41566 SQRT PUSH
033137,001230: 27,3043 67542 SR1 ASIN
033138,001231: 27,3044 65205 DMP PDDL
033139,001232: 27,3045 17216 2PI+3
033140,001233: 27,3046 56325 PDDL DDV
033141,001234: 27,3047 00037 30D
033142,001235: 27,3050 03733 SS
033143,001236: 27,3051 77600 BOV
033144,001237: 27,3052 57053 +1
033145,001238: 27,3053 41366 SQRT DMP
033146,001239: 27,3054 44242 SR3 BDSU
033147,001240: 27,3055 65365 SIGN PDDL
033148,001241: 27,3056 02673 GEOMSGN
033149,001242: 27,3057 17216 2PI+3
033150,001243: 27,3060 45302 SR2 DSU
033151,001244: 27,3061 65205 DMP PDDL
033152,001245: 27,3062 03733 SS
033153,001246: 27,3063 03733 SS
033154,001247: 27,3064 75442 SR3 SQRT
033155,001248: 27,3065 77605 DMP
033156,001249: 27,3066 52525 PDDL SL3
033157,001250: 27,3067 03717 MUASTEER
033158,001251: 27,3070 55366 SQRT BDDV
033159,001252: 27,3071 43225 DSU DAD
033160,001253: 27,3072 03631 TPASS4
033161,001254: 27,3073 01235 PIPTIME
033162,001255: 27,3074 14037 STODL 30D
033163,001256: 27,3075 77765 SIGN
033164,001257: 27,3076 00037 30D # B WITH SIGN
033165,001258: 27,3077 00037 STORE 30D
033166,001259: 27,3100 77214 BON VLOAD
033167,001260: 27,3101 03705 NORMSW
033168,001261: 27,3102 57123 180MESS
033169,001262: 27,3103 03656 IC
033170,001263: 27,3104 53451 VSU UNIT
033171,001264: 27,3105 03537 UNIT/R/
033172,001265: 27,3106 63361 VXSC PDVL
033173,001266: 27,3107 00037 30D
033174,001267: 27,3110 03656 IC
033175,001268: 27,3111 53455 VAD UNIT
033176,001269: 27,3112 03537 UNIT/R/
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Page 779
|
033178,001271: 27,3113 53361 GETVRVG1 VXSC VAD
033179,001272: 27,3114 00041 32D
033180,001273: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033181,001274: 27,3116 02777 RTX2
033182,001275: 27,3117 57177 0 -1,2
033183,001276: 27,3120 02337 STORE VIPRIME
033184,001277: 27,3121 77650 GOTO
033185,001278: 27,3122 57166 ASTREND -2
033186,001279: 27,3123 50375 180MESS VLOAD DOT
033187,001280: 27,3124 03656 IC
033188,001281: 27,3125 03537 UNIT/R/
033189,001282: 27,3126 77240 BMN VLOAD
033190,001283: 27,3127 57146 NEGPROD
033191,001284: 27,3130 03656 IC
033192,001285: 27,3131 63362 VSR1 PDVL
033193,001286: 27,3132 03537 UNIT/R/
033194,001287: 27,3133 53362 VSR1 VAD
033195,001288: 27,3134 77656 UNIT
033196,001289: 27,3135 57406 PUSH VCOMP # FOR A
033197,001290: 27,3136 75235 VXV SIGN
033198,001291: 27,3137 02674 UN
033199,001292: 27,3140 02673 GEOMSGN
033200,001293: 27,3141 74256 UNIT VXSC
033201,001294: 27,3142 00037 30D
033202,001295: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033203,001296: 27,3144 77650 GOTO
033204,001297: 27,3145 57113 GETVRVG1
033205,001298: 27,3146 74575 NEGPROD VLOAD VSR1
033206,001299: 27,3147 03537 UNIT/R/
033207,001300: 27,3150 74515 PDVL VSR1
033208,001301: 27,3151 03656 IC
033209,001302: 27,3152 53451 VSU UNIT
033210,001303: 27,3153 77606 PUSH
033211,001304: 27,3154 75235 VXV SIGN
033212,001305: 27,3155 02674 UN # FOR B
033213,001306: 27,3156 02673 GEOMSGN
033214,001307: 27,3157 74256 UNIT VXSC
033215,001308: 27,3160 00041 32D
033216,001309: 27,3161 77715 PDVL
033217,001310: 27,3162 53361 VXSC VAD
033218,001311: 27,3163 00037 30D
033219,001312: 27,3164 77650 GOTO
033220,001313: 27,3165 57115 GETVRVG2
033221,001314: 27,3166 77651 VSU
033222,001315: 27,3167 03553 VN1
033223,001316: 27,3170 02366 ASTREND STORE DELVEET3
033224,001317: 27,3171 53135 FIRSTTME SLOAD BZE
033225,001318: 27,3172 03000 RTX2
033226,001319: 27,3173 57177 GETGOBL
033227,001320: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780
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033229,001322: 27,3175 02366 DELVEET3
033230,001323: 27,3176 57212 NOGOBL
033231,001324: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033232,001325: 27,3200 01221 RN
033233,001326: 27,3201 45345 DLOAD DSU
033234,001327: 27,3202 01235 PIPTIME # 2
033235,001328: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033236,001329: 27,3204 56205 DMP DDV # OBL
033237,001330: 27,3205 16023 EARTHMU
033238,001331: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033239,001332: 27,3207 53361 VXSC VAD
033240,001333: 27,3210 03521 UNITGOBL
033241,001334: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033242,001335: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033243,001336: 27,3213 77650 GOTO
033244,001337: 27,3214 56455 VGAIN*
033245,001338:
033246,001339: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033247,001340:
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Page 781
|
033249,001342: # TRIMGIMB (FORMERLY S40.6)
033250,001343: # MOD 0 24 FEB 67 PETER ADLER
033251,001344:
033252,001345: # FUNCTION:
033253,001346: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033254,001347: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033255,001348: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033256,001349:
033257,001350: # CALLING SEQUENCE:
033258,001351: # VIA WAITLIST FROM R03
033259,001352:
033260,001353: # INPUT:
033261,001354: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033262,001355: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033263,001356:
033264,001357: # SUBROUTINES USED:
033265,001358: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033266,001359:
033267,001360: 27,3217 COUNT* $$/S40.6
033268,001361: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033269,001362:
033270,001363: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033271,001364: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033272,001365:
033273,001366: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033274,001367: 27,3222 00006 EXTEND
033275,001368: 27,3223 03012 WAND CHAN12
033276,001369: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033277,001370: 27,3225 00006 EXTEND
033278,001371: 27,3226 05012 WOR CHAN12
033279,001372: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033280,001373: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033281,001374: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033282,001375: 27,3232 00006 EXTEND
033283,001376: 27,3233 03012 WAND CHAN12
033284,001377: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033285,001378: 27,3235 00006 EXTEND
033286,001379: 27,3236 05012 WOR CHAN12
033287,001380: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033288,001381: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033289,001382: 27,3241 03260 ADRES PITCHOFF
033290,001383:
033291,001384: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033292,001385: 27,3243 05224 TC VARDELAY # UNTIL THEN
033293,001386: 27,3244 44740 CS BIT12
033294,001387: 27,3245 00006 EXTEND
033295,001388: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033296,001389: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033297,001390: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033298,001391: 27,3251 00006 EXTEND
033299,001392: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033300,001393: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033301,001394: 27,3254 05072 TC NOVAC
033302,001395: 27,3255 E7,1471 EBANK= WHOCARES
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Page 782
|
033304,001397: 27,3255 02323 02067 2CADR TRIMDONE
033305,001398:
033306,001399: 27,3257 05261 TC TASKOVER
033307,001400: 27,3260 44742 PITCHOFF CS BIT10
033308,001401: 27,3261 00006 EXTEND
033309,001402: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033310,001403: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033311,001404: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033312,001405: 27,3265 00137 ADRES GMBDRVSW
033313,001406: 27,3266 05261 TC TASKOVER
033314,001407:
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Page 783
|
033316,001409: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033317,001410: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033318,001411:
033319,001412: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033320,001413:
033321,001414: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033322,001415: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033323,001416: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033324,001417: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033325,001418: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033326,001419: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033327,001420: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033328,001421: # CALLER WITH C(MPAC) = VELOCITY(LM).
033329,001422:
033330,001423: # CALLING SEQUENCE:
033331,001424: # L VLOAD CALL
033332,001425: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033333,001426: # L +2 S41.1
033334,001427: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033335,001428:
033336,001429: # SUBROUTINES CALLED:
033337,001430: # 1. CDUTRIG,
033338,001431: # WHICH CALLS CDULOGIC.
033339,001432: # 2. *SMNB*
033340,001433:
033341,001434: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033342,001435:
033343,001436: # ALARM/ABORT MODES: NONE.
033344,001437:
033345,001438: # RESTART PROTECTION: NONE.
033346,001439:
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Page 784
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033348,001441: # INPUT:
033349,001442: # 1. REFSMMAT.
033350,001443: # 2. CDUX, CDUY, CDUZ.
033351,001444: # 3. VELOCITY (REF) IN MPAC.
033352,001445:
033353,001446: # OUTPUT:
033354,001447: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033355,001448: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033356,001449: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033357,001450: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033358,001451:
033359,001452: # DEBRIS: NONE.
033360,001453:
033361,001454: # CHECKOUT STATUS: CODED.
033362,001455:
033363,001456: 27,3267 COUNT* $$/S41.1
033364,001457: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033365,001458: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033366,001459: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033367,001460: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033368,001461: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc