Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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032071,000002: ## Copyright: Public domain.
032072,000003: ## Filename: P40-P47.agc
032073,000004: ## Purpose: A section of Luminary revision 97.
032074,000005: ## It is part of the reconstructed source code for the
032075,000006: ## second release of the flight software for the Lunar
032076,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
032077,000008: ## It was created to fix two incorrect ephemeris constants in
032078,000009: ## Luminary 96, as described by anomaly report LNY-59.
032079,000010: ## The code has been recreated from a copy of Luminary 99
032080,000011: ## revision 001, using asterisks indicating changed lines in
032081,000012: ## the listing and Luminary Memos #83 and #85, which list
032082,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
032083,000014: ## code has been adapted such that the resulting bugger words
032084,000015: ## exactly match those specified for Luminary 97 in NASA drawing
032085,000016: ## 2021152D, which gives relatively high confidence that the
032086,000017: ## reconstruction is correct.
032087,000018: ## Reference: pp. 752-784
032088,000019: ## Assembler: yaYUL
032089,000020: ## Contact: Ron Burkey <info@sandroid.org>.
032090,000021: ## Website: www.ibiblio.org/apollo/index.html
032091,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
032092,000023: ## 2021-05-30 ABS TGDCALC -> TGOCALC
032093,000024:
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Page 752
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032095,000026: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
032096,000027: # MOD 03 BY PETER ADLER MARCH 3, 1967
032097,000028: # CALLED VIA JOB FROM V37E
032098,000029:
032099,000030: # FUNCTIONAL DESCRIPTION
032100,000031:
032101,000032: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032102,000033: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009.
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032104,000035: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032105,000036: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032106,000037: # PGNCS CONTROLLED DPS MANEUVER.
032107,000038: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032108,000039: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032109,000040:
032110,000041: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032111,000042: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032112,000043:
032113,000044: # SUBROUTINES USED
032114,000045:
032115,000046: # R02 IMU STATUS CHECK
032116,000047: # S40.1 COMPUTATION OF THRUST DIRECTION
032117,000048: # S40.13 LENGTH OF BURN
032118,000049: # S40.2,3 PREFERRED IMU ORIENATTION
032119,000050: # S40.8 X PRODUCT STEERING
032120,000051: # S40.9 LAMBERT VTOGAIN
032121,000052: # R60LEM ATTITUDE MANEUVER
032122,000053: # LEMPREC EXTRAPOLATE STATE VECTOR
032123,000054: # PREREAD AVERAGE G, SERVICER
032124,000055: # ALLCOAST DAP COASTING INITIALIZATION
032125,000056: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
032126,000057: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032127,000058: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032128,000059: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032129,000060:
032130,000061: # RESTARTS VIA GROUP 4
032131,000062:
032132,000063: # DISPLAYS
032133,000064:
032134,000065: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032135,000066: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032136,000067: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032137,000068: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032138,000069: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032139,000070: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032140,000071: # V05N09 POSSIBLE ALARMS
032141,000072: # V50N07 PLEASE SELECT P00
032142,000073:
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Page 753
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032144,000075: # VIA R30
032145,000076:
032146,000077: # V06N44 HAPO, PERI, TFF
032147,000078: # V06N35 TIME TO PERIGEE, HMS
032148,000079:
032149,000080: # ALARM OR ABORT EXIT MODES
032150,000081:
032151,000082: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032152,000083: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032153,000084:
032154,000085: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032155,000086: # TIG BY 45 SECS.
032156,000087:
032157,000088: # ERASABLE INITIALIZATION
032158,000089:
032159,000090: # DEBRIS
032160,000091:
032161,000092: # OUTPUT
032162,000093:
032163,000094: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032164,000095: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032165,000096: # = 0 FOR AIMPT (LAMBERT) COMP
032166,000097:
032167,000098: 27,2246 COUNT* $$/P40
032168,000099: 27,2246 E7,1455 EBANK= WHICH
032169,000100:
032170,000101: 36,3147 BANK 36
032171,000102: 36,2000 SETLOC P40S
032172,000103: 36,2000 BANK
032173,000104:
032174,000105: 36,3147 05353 P40LM TC PHASCHNG
032175,000106: 36,3150 04024 OCT 04024
032176,000107:
032177,000108: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032178,000109: 36,3152 55455 TS WHICH
032179,000110:
032180,000111: 36,3153 30106 CA FLGWRD10
032181,000112: 36,3154 74737 MASK APSFLBIT
032182,000113: 36,3155 10000 CCS A
032183,000114: 36,3156 13121 TCF P40ALM
032184,000115: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032185,000116: 36,3160 11254 CADR R02BOTH
032186,000117:
032187,000118: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
032188,000119: 36,3162 74737 MASK CSMDOCKD
032189,000120: 36,3163 10000 CCS A
032190,000121: 36,3164 32020 CAF THRESH1
032191,000122: 36,3165 62021 AD THRESH3
032192,000123: 36,3166 55251 TS DVTHRUSH
032193,000124: 36,3167 34751 CAF FOUR
032194,000125: 36,3170 55515 TS DVCNTR
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Page 754
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032196,000127: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032197,000128: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032198,000129: 36,3173 34001 FDPS
032199,000130: 36,3174 02663 NOTHROTL
032200,000131: 36,3175 03735 STORE F
032201,000132: 36,3176 77735 SLOAD
032202,000133: 36,3177 26002 DPSVEX
032203,000134: 36,3200 70476 P40IN DCOMP SR1
032204,000135: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032205,000136: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
032206,000137: 36,3203 77624 CALL
032207,000138: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032208,000139: 36,3205 77776 EXIT
032209,000140:
032210,000141: 36,3206 00004 INHINT
032211,000142: 36,3207 04674 TC IBNKCALL
032212,000143: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032213,000144:
032214,000145: 36,3211 03213 TC P40SXT4
032215,000146:
032216,000147: # ***********************
032217,000148:
032218,000149: 36,3212 12126 TCF BURNBABY
032219,000150:
032220,000151: # ***********************
032221,000152:
032222,000153: 36,3213 00006 P40SXT4 EXTEND
032223,000154: 36,3214 23142 QXCH P40/RET
032224,000155: 36,3215 00003 P41MANU RELINT
032225,000156:
032226,000157: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032227,000158: 36,3217 00124 ADRES 3AXISFLG
032228,000159:
032229,000160: 36,3220 04616 TC BANKCALL
032230,000161: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032231,000162: 36,3222 01142 TC P40/RET
032232,000163:
032233,000164: 36,3223 E7,1462 EBANK= TRKMKCNT
032234,000165: 36,3223 30005 POSTBURN CA Z
032235,000166: 36,3224 55163 TS DISPDEX
032236,000167: 36,3225 00006 EXTEND
032237,000168: 36,3226 32056 DCA ACADN85
032238,000169: 36,3227 53253 DXCH AVEGEXIT
032239,000170: 36,3230 33760 CAF V16N40
032240,000171: 36,3231 04616 TC BANKCALL
032241,000172: 36,3232 20635 CADR GOFLASHR
032242,000173: 36,3233 03256 TC TERM40
032243,000174: 36,3234 13241 TCF TIGNOW
032244,000175: 36,3235 03223 TC POSTBURN
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Page 755
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032246,000177: 36,3236 05353 P40PHS1 TC PHASCHNG
032247,000178: 36,3237 00014 OCT 00014
032248,000179: 36,3240 15155 TCF ENDOFJOB
032249,000180:
032250,000181: 36,3241 00004 TIGNOW INHINT
032251,000182: 36,3242 04674 TC IBNKCALL
032252,000183: 36,3243 40153 CADR ZATTEROR
032253,000184: 36,3244 04674 TC IBNKCALL
032254,000185: 36,3245 40140 CADR SETMINDB
032255,000186: 36,3246 00003 RELINT
032256,000187: 36,3247 33761 CAF V16N85B
032257,000188: 36,3250 04616 TC BANKCALL
032258,000189: 36,3251 20462 CADR REFLASHR
032259,000190: 36,3252 03256 TC TERM40
032260,000191: 36,3253 13256 TCF TERM40
032261,000192: 36,3254 03247 TC -5
032262,000193:
032263,000194: 36,3255 13236 TCF P40PHS1
032264,000195:
032265,000196: 36,3256 00006 TERM40 EXTEND
032266,000197: 36,3257 32106 DCA SERVCADR
032267,000198: 36,3260 53253 DXCH AVEGEXIT
032268,000199: 36,3261 34755 CAF ZERO
032269,000200: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032270,000201: 36,3263 30005 CA Z
032271,000202: 36,3264 55163 TS DISPDEX
032272,000203: 36,3265 00004 INHINT
032273,000204: 36,3266 04674 TC IBNKCALL
032274,000205: 36,3267 40123 CADR RESTORDB
032275,000206: 36,3270 00003 RELINT
032276,000207: 36,3271 06001 TC GOTOPOOH
032277,000208:
032278,000209: 36,3272 E7,1455 EBANK= WHICH
032279,000210: 36,3272 COUNT* $$/P41
032280,000211: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032281,000212: 36,3273 55455 TS WHICH
032282,000213:
032283,000214: 36,3274 04616 TC BANKCALL
032284,000215: 36,3275 11254 CADR R02BOTH
032285,000216:
032286,000217: 36,3276 06037 TC INTPRET # BOTH LM
032287,000218: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032288,000219: 36,3300 00700 NJETSFLG
032289,000220: 36,3301 75305 P41FJET1
032290,000221: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032291,000222:
032292,000223: 36,3303 37735 P41FJET STCALL F
032293,000224: 36,3304 75310 P41IN
032294,000225: 36,3305 77745 P41FJET1 DLOAD
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Page 756
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032296,000227: 36,3306 34017 FRCS2
032297,000228: 36,3307 03735 STORE F
032298,000229:
032299,000230: 36,3310 77624 P41IN CALL
032300,000231: 36,3311 56246 S40.1 # BOTH
032301,000232: 36,3312 77624 P41NORM CALL
032302,000233: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032303,000234: 36,3314 77776 EXIT # SET PFRATFLG.
032304,000235:
032305,000236: 36,3315 00004 INHINT
032306,000237: 36,3316 04674 TC IBNKCALL
032307,000238: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032308,000239: 36,3320 04674 TC IBNKCALL
032309,000240: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032310,000241: 36,3322 03213 TC P40SXT4
032311,000242:
032312,000243: 36,3323 06037 TC INTPRET
032313,000244: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032314,000245: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032315,000246: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032316,000247: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032317,000248: 36,3330 77776 EXIT
032318,000249:
032319,000250: 36,3331 33761 CAF V16N85B
032320,000251: 36,3332 04616 TC BANKCALL
032321,000252: 36,3333 20446 CADR GODSPRET
032322,000253:
032323,000254: 36,3334 35017 CAF PRIO5
032324,000255: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032325,000256: 36,3336 05105 TC FINDVAC
032326,000257: 36,3337 E7,1700 EBANK= VGPREV
032327,000258: 36,3337 03361 74067 2CADR DYNMDISP
032328,000259:
032329,000260: 36,3341 05327 TC 2PHSCHNG
032330,000261: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032331,000262: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032332,000263:
032333,000264: # ***********************
032334,000265:
032335,000266: 36,3344 12135 TCF B*RNB*B*
032336,000267:
032337,000268: # ***********************
032338,000269:
032339,000270: 36,3345 34777 BLNKWAIT CAF 1SEC
032340,000271: 36,3346 04616 TC BANKCALL
032341,000272: 36,3347 01735 CADR DELAYJOB
032342,000273:
032343,000274: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032344,000275: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032345,000276:
032346,000277: # ***********************
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Page 757
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032348,000279:
032349,000280: 36,3352 00006 EXTEND
032350,000281: 36,3353 13345 BZF BLNKWAIT
032351,000282:
032352,000283: 36,3354 33761 CAF V16N85B
032353,000284: 36,3355 04616 TC BANKCALL
032354,000285: 36,3356 20446 CADR GODSPRET
032355,000286:
032356,000287: 36,3357 35017 CAF PRIO5
032357,000288: 36,3360 05146 TC PRIOCHNG
032358,000289:
032359,000290: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032360,000291: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032361,000292: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032362,000293: 36,3364 06037 TC INTPRET
032363,000294: 36,3365 45175 VLOAD CALL
032364,000295: 36,3366 03701 VGPREV
032365,000296: 36,3367 57267 S41.1
032366,000297: 36,3370 03502 STORE VGBODY
032367,000298: 36,3371 77776 EXIT
032368,000299: 36,3372 34777 CAF 1SEC
032369,000300: 36,3373 04616 TC BANKCALL
032370,000301: 36,3374 01735 CADR DELAYJOB
032371,000302: 36,3375 13361 TCF DYNMDISP
032372,000303:
032373,000304: 36,3376 06037 CALCN85 TC INTPRET
032374,000305: 36,3377 77624 CALL
032375,000306: 36,3400 75611 UPDATEVG
032376,000307: 36,3401 45175 VLOAD CALL
032377,000308: 36,3402 03701 VGPREV
032378,000309: 36,3403 57267 S41.1
032379,000310: 36,3404 03502 STORE VGBODY
032380,000311: 36,3405 77776 EXIT
032381,000312: 36,3406 04635 TC POSTJUMP
032382,000313: 36,3407 65770 CADR SERVEXIT
032383,000314:
032384,000315: 36,3410 COUNT* $$/P42
032385,000316: 36,3410 E7,1455 EBANK= WHICH
032386,000317:
032387,000318: 36,3410 05353 P42LM TC PHASCHNG
032388,000319: 36,3411 04024 OCT 04024
032389,000320:
032390,000321: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032391,000322: 36,3413 55455 TS WHICH
032392,000323:
032393,000324: 36,3414 40106 CS FLGWRD10
032394,000325: 36,3415 74737 MASK APSFLBIT
032395,000326: 36,3416 10000 CCS A
032396,000327: 36,3417 03121 TC P40ALM
032397,000328: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758
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032399,000330: 36,3421 11254 CADR R02BOTH
032400,000331: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032401,000332: 36,3423 55251 TS DVTHRUSH
032402,000333: 36,3424 34751 CAF FOUR
032403,000334: 36,3425 55515 TS DVCNTR
032404,000335:
032405,000336: 36,3426 06037 TC INTPRET
032406,000337: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032407,000338: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032408,000339: 36,3431 34007 FAPS
032409,000340: 36,3432 03735 STORE F
032410,000341: 36,3433 52135 SLOAD GOTO
032411,000342: 36,3434 26001 APSVEX
032412,000343: 36,3435 75200 P40IN
032413,000344:
032414,000345: 36,3436 E7,1455 EBANK= WHICH
032415,000346:
032416,000347: 36,3436 COUNT* $$/P47
032417,000348: 36,3436 04616 P47LM TC BANKCALL
032418,000349: 36,3437 11254 CADR R02BOTH
032419,000350: 36,3440 06037 TC INTPRET
032420,000351: 36,3441 77624 CALRB
032421,000352: 36,3442 27553 MIDTOAV2
032422,000353:
032423,000354: 36,3443 30155 CA MPAC +1
032424,000355: 36,3444 05173 TC TWIDDLE
032425,000356: 36,3445 03447 ADRES STARTP47
032426,000357:
032427,000358: 36,3446 15155 TCF ENDOFJOB
032428,000359:
032429,000360: 36,3447 05353 STARTP47 TC PHASCHNG
032430,000361: 36,3450 05014 OCT 05014
032431,000362: 36,3451 77777 OCT 77777
032432,000363:
032433,000364: 36,3452 00006 EXTEND
032434,000365: 36,3453 33764 DCA ACADN83
032435,000366: 36,3454 53253 DXCH AVEGEXIT
032436,000367: 36,3455 34736 CAF PRIO20
032437,000368: 36,3456 05105 TC FINDVAC
032438,000369: 36,3457 E7,1622 EBANK= DELVIMU
032439,000370: 36,3457 03513 74067 2CADR P47BODY
032440,000371:
032441,000372: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032442,000373: # SEE TIG-30 IN BURNBABY.
032443,000374:
032444,000375: 36,3462 06037 CALCN83 TC INTPRET
032445,000376: 36,3463 53375 VLOAD VAD
032446,000377: 36,3464 03502 DELVCTL
032447,000378: 36,3465 03527 DELVREF
032448,000379: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759
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032450,000381: 36,3467 77624 CALL
032451,000382: 36,3470 57267 S41.1
032452,000383: 36,3471 03623 STORE DELVIMU
032453,000384: 36,3472 77776 EXIT
032454,000385: 36,3473 05353 TC PHASCHNG
032455,000386: 36,3474 10035 OCT 10035 # REREADAC AND HERE
032456,000387:
032457,000388: 36,3475 06037 TC INTPRET
032458,000389: 36,3476 77775 VLOAD
032459,000390: 36,3477 03656 DELVSIN
032460,000391: 36,3500 03502 STORE DELVCTL
032461,000392: 36,3501 77776 EXIT
032462,000393:
032463,000394: 36,3502 04635 TC POSTJUMP
032464,000395: 36,3503 65770 CADR SERVEXIT
032465,000396:
032466,000397: 36,3504 33762 P47BOD CAF V1683
032467,000398: 36,3505 04616 TC BANKCALL
032468,000399: 36,3506 20635 CADR GOFLASHR
032469,000400: 36,3507 06001 TC GOTOPOOH
032470,000401: 36,3510 06001 TC GOTOPOOH
032471,000402:
032472,000403: 36,3511 13513 TCF P47BODY
032473,000404:
032474,000405: 36,3512 13236 TCF P40PHS1
032475,000406:
032476,000407: 36,3513 06037 P47BODY TC INTPRET
032477,000408: 36,3514 77775 VLOAD
032478,000409: 36,3515 06522 HI6ZEROS
032479,000410: 36,3516 03623 STORE DELVIMU
032480,000411: 36,3517 03502 STORE DELVCTL
032481,000412: 36,3520 77776 EXIT
032482,000413: 36,3521 03504 TC P47BOD
032483,000414:
032484,000415: 36,3522 COUNT* $$/P40
032485,000416: 36,3522 31517 IMPLBURN CA TGO +1
032486,000417: 36,3523 03735 TC GETDT
032487,000418: 36,3524 05173 TC TWIDDLE
032488,000419: 36,3525 03542 ADRES ENGOFTSK
032489,000420: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032490,000421: 36,3527 00153 ADRES IGNFLAG
032491,000422: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032492,000423: 36,3531 00154 ADRES ASTNFLAG
032493,000424: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
032494,000425: 36,3533 00044 ADRES IMPULSW
032495,000426: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032496,000427: 36,3535 40114 OCT 40114
032497,000428:
032498,000429: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
032499,000430: 36,3537 00062 DEC 50 B-14
|
|
Page 760
|
032501,000432: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
032502,000433:
032503,000434: 36,3541 05261 TC TASKOVER
032504,000435:
032505,000436: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032506,000437: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032507,000438: 36,3544 05261 TC TASKOVER
032508,000439:
032509,000440: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032510,000441: 36,3546 05105 TC FINDVAC
032511,000442: 36,3547 E7,1462 EBANK= TRKMKCNT
032512,000443: 36,3547 03223 74067 2CADR POSTBURN
032513,000444:
032514,000445: 36,3551 34753 ENGINOF2 CAF BIT1
032515,000446: 36,3552 05203 TC WAITLIST
032516,000447: 36,3553 E6,1422 EBANK= OMEGAQ
032517,000448: 36,3553 03606 74066 2CADR COASTSET
032518,000449:
032519,000450: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032520,000451: 36,3556 74745 MASK IDLEFBIT
032521,000452: 36,3557 26103 ADS FLAGWRD7
032522,000453:
032523,000454: 36,3560 02653 TC NOULLAGE
032524,000455:
032525,000456: 36,3561 00006 ENGINOF4 EXTEND
032526,000457: 36,3562 30025 DCA TIME2
032527,000458: 36,3563 53345 DXCH TEVENT
032528,000459:
032529,000460: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032530,000461: 36,3565 70101 MASK FLAGWRD5
032531,000462: 36,3566 54101 TS FLAGWRD5
032532,000463: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032533,000464: 36,3570 00006 EXTEND # SUBROUTINE.
032534,000465: 36,3571 02011 RAND DSALMOUT
032535,000466: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032536,000467: 36,3573 00006 EXTEND
032537,000468: 36,3574 01011 WRITE DSALMOUT
032538,000469:
032539,000470: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032540,000471: 36,3576 74736 MASK USEQRJTS
032541,000472: 36,3577 26111 ADS DAPBOOLS
032542,000473:
032543,000474: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032544,000475: 36,3601 54055 TS THRUST # IS TURNED OFF.
032545,000476: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032546,000477: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
032547,000478: 36,3604 05014 WOR CHAN14
032548,000479:
032549,000480: 36,3605 04707 TC ISWRETRN
|
|
Page 761
|
032551,000482: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032552,000483: 36,3607 40204 CADR ALLCOAST
032553,000484: 36,3610 05261 TC TASKOVER
032554,000485:
032555,000486: 36,3611 E6,1422 EBANK= OMEGAQ
032556,000487: 36,3611 45020 UPDATEVG STQ CALL
032557,000488: 36,3612 03665 QTEMP1
032558,000489: 36,3613 56447 S40.8 # X-PRODUCT STEERING
032559,000490: 36,3614 43014 BON BON
032560,000491: 36,3615 01307 XDELVFLG
032561,000492: 36,3616 03665 QTEMP1
032562,000493: 36,3617 03705 NORMSW
032563,000494: 36,3620 75633 180SETUP
032564,000495: 36,3621 45345 DLOAD DSU
032565,000496: 36,3622 01235 PIPTIME
032566,000497: 36,3623 03763 TIGSAVE
032567,000498: 36,3624 50025 DSU BMN
032568,000499: 36,3625 03432 TNEWA
032569,000500: 36,3626 75656 GETRANS
032570,000501: 36,3627 43345 DLOAD DAD
032571,000502: 36,3630 03763 TIGSAVE
032572,000503: 36,3631 03432 TNEWA
032573,000504: 36,3632 03765 STORE TIGSAVEP
032574,000505: 36,3633 77776 180SETUP EXIT
032575,000506: 36,3634 10755 CCS PHASE2
032576,000507: 36,3635 13663 TCF NO.9
032577,000508: 36,3636 34737 CAF PRIO10
032578,000509: 36,3637 00004 INHINT
032579,000510: 36,3640 05105 TC FINDVAC
032580,000511: 36,3641 E7,1706 EBANK= VG
032581,000512: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032582,000513:
032583,000514: 36,3643 05327 TC 2PHSCHNG
032584,000515: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
032585,000516: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032586,000517:
032587,000518: 36,3646 06037 ENDSTEER TC INTPRET
032588,000519: 36,3647 77745 DLOAD
032589,000520: 36,3650 03765 TIGSAVEP
032590,000521: 36,3651 27763 STOVL TIGSAVE
032591,000522: 36,3652 01221 RN
032592,000523: 36,3653 26323 STOVL RINIT
032593,000524: 36,3654 01227 VN
032594,000525: 36,3655 02331 STORE VINIT
032595,000526: 36,3656 45345 GETRANS DLOAD DSU
032596,000527: 36,3657 03631 TPASS4
032597,000528: 36,3660 01235 PIPTIME
032598,000529: 36,3661 37452 STCALL DELLT4
032599,000530: 36,3662 03665 QTEMP1
032600,000531:
|
|
Page 762
|
032602,000533: 36,3663 06037 NO.9 TC INTPRET
032603,000534: 36,3664 77650 GOTO
032604,000535: 36,3665 03665 QTEMP1
032605,000536: 36,3666 06037 STEERING TC INTPRET
032606,000537:
032607,000538: 36,3667 77624 CALL
032608,000539: 36,3670 75611 UPDATEVG
032609,000540: 36,3671 77776 EXIT
032610,000541:
032611,000542: 36,3672 E7,1515 EBANK= DVCNTR
032612,000543: 36,3672 00004 NSTEER INHINT
032613,000544: 36,3673 35016 CA EBANK7
032614,000545: 36,3674 54003 TS EBANK
032615,000546: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032616,000547: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032617,000548: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
032618,000549:
032619,000550: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
032620,000551: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032621,000552: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032622,000553: 36,3703 10000 CCS A
032623,000554: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032624,000555: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032625,000556: 36,3706 65770 CADR SERVEXIT
032626,000557:
032627,000558: 36,3707 04674 TC IBNKCALL
032628,000559: 36,3710 40165 CADR STOPRATE
032629,000560:
032630,000561: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
032631,000562: 36,3712 00044 ADRES IMPULSW
032632,000563:
032633,000564: 36,3713 05504 TC UPFLAG
032634,000565: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
032635,000566:
032636,000567: 36,3715 00004 INHINT
032637,000568: 36,3716 00006 EXTEND
032638,000569: 36,3717 31442 DCA TIG
032639,000570: 36,3720 52155 DXCH MPAC
032640,000571: 36,3721 00006 EXTEND
032641,000572: 36,3722 40025 DCS TIME2
032642,000573: 36,3723 20155 DAS MPAC
032643,000574: 36,3724 07257 TC TPAGREE
032644,000575: 36,3725 30155 CAE MPAC +1
032645,000576: 36,3726 03735 TC GETDT
032646,000577: 36,3727 05173 TC TWIDDLE
032647,000578: 36,3730 03542 ADRES ENGOFTSK
032648,000579: 36,3731 05327 TC 2PHSCHNG
032649,000580: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032650,000581: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763
|
032652,000583: 36,3734 15155 TCF ENDOFJOB
032653,000584:
032654,000585: 36,3735 10000 GETDT CCS A
032655,000586: 36,3736 13741 TCF +3
032656,000587: 36,3737 13741 TCF +2
032657,000588: 36,3740 34755 CAF ZERO
032658,000589: 36,3741 64753 AD ONE
032659,000590: 36,3742 56001 XCH L
032660,000591: 36,3743 34755 CAF ZERO
032661,000592: 36,3744 53517 DXCH TGO
032662,000593: 36,3745 31517 CA TGO +1
032663,000594: 36,3746 00002 TC Q
032664,000595:
032665,000596: # ************************************************************************
032666,000597:
032667,000598: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032668,000599: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032669,000600: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
032670,000601:
032671,000602: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032672,000603: 36,3754 10624 SEC45 DEC 4500 B-14
032673,000604: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032674,000605: 36,3756 00764 5SEC DEC 500 B-14
032675,000606: 36,3757 05050 26SECS DEC 2600 B-14
032676,000607: 36,3760 04050 V16N40 VN 1640
032677,000608: 36,3761 04125 V16N85B VN 1685
032678,000609: 36,3762 04123 V1683 VN 1683
032679,000610: 36,3763 4777 SEC01 = 1SEC
032680,000611: 36,3763 36,2055 ACADN85 = P41TABLE +2
032681,000612:
032682,000613: 36,3763 E7,1622 EBANK= DELVIMU
032683,000614: 36,3763 03462 74067 ACADN83 2CADR CALCN83
032684,000615:
032685,000616: # *************************************************
|
|
Page 764
|
032687,000618: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032688,000619: # MOD N02 LOG SECTION P40-P47
032689,000620: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032690,000621:
032691,000622: # FUNCTIONAL DESCRIPTION
032692,000623: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032693,000624: # VECTOR(VGTIG).
032694,000625:
032695,000626: # CALLING SEQUENCE
032696,000627: # L CALL
032697,000628: # L+1 S40.1
032698,000629:
032699,000630: # NORMAL EXIT MODE
032700,000631: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032701,000632: # ERROR RETURN IF NOSOFLAG =1
032702,000633:
032703,000634: # SUBROUTINES CALLED
032704,000635: # LEMPREC
032705,000636: # INITVEL
032706,000637: # CALCGRAV
032707,000638: # MIDGIM
032708,000639:
032709,000640: # ALARM OR ABORT EXIT MODES
032710,000641: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032711,000642:
032712,000643: # ERASABLE INITIALIZATION REQUIRED
032713,000644: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032714,000645: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032715,000646: # F THRUST FOR ENGINE USED
032716,000647: # IF DELTA-V MANEUVER
032717,000648: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032718,000649: # INERTIAL COORDS. OF ACTIVE VEHICLE
032719,000650: # AT TIME OF IGNITION VECTOR B7 M/CS
032720,000651: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032721,000652: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032722,000653: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032723,000654: # IF AIMPT STEER
032724,000655: # TIG TIME OF IGNITION DP B28 CS
032725,000656: # RTARG POSITION TARGET TIME VECTOR B29 M
032726,000657: # CSTEER C FOR STEER LAW DP B2
032727,000658: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032728,000659:
032729,000660: # OUTPUT
032730,000661: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032731,000662: # VGTIG INITIAL VALUE OF VELOCITY
032732,000663: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032733,000664: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032734,000665: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032735,000666: # -GDT FOR S40.13 VECT B7 M/CS
032736,000667: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032737,000668: # POSITION AT TIME OF IGNITION
032738,000669:
032739,000670: # DEBRIS QTEMP1
032740,000671: # MPAC, QPRET
032741,000672: # PUSHLIST
032742,000673:
032743,000674: 14,2347 BANK 14
032744,000675: 27,2000 SETLOC P40S1
032745,000676: 27,2000 BANK
|
|
Page 765
|
032747,000678: 27,2246 COUNT* $$/S40.1
032748,000679: 27,2246 71220 S40.1 STQ DLOAD
032749,000680: 27,2247 03632 QTEMP
032750,000681: 27,2250 03442 TIG
032751,000682: 27,2251 03763 STORE TIGSAVE
032752,000683: 27,2252 77614 DELVTEST BOFF
032753,000684: 27,2253 01347 XDELVFLG
032754,000685: 27,2254 56336 S40.1B
032755,000686: 27,2255 77201 CALCTHET SETPD VLOAD
032756,000687: 27,2256 00001 0
032757,000688: 27,2257 03650 VTIG
032758,000689: 27,2260 02331 STORE VINIT
032759,000690: 27,2261 53435 VXV UNIT
032760,000691: 27,2262 03642 RTIG
032761,000692: 27,2263 27673 STOVL UT # UP IN UT
032762,000693: 27,2264 03642 RTIG
032763,000694: 27,2265 02323 STORE RINIT
032764,000695: 27,2266 65236 VSQ PDDL
032765,000696: 27,2267 00045 36D
032766,000697: 27,2270 56205 DMP DDV
032767,000698: 27,2271 16412 THETACON
032768,000699: 27,2272 41205 DMP DMP
032769,000700: 27,2273 03664 DELVSAB
032770,000701: 27,2274 01245 WEIGHT/G
032771,000702: 27,2275 77671 DDV
032772,000703: 27,2276 03735 F
032773,000704: 27,2277 24017 STOVL 14D
032774,000705: 27,2300 03656 DELVSIN
032775,000706:
032776,000707: 27,2301 74241 DOT VXSC
032777,000708: 27,2302 03673 UT
032778,000709: 27,2303 03673 UT
032779,000710: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032780,000711: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032781,000712: 27,2306 03656 DELVSIN
032782,000713: 27,2307 00017 14D
032783,000714: 27,2310 63356 SIN PDVL
032784,000715: 27,2311 00007 6D
032785,000716: 27,2312 53435 VXV UNIT
032786,000717: 27,2313 03673 UT
032787,000718: 27,2314 45561 VXSC STADR
032788,000719: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032789,000720: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032790,000721: 27,2317 00017 14D
032791,000722: 27,2320 74346 COS VXSC
032792,000723: 27,2321 74255 VAD VXSC
032793,000724: 27,2322 03701 VGTIG
032794,000725: 27,2323 00045 36D
032795,000726: 27,2324 53352 VSL2 VAD
032796,000727: 27,2325 77626 STADR
|
|
Page 766
|
032798,000729: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032799,000730:
032800,000731: 27,2327 77656 UNIT
032801,000732: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032802,000733: 27,2331 03701 VGTIG
032803,000734: 27,2332 45006 PUSH CALL
032804,000735: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032805,000736: 27,2334 77650 GOTO
032806,000737: 27,2335 03632 QTEMP
032807,000738: 27,2336 77745 S40.1B DLOAD
032808,000739: 27,2337 03442 TIG
032809,000740: 27,2340 00041 STORE TDEC1
032810,000741: 27,2341 77621 BDSU
032811,000742: 27,2342 03631 TPASS4
032812,000743: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032813,000744: 27,2344 27057 LEMPREC
032814,000745: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032815,000746: 27,2346 00001 RATT
032816,000747: 27,2347 00001 0
032817,000748: 27,2350 03642 STORE RTIG
032818,000749: 27,2351 02323 STORE RINIT
032819,000750: 27,2352 77656 UNIT
032820,000751: 27,2353 27537 STOVL UNIT/R/
032821,000752: 27,2354 00007 VATT
032822,000753: 27,2355 03650 STORE VTIG
032823,000754: 27,2356 02331 STORE VINIT
032824,000755: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032825,000756: 27,2360 06522 ZEROVECS
032826,000757: 27,2361 16406 EPS1
032827,000758: 27,2362 43214 BOFF DAD
032828,000759: 27,2363 03745 NORMSW
032829,000760: 27,2364 56366 SMALLEPS
032830,000761: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032831,000762: 27,2366 66006 SMALLEPS PUSH SXA,1
032832,000763: 27,2367 02776 RTX1
032833,000764: 27,2370 45134 SXA,2 CALL
032834,000765: 27,2371 02777 RTX2
032835,000766: 27,2372 22000 INITVEL
032836,000767: 27,2373 41575 VLOAD PUSH
032837,000768: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032838,000769: 27,2375 03701 STORE VGTIG
032839,000770: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032840,000771: 27,2377 17673 STODL UT
032841,000772: 27,2400 00045 36D
032842,000773: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032843,000774: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
032844,000775: 27,2403 77650 GOTO
032845,000776: 27,2404 03632 QTEMP
032846,000777:
032847,000778: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032848,000779:
|
|
Page 767
|
032850,000781: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032851,000782:
032852,000783: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032853,000784:
|
|
Page 768
|
032855,000786: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032856,000787: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032857,000788: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032858,000789: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032859,000790: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032860,000791:
032861,000792: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032862,000793: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032863,000794: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032864,000795: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032865,000796: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032866,000797:
032867,000798: # CALLING SEQUENCE:
032868,000799: # L CALL INTERPRETIVE CALL.
032869,000800: # L +1 S40.2,3
032870,000801: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032871,000802:
032872,000803: # SUBROUTINES CALLED: NONE.
032873,000804:
032874,000805: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032875,000806:
032876,000807: # ALARM/ABORT MODES: NONE.
032877,000808:
032878,000809: # INPUT:
032879,000810: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032880,000811: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032881,000812: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032882,000813:
032883,000814: # OUTPUT:
032884,000815: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032885,000816: # :YSCREF: IN REFERENCE COORDINATES
032886,000817: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032887,000818: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032888,000819: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032889,000820: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032890,000821:
032891,000822: # DEBRIS: NONE.
|
|
Page 769
|
032893,000824:
032894,000825: 27,2413 COUNT* $$/S40.2
032895,000826: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032896,000827: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032897,000828: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032898,000829: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032899,000830: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032900,000831: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032901,000832: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032902,000833:
032903,000834: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032904,000835: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032905,000836: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032906,000837: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032907,000838: 27,2426 46125 PDDL BHIZ
032908,000839: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032909,000840: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032910,000841: 27,2431 45575 STORY VLOAD STADR
032911,000842: 27,2432 74162 STORE YSCREF
032912,000843: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032913,000844: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032914,000845: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032915,000846: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032916,000847:
032917,000848: 27,2437 43414 SET RVQ
032918,000849: 27,2440 01073 PFRATFLG
032919,000850: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032920,000851: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032921,000852: 27,2443 03650 VTIG
032922,000853: 27,2444 41456 UNIT PUSH
032923,000854: 27,2445 77650 GOTO
032924,000855: 27,2446 56431 STORY
|
|
Page 770
|
032926,000857: # SUBROUTINE S40.8
032927,000858: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032928,000859:
032929,000860: # DESCRIPTION
032930,000861: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032931,000862: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032932,000863: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032933,000864:
032934,000865: # CALLING SEQUENCE
032935,000866: # L-1 CALL
032936,000867: # L S40.8
032937,000868: # L+1 INTERPRETIVE RETURN
032938,000869:
032939,000870: # ALARM
032940,000871: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032941,000872: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032942,000873:
032943,000874: # INPUT AND INITIALIZATION
032944,000875: # VGPREV REFERENCE 2(7) M/CS
032945,000876: # DELVREF REFERENCE 2(7) M/CS
032946,000877: # BDT REFERENCE 2(7) M/CS
032947,000878: # TDECAY TAIL-OFF TIME 2(28) CS
032948,000879: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032949,000880: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032950,000881: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032951,000882:
032952,000883: # NOTE: VGTIG EQUALS VGPREV
032953,000884:
032954,000885: # OUTPUT
032955,000886: # STEERSW SEE INPUT
032956,000887: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032957,000888: # TGO TIME TO CUT-OFF 2(28) CS
032958,000889: # SEE FINDCDUW FOR STEERING OUTPUTS.
032959,000890:
032960,000891: # SUBROUTINE CALLED
032961,000892: # FINDCDUW
032962,000893:
032963,000894: # DEBRIS
032964,000895: # MPACS, PUSHLIST
032965,000896:
032966,000897: 27,2447 COUNT* $$/S40.8
|
|
Page 771
|
032968,000899: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032969,000900: 27,2450 01347 XDELVFLG
032970,000901: 27,2451 56731 RASTEER1
032971,000902: 27,2452 52375 VLOAD VSU
032972,000903: 27,2453 03701 VGPREV
032973,000904: 27,2454 03527 DELVREF
032974,000905: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032975,000906: 27,2456 76521 MXV VSL1
032976,000907: 27,2457 01734 REFSMMAT
032977,000908: 27,2460 03254 STORE UNFC/2
032978,000909: 27,2461 51575 BDTOK VLOAD ABVAL
032979,000910: 27,2462 03707 VG
032980,000911: 27,2463 03664 STORE VGDISP
032981,000912: 27,2464 77201 TGOCALC SETPD VLOAD
032982,000913: 27,2465 00001 0
032983,000914: 27,2466 03707 VG
032984,000915: 27,2467 27701 STOVL VGPREV
032985,000916: 27,2470 03527 DELVREF
032986,000917: 27,2471 57414 BOFF VCOMP
032987,000918: 27,2472 01344 STEERSW
032988,000919: 27,2473 00052 QPRET
032989,000920: 27,2474 77656 UNIT
032990,000921: 27,2475 41441 DOT PUSH
032991,000922: 27,2476 03707 VG
032992,000923: 27,2477 56244 BPL DDV
032993,000924: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032994,000925: 27,2501 03743 VEX
032995,000926: 27,2502 41215 DAD DMP
032996,000927: 27,2503 06520 DPHALF
032997,000928: 27,2504 56261 SR DDV
032998,000929: 27,2505 20613 10D
032999,000930: 27,2506 00045 36D
033000,000931: 27,2507 43205 DMP DAD
033001,000932: 27,2510 16535 -FOURDT
033002,000933: 27,2511 03741 TDECAY
033003,000934: 27,2512 03517 STORE TGO
033004,000935: 27,2513 77615 DAD
033005,000936: 27,2514 01235 PIPTIME
033006,000937: 27,2515 17442 STODL TIG
033007,000938: 27,2516 03517 TGO
033008,000939: 27,2517 51025 DSU BPL
033009,000940: 27,2520 16537 FOURSECS # 400 CS
033010,000941: 27,2521 61111 FINDCDUW -2
033011,000942: 27,2522 43014 SET CLRGO
033012,000943: 27,2523 01066 IMPULSW
033013,000944: 27,2524 01224 STEERSW
033014,000945: 27,2525 00052 QPRET
033015,000946:
033016,000947: 27,2526 77776 ALARMIT EXIT
033017,000948:
|
|
Page 772
|
033019,000950: 27,2527 05567 TC ALARM
033020,000951: 27,2530 01407 OCT 01407
033021,000952: 27,2531 06037 TC INTPRET
033022,000953: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033023,000954: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
033024,000955:
033025,000956: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
033026,000957: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
033027,000958: 27,2540 E7,1742 2VEXHUST = VEX
033028,000959:
|
|
Page 773
|
033030,000961: # NAME S40.13 - TIMEBURN
033031,000962:
033032,000963: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033033,000964: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033034,000965: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033035,000966: # BURN
033036,000967: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033037,000968: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033038,000969: # SIGNAL
033039,000970:
033040,000971: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
033041,000972:
033042,000973: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033043,000974: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033044,000975: # F APS ENGINE THRUST IN M.NEWTONS AT +7
033045,000976: # AND ALSO FOR RCS ENGINE
033046,000977: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033047,000978: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
033048,000979: # REQUIRE MODIFICATION FOR SATURN BURNS.
033049,000980: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033050,000981: # =0 DPS
033051,000982: # =1 APS
033052,000983:
033053,000984: # OUTPUT IMPULSW ZERO FOR STEERING
033054,000985: # ONE FOR ATTITUDE HOLD
033055,000986: # NOTHROTL ZERO FOR THROTTLING
033056,000987: # ONE TO INHIBIT THROTTLING
033057,000988: # TGO TIME TO BURN IN CS
033058,000989:
033059,000990: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033060,000991: # FORCE
033061,000992:
033062,000993: 27,2540 E7,1516 EBANK= TGO
033063,000994: 27,2540 COUNT* $$/40.13
033064,000995: 27,2540 06037 S40.13 TC INTPRET
033065,000996: 27,2541 43001 SETPD CLEAR
033066,000997: 27,2542 00001 00D
033067,000998: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
033068,000999: 27,2544 51575 VLOAD ABVAL
033069,001000: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
033070,001001: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
033071,001002: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
033072,001003: 27,2550 34017 FRCS2
033073,001004: 27,2551 72471 DDV SL1 # SCALE
033074,001005: 27,2552 01245 WEIGHT/G
033075,001006: 27,2553 41421 BDSU PUSH
033076,001007: 27,2554 43014 BOFF SET
033077,001008: 27,2555 05342 APSFLAG
033078,001009: 27,2556 56626 S40.13D # FOR DPS ENGINE
033079,001010: 27,2557 02463 NOTHROTL
033080,001011: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
033081,001012: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
033082,001013: 27,2562 01245 WEIGHT/G
033083,001014: 27,2563 50021 BDSU BMN
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|
Page 774
|
033085,001016: 27,2564 00001 00D
033086,001017: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
033087,001018: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
033088,001019: 27,2567 03737 MDOT
033089,001020:
033090,001021: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033091,001022: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
033092,001023: # REQUIRE ADJUSTMENT
033093,001024:
033094,001025: 27,2570 16700 3.5SEC # 350 CS AT +14
033095,001026: 27,2571 65221 BDSU PDDL
033096,001027: 27,2572 01245 WEIGHT/G
033097,001028: 27,2573 03735 F
033098,001029: 27,2574 60405 DMP SR2 # SCALE
033099,001030: 27,2575 16702 5SECS
033100,001031: 27,2576 41471 DDV PUSH # 04D = TEMP2
033101,001032: 27,2577 51021 BDSU BPL
033102,001033: 27,2600 00003 02D
033103,001034: 27,2601 56626 S40.13D
033104,001035: 27,2602 55345 DLOAD BDDV
033105,001036: 27,2603 43205 DMP DAD
033106,001037: 27,2604 16702 5SECS
033107,001038: 27,2605 16676 1SEC2D # 100 CS AT +14
033108,001039: 27,2606 77650 GOTO
033109,001040: 27,2607 56616 S40.132
033110,001041: 27,2610 41345 S40.131 DLOAD DMP
033111,001042: 27,2611 01245 WEIGHT/G
033112,001043: 27,2612 41542 SR1 PUSH
033113,001044: 27,2613 56215 DAD DDV
033114,001045: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
033115,001046: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
033116,001047: 27,2616 77414 S40.132 SET EXIT
033117,001048: 27,2617 01066 IMPULSW
033118,001049: 27,2620 07257 S40.132* TC TPAGREE
033119,001050: 27,2621 30154 CA MPAC
033120,001051: 27,2622 56001 XCH L
033121,001052: 27,2623 34755 CA ZERO
033122,001053: 27,2624 53517 DXCH TGO
033123,001054: 27,2625 12650 TCF S40.134
033124,001055:
033125,001056: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033126,001057: 27,2627 00001 00D
033127,001058: 27,2630 01245 WEIGHT/G
033128,001059: 27,2631 43006 PUSH BON
033129,001060: 27,2632 05302 APSFLAG
033130,001061: 27,2633 56671 APSTGO
033131,001062: 27,2634 43071 DDV CLEAR
033132,001063: 27,2635 16007 S40.136
033133,001064: 27,2636 02663 NOTHROTL
033134,001065: 27,2637 41400 BOV PUSH
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|
Page 775
|
033136,001067: 27,2640 56653 S40.130V
033137,001068: 27,2641 51025 S40.137 DSU BPL
033138,001069: 27,2642 16704 6SEC # 600.0 CS AT +14
033139,001070: 27,2643 56661 S40.138
033140,001071: 27,2644 52015 DAD GOTO
033141,001072: 27,2645 16704 6SEC
033142,001073: 27,2646 56616 S40.132
033143,001074: 27,2647 77776 S40.133 EXIT
033144,001075: 27,2650 05353 S40.134 TC PHASCHNG
033145,001076: 27,2651 00003 OCT 00003
033146,001077: 27,2652 05155 TC ENDOFJOB
033147,001078: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033148,001079: 27,2654 77671 DDV
033149,001080: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033150,001081: 27,2656 03517 STORE TGO
033151,001082: 27,2657 77776 EXIT
033152,001083: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033153,001084:
033154,001085: 27,2661 51025 S40.138 DSU BPL
033155,001086: 27,2662 16706 89SECS
033156,001087: 27,2663 56666 STORETGO
033157,001088: 27,2664 77614 SET
033158,001089: 27,2665 02463 NOTHROTL
033159,001090: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033160,001091: 27,2667 77776 EXIT
033161,001092: 27,2670 12620 TCF S40.132*
033162,001093:
033163,001094: 27,2671 62471 APSTGO DDV SL2
033164,001095: 27,2672 34007 FAPS
033165,001096: 27,2673 77650 GOTO
033166,001097: 27,2674 56667 STORETGO +1
033167,001098: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033168,001099:
033169,001100: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033170,001101:
033171,001102: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033172,001103:
033173,001104: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033174,001105:
033175,001106: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
033176,001107:
033177,001108: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033178,001109: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033179,001110: # COMPUTATION CYCLES (4 SECONDS).
033180,001111: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033181,001112: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033182,001113: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033183,001114:
033184,001115: # CALLING SEQ VIA FINDVAC AS NEW JOB.
033185,001116:
033186,001117: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033187,001118: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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|
Page 776
|
033189,001120: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033190,001121: # METERS/CS AT +7.
033191,001122: # TIG - TIME OF IGNITION IN CS AT +28.
033192,001123: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033193,001124: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033194,001125: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033195,001126: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033196,001127: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033197,001128: # METERS/CS AT +7.
033198,001129:
033199,001130: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033200,001131: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033201,001132: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033202,001133: # BDT - B VECTOR IN METERS/CS AT +7.
033203,001134:
033204,001135: # SUBROUTINES USED - INITVEL
033205,001136:
033206,001137: 27,2707 E7,1700 EBANK= VGPREV
033207,001138: 27,2707 COUNT* $$/S40.9
033208,001139: 27,2707 06037 S40.9 TC INTPRET
033209,001140: 27,2710 77601 SETPD
033210,001141: 27,2711 00001 00D
033211,001142: 27,2712 71214 SET DLOAD
033212,001143: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033213,001144: 27,2714 06522 HI6ZEROS
033214,001145: 27,2715 77725 PDDL
033215,001146: 27,2716 16406 EPS1
033216,001147: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033217,001148: 27,2720 03745 NORMSW
033218,001149: 27,2721 56723 EPSSMALL
033219,001150: 27,2722 16410 EPS2
033220,001151: 27,2723 45006 EPSSMALL PUSH CALL
033221,001152: 27,2724 22002 HAVEGUES
033222,001153: 27,2725 77776 ENDS40.9 EXIT
033223,001154: 27,2726 05353 TC PHASCHNG
033224,001155: 27,2727 00002 OCT 2
033225,001156: 27,2730 15155 TCF ENDOFJOB
033226,001157:
033227,001158: 27,2731 51575 RASTEER1 VLOAD ABVAL
033228,001159: 27,2732 01221 RN
033229,001160: 27,2733 53744 LXC,2 SL*
033230,001161: 27,2734 02777 RTX2
033231,001162: 27,2735 57576 0,2
033232,001163: 27,2736 27715 STOVL RMAG
033233,001164: 27,2737 03444 RTARG
033234,001165: 27,2740 47051 VSU RTB
033235,001166: 27,2741 01221 RN
033236,001167: 27,2742 21724 NORMUNX1
033237,001168: 27,2743 17656 STODL IC
033238,001169: 27,2744 00045 36D # C(36D) = ABVAL(C)
033239,001170: 27,2745 53674 XAD,2 SL*
033240,001171: 27,2746 00046 X1
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|
Page 777
|
033242,001173: 27,2747 57576 0,2
033243,001174: 27,2750 00037 STORE 30D
033244,001175: 27,2751 41301 NORM DMP
033245,001176: 27,2752 00050 X2
033246,001177: 27,2753 03715 RMAG
033247,001178: 27,2754 57101 NORM XAD,2
033248,001179: 27,2755 00047 X1
033249,001180: 27,2756 00046 X1
033250,001181: 27,2757 77734 SXA,2
033251,001182: 27,2760 03766 MUSCALE
033252,001183: 27,2761 17725 STODL R1C # 2(+58 -X)
033253,001184: 27,2762 00037 30D
033254,001185: 27,2763 65342 SR1 PDDL
033255,001186: 27,2764 03715 RMAG
033256,001187: 27,2765 65342 SR1 PDDL
033257,001188: 27,2766 03723 RTMAG
033258,001189: 27,2767 43342 SR1 DAD
033259,001190: 27,2770 45415 DAD STADR
033260,001191: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033261,001192: 27,2772 41225 DSU DMP
033262,001193: 27,2773 00037 30D
033263,001194: 27,2774 03721 MU/A
033264,001195: 27,2775 77621 BDSU
033265,001196: 27,2776 03717 MUASTEER
033266,001197: 27,2777 45325 PDDL DSU
033267,001198: 27,3000 03733 SS
033268,001199: 27,3001 03715 RMAG
033269,001200: 27,3002 70501 NORM SR1
033270,001201: 27,3003 00047 X1
033271,001202: 27,3004 41271 DDV DMP
033272,001203: 27,3005 03725 R1C
033273,001204: 27,3006 53664 XSU,2 SL*
033274,001205: 27,3007 00046 X1
033275,001206: 27,3010 57575 1,2
033276,001207: 27,3011 77754 LXA,2
033277,001208: 27,3012 03766 MUSCALE
033278,001209: 27,3013 75366 SQRT SIGN
033279,001210: 27,3014 02673 GEOMSGN
033280,001211: 27,3015 00041 STORE 32D # + OR - A
033281,001212: 27,3016 41345 DLOAD DMP
033282,001213: 27,3017 03733 SS
033283,001214: 27,3020 03721 MU/A
033284,001215: 27,3021 77621 BDSU
033285,001216: 27,3022 03717 MUASTEER
033286,001217: 27,3023 45325 PDDL DSU
033287,001218: 27,3024 03733 SS
033288,001219: 27,3025 03723 RTMAG
033289,001220: 27,3026 70501 NORM SR1
033290,001221: 27,3027 00047 X1
033291,001222: 27,3030 41271 DDV DMP
033292,001223:
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Page 778
|
033294,001225: 27,3031 03725 R1C
033295,001226: 27,3032 53664 XSU,2 SL*
033296,001227: 27,3033 00046 X1
033297,001228: 27,3034 57575 1,2
033298,001229: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033299,001230: 27,3036 03733 SS
033300,001231: 27,3037 56225 DSU DDV
033301,001232: 27,3040 00037 30D
033302,001233: 27,3041 03733 SS
033303,001234: 27,3042 41566 SQRT PUSH
033304,001235: 27,3043 67542 SR1 ASIN
033305,001236: 27,3044 65205 DMP PDDL
033306,001237: 27,3045 17216 2PI+3
033307,001238: 27,3046 56325 PDDL DDV
033308,001239: 27,3047 00037 30D
033309,001240: 27,3050 03733 SS
033310,001241: 27,3051 77600 BOV
033311,001242: 27,3052 57053 +1
033312,001243: 27,3053 41366 SQRT DMP
033313,001244: 27,3054 44242 SR3 BDSU
033314,001245: 27,3055 65365 SIGN PDDL
033315,001246: 27,3056 02673 GEOMSGN
033316,001247: 27,3057 17216 2PI+3
033317,001248: 27,3060 45302 SR2 DSU
033318,001249: 27,3061 65205 DMP PDDL
033319,001250: 27,3062 03733 SS
033320,001251: 27,3063 03733 SS
033321,001252: 27,3064 75442 SR3 SQRT
033322,001253: 27,3065 77605 DMP
033323,001254: 27,3066 52525 PDDL SL3
033324,001255: 27,3067 03717 MUASTEER
033325,001256: 27,3070 55366 SQRT BDDV
033326,001257: 27,3071 43225 DSU DAD
033327,001258: 27,3072 03631 TPASS4
033328,001259: 27,3073 01235 PIPTIME
033329,001260: 27,3074 14037 STODL 30D
033330,001261: 27,3075 77765 SIGN
033331,001262: 27,3076 00037 30D # B WITH SIGN
033332,001263: 27,3077 00037 STORE 30D
033333,001264: 27,3100 77214 BON VLOAD
033334,001265: 27,3101 03705 NORMSW
033335,001266: 27,3102 57123 180MESS
033336,001267: 27,3103 03656 IC
033337,001268: 27,3104 53451 VSU UNIT
033338,001269: 27,3105 03537 UNIT/R/
033339,001270: 27,3106 63361 VXSC PDVL
033340,001271: 27,3107 00037 30D
033341,001272: 27,3110 03656 IC
033342,001273: 27,3111 53455 VAD UNIT
033343,001274: 27,3112 03537 UNIT/R/
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Page 779
|
033345,001276: 27,3113 53361 GETVRVG1 VXSC VAD
033346,001277: 27,3114 00041 32D
033347,001278: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033348,001279: 27,3116 02777 RTX2
033349,001280: 27,3117 57177 0 -1,2
033350,001281: 27,3120 02337 STORE VIPRIME
033351,001282: 27,3121 77650 GOTO
033352,001283: 27,3122 57166 ASTREND -2
033353,001284: 27,3123 50375 180MESS VLOAD DOT
033354,001285: 27,3124 03656 IC
033355,001286: 27,3125 03537 UNIT/R/
033356,001287: 27,3126 77240 BMN VLOAD
033357,001288: 27,3127 57146 NEGPROD
033358,001289: 27,3130 03656 IC
033359,001290: 27,3131 63362 VSR1 PDVL
033360,001291: 27,3132 03537 UNIT/R/
033361,001292: 27,3133 53362 VSR1 VAD
033362,001293: 27,3134 77656 UNIT
033363,001294: 27,3135 57406 PUSH VCOMP # FOR A
033364,001295: 27,3136 75235 VXV SIGN
033365,001296: 27,3137 02674 UN
033366,001297: 27,3140 02673 GEOMSGN
033367,001298: 27,3141 74256 UNIT VXSC
033368,001299: 27,3142 00037 30D
033369,001300: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033370,001301: 27,3144 77650 GOTO
033371,001302: 27,3145 57113 GETVRVG1
033372,001303: 27,3146 74575 NEGPROD VLOAD VSR1
033373,001304: 27,3147 03537 UNIT/R/
033374,001305: 27,3150 74515 PDVL VSR1
033375,001306: 27,3151 03656 IC
033376,001307: 27,3152 53451 VSU UNIT
033377,001308: 27,3153 77606 PUSH
033378,001309: 27,3154 75235 VXV SIGN
033379,001310: 27,3155 02674 UN # FOR B
033380,001311: 27,3156 02673 GEOMSGN
033381,001312: 27,3157 74256 UNIT VXSC
033382,001313: 27,3160 00041 32D
033383,001314: 27,3161 77715 PDVL
033384,001315: 27,3162 53361 VXSC VAD
033385,001316: 27,3163 00037 30D
033386,001317: 27,3164 77650 GOTO
033387,001318: 27,3165 57115 GETVRVG2
033388,001319: 27,3166 77651 VSU
033389,001320: 27,3167 03553 VN1
033390,001321: 27,3170 02366 ASTREND STORE DELVEET3
033391,001322: 27,3171 53135 FIRSTTME SLOAD BZE
033392,001323: 27,3172 03000 RTX2
033393,001324: 27,3173 57177 GETGOBL
033394,001325: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780
|
033396,001327: 27,3175 02366 DELVEET3
033397,001328: 27,3176 57212 NOGOBL
033398,001329: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033399,001330: 27,3200 01221 RN
033400,001331: 27,3201 45345 DLOAD DSU
033401,001332: 27,3202 01235 PIPTIME # 2
033402,001333: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033403,001334: 27,3204 56205 DMP DDV # OBL
033404,001335: 27,3205 16023 EARTHMU
033405,001336: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033406,001337: 27,3207 53361 VXSC VAD
033407,001338: 27,3210 03521 UNITGOBL
033408,001339: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033409,001340: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033410,001341: 27,3213 77650 GOTO
033411,001342: 27,3214 56455 VGAIN*
033412,001343:
033413,001344: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033414,001345:
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Page 781
|
033416,001347: # TRIMGIMB (FORMERLY S40.6)
033417,001348: # MOD 0 24 FEB 67 PETER ADLER
033418,001349:
033419,001350: # FUNCTION:
033420,001351: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033421,001352: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033422,001353: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033423,001354:
033424,001355: # CALLING SEQUENCE:
033425,001356: # VIA WAITLIST FROM R03
033426,001357:
033427,001358: # INPUT:
033428,001359: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033429,001360: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033430,001361:
033431,001362: # SUBROUTINES USED:
033432,001363: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033433,001364:
033434,001365: 27,3217 COUNT* $$/S40.6
033435,001366: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033436,001367:
033437,001368: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033438,001369: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033439,001370:
033440,001371: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033441,001372: 27,3222 00006 EXTEND
033442,001373: 27,3223 03012 WAND CHAN12
033443,001374: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033444,001375: 27,3225 00006 EXTEND
033445,001376: 27,3226 05012 WOR CHAN12
033446,001377: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033447,001378: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033448,001379: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033449,001380: 27,3232 00006 EXTEND
033450,001381: 27,3233 03012 WAND CHAN12
033451,001382: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033452,001383: 27,3235 00006 EXTEND
033453,001384: 27,3236 05012 WOR CHAN12
033454,001385: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033455,001386: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033456,001387: 27,3241 03260 ADRES PITCHOFF
033457,001388:
033458,001389: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033459,001390: 27,3243 05224 TC VARDELAY # UNTIL THEN
033460,001391: 27,3244 44740 CS BIT12
033461,001392: 27,3245 00006 EXTEND
033462,001393: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033463,001394: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033464,001395: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033465,001396: 27,3251 00006 EXTEND
033466,001397: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033467,001398: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033468,001399: 27,3254 05072 TC NOVAC
033469,001400: 27,3255 E7,1471 EBANK= WHOCARES
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|
Page 782
|
033471,001402: 27,3255 02323 02067 2CADR TRIMDONE
033472,001403:
033473,001404: 27,3257 05261 TC TASKOVER
033474,001405: 27,3260 44742 PITCHOFF CS BIT10
033475,001406: 27,3261 00006 EXTEND
033476,001407: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033477,001408: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033478,001409: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033479,001410: 27,3265 00137 ADRES GMBDRVSW
033480,001411: 27,3266 05261 TC TASKOVER
033481,001412:
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Page 783
|
033483,001414: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033484,001415: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033485,001416:
033486,001417: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033487,001418:
033488,001419: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033489,001420: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033490,001421: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033491,001422: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033492,001423: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033493,001424: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033494,001425: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033495,001426: # CALLER WITH C(MPAC) = VELOCITY(LM).
033496,001427:
033497,001428: # CALLING SEQUENCE:
033498,001429: # L VLOAD CALL
033499,001430: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033500,001431: # L +2 S41.1
033501,001432: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033502,001433:
033503,001434: # SUBROUTINES CALLED:
033504,001435: # 1. CDUTRIG,
033505,001436: # WHICH CALLS CDULOGIC.
033506,001437: # 2. *SMNB*
033507,001438:
033508,001439: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033509,001440:
033510,001441: # ALARM/ABORT MODES: NONE.
033511,001442:
033512,001443: # RESTART PROTECTION: NONE.
033513,001444:
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Page 784
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033515,001446: # INPUT:
033516,001447: # 1. REFSMMAT.
033517,001448: # 2. CDUX, CDUY, CDUZ.
033518,001449: # 3. VELOCITY (REF) IN MPAC.
033519,001450:
033520,001451: # OUTPUT:
033521,001452: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033522,001453: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033523,001454: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033524,001455: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033525,001456:
033526,001457: # DEBRIS: NONE.
033527,001458:
033528,001459: # CHECKOUT STATUS: CODED.
033529,001460:
033530,001461: 27,3267 COUNT* $$/S41.1
033531,001462: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033532,001463: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033533,001464: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033534,001465: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033535,001466: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc