Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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031830,000002: ## Copyright: Public domain.
031831,000003: ## Filename: P40-P47.agc
031832,000004: ## Purpose: A section of Luminary revision 98.
031833,000005: ## It is part of the reconstructed source code for the a
031834,000006: ## development version of the flight software for the Lunar
031835,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
031836,000008: ## The code has been recreated from a copy of Luminary 99
031837,000009: ## revision 001, using asterisks indicating changed lines in
031838,000010: ## the listing and Luminary Memo #85, which lists changes between
031839,000011: ## Luminary 98 and 99.
031840,000012: ## Reference: pp. 752-784
031841,000013: ## Assembler: yaYUL
031842,000014: ## Contact: Ron Burkey <info@sandroid.org>.
031843,000015: ## Website: www.ibiblio.org/apollo/index.html
031844,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
031845,000017: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031846,000018:
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Page 752
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031848,000020: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031849,000021: # MOD 03 BY PETER ADLER MARCH 3, 1967
031850,000022: # CALLED VIA JOB FROM V37E
031851,000023:
031852,000024: # FUNCTIONAL DESCRIPTION
031853,000025:
031854,000026: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031855,000027: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009.
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031857,000029: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031858,000030: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031859,000031: # PGNCS CONTROLLED DPS MANEUVER.
031860,000032: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031861,000033: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031862,000034:
031863,000035: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031864,000036: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031865,000037:
031866,000038: # SUBROUTINES USED
031867,000039:
031868,000040: # R02 IMU STATUS CHECK
031869,000041: # S40.1 COMPUTATION OF THRUST DIRECTION
031870,000042: # S40.13 LENGTH OF BURN
031871,000043: # S40.2,3 PREFERRED IMU ORIENATTION
031872,000044: # S40.8 X PRODUCT STEERING
031873,000045: # S40.9 LAMBERT VTOGAIN
031874,000046: # R60LEM ATTITUDE MANEUVER
031875,000047: # LEMPREC EXTRAPOLATE STATE VECTOR
031876,000048: # PREREAD AVERAGE G, SERVICER
031877,000049: # ALLCOAST DAP COASTING INITIALIZATION
031878,000050: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031879,000051: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031880,000052: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031881,000053: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031882,000054:
031883,000055: # RESTARTS VIA GROUP 4
031884,000056:
031885,000057: # DISPLAYS
031886,000058:
031887,000059: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031888,000060: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031889,000061: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031890,000062: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031891,000063: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031892,000064: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031893,000065: # V05N09 POSSIBLE ALARMS
031894,000066: # V50N07 PLEASE SELECT P00
031895,000067:
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Page 753
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031897,000069: # VIA R30
031898,000070:
031899,000071: # V06N44 HAPO, PERI, TFF
031900,000072: # V06N35 TIME TO PERIGEE, HMS
031901,000073:
031902,000074: # ALARM OR ABORT EXIT MODES
031903,000075:
031904,000076: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031905,000077: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031906,000078:
031907,000079: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031908,000080: # TIG BY 45 SECS.
031909,000081:
031910,000082: # ERASABLE INITIALIZATION
031911,000083:
031912,000084: # DEBRIS
031913,000085:
031914,000086: # OUTPUT
031915,000087:
031916,000088: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031917,000089: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031918,000090: # = 0 FOR AIMPT (LAMBERT) COMP
031919,000091:
031920,000092: 27,2246 COUNT* $$/P40
031921,000093: 27,2246 E7,1455 EBANK= WHICH
031922,000094:
031923,000095: 36,3147 BANK 36
031924,000096: 36,2000 SETLOC P40S
031925,000097: 36,2000 BANK
031926,000098:
031927,000099: 36,3147 05353 P40LM TC PHASCHNG
031928,000100: 36,3150 04024 OCT 04024
031929,000101:
031930,000102: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031931,000103: 36,3152 55455 TS WHICH
031932,000104:
031933,000105: 36,3153 30106 CA FLGWRD10
031934,000106: 36,3154 74737 MASK APSFLBIT
031935,000107: 36,3155 10000 CCS A
031936,000108: 36,3156 13121 TCF P40ALM
031937,000109: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031938,000110: 36,3160 11254 CADR R02BOTH
031939,000111:
031940,000112: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
031941,000113: 36,3162 74737 MASK CSMDOCKD
031942,000114: 36,3163 10000 CCS A
031943,000115: 36,3164 32020 CAF THRESH1
031944,000116: 36,3165 62021 AD THRESH3
031945,000117: 36,3166 55251 TS DVTHRUSH
031946,000118: 36,3167 34751 CAF FOUR
031947,000119: 36,3170 55515 TS DVCNTR
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Page 754
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031949,000121: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031950,000122: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031951,000123: 36,3173 34001 FDPS
031952,000124: 36,3174 02663 NOTHROTL
031953,000125: 36,3175 03735 STORE F
031954,000126: 36,3176 77735 SLOAD
031955,000127: 36,3177 26002 DPSVEX
031956,000128: 36,3200 70476 P40IN DCOMP SR1
031957,000129: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031958,000130: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
031959,000131: 36,3203 77624 CALL
031960,000132: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031961,000133: 36,3205 77776 EXIT
031962,000134:
031963,000135: 36,3206 00004 INHINT
031964,000136: 36,3207 04674 TC IBNKCALL
031965,000137: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031966,000138:
031967,000139: 36,3211 03213 TC P40SXT4
031968,000140:
031969,000141: # ***********************
031970,000142:
031971,000143: 36,3212 12126 TCF BURNBABY
031972,000144:
031973,000145: # ***********************
031974,000146:
031975,000147: 36,3213 00006 P40SXT4 EXTEND
031976,000148: 36,3214 23142 QXCH P40/RET
031977,000149: 36,3215 00003 P41MANU RELINT
031978,000150:
031979,000151: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031980,000152: 36,3217 00124 ADRES 3AXISFLG
031981,000153:
031982,000154: 36,3220 04616 TC BANKCALL
031983,000155: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031984,000156: 36,3222 01142 TC P40/RET
031985,000157:
031986,000158: 36,3223 E7,1462 EBANK= TRKMKCNT
031987,000159: 36,3223 30005 POSTBURN CA Z
031988,000160: 36,3224 55163 TS DISPDEX
031989,000161: 36,3225 00006 EXTEND
031990,000162: 36,3226 32056 DCA ACADN85
031991,000163: 36,3227 53253 DXCH AVEGEXIT
031992,000164: 36,3230 33760 CAF V16N40
031993,000165: 36,3231 04616 TC BANKCALL
031994,000166: 36,3232 20635 CADR GOFLASHR
031995,000167: 36,3233 03256 TC TERM40
031996,000168: 36,3234 13241 TCF TIGNOW
031997,000169: 36,3235 03223 TC POSTBURN
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Page 755
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031999,000171: 36,3236 05353 P40PHS1 TC PHASCHNG
032000,000172: 36,3237 00014 OCT 00014
032001,000173: 36,3240 15155 TCF ENDOFJOB
032002,000174:
032003,000175: 36,3241 00004 TIGNOW INHINT
032004,000176: 36,3242 04674 TC IBNKCALL
032005,000177: 36,3243 40153 CADR ZATTEROR
032006,000178: 36,3244 04674 TC IBNKCALL
032007,000179: 36,3245 40140 CADR SETMINDB
032008,000180: 36,3246 00003 RELINT
032009,000181: 36,3247 33761 CAF V16N85B
032010,000182: 36,3250 04616 TC BANKCALL
032011,000183: 36,3251 20462 CADR REFLASHR
032012,000184: 36,3252 03256 TC TERM40
032013,000185: 36,3253 13256 TCF TERM40
032014,000186: 36,3254 03247 TC -5
032015,000187:
032016,000188: 36,3255 13236 TCF P40PHS1
032017,000189:
032018,000190: 36,3256 00006 TERM40 EXTEND
032019,000191: 36,3257 32106 DCA SERVCADR
032020,000192: 36,3260 53253 DXCH AVEGEXIT
032021,000193: 36,3261 34755 CAF ZERO
032022,000194: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032023,000195: 36,3263 30005 CA Z
032024,000196: 36,3264 55163 TS DISPDEX
032025,000197: 36,3265 00004 INHINT
032026,000198: 36,3266 04674 TC IBNKCALL
032027,000199: 36,3267 40123 CADR RESTORDB
032028,000200: 36,3270 00003 RELINT
032029,000201: 36,3271 06001 TC GOTOPOOH
032030,000202:
032031,000203: 36,3272 E7,1455 EBANK= WHICH
032032,000204: 36,3272 COUNT* $$/P41
032033,000205: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032034,000206: 36,3273 55455 TS WHICH
032035,000207:
032036,000208: 36,3274 04616 TC BANKCALL
032037,000209: 36,3275 11254 CADR R02BOTH
032038,000210:
032039,000211: 36,3276 06037 TC INTPRET # BOTH LM
032040,000212: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032041,000213: 36,3300 00700 NJETSFLG
032042,000214: 36,3301 75305 P41FJET1
032043,000215: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032044,000216:
032045,000217: 36,3303 37735 P41FJET STCALL F
032046,000218: 36,3304 75310 P41IN
032047,000219: 36,3305 77745 P41FJET1 DLOAD
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Page 756
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032049,000221: 36,3306 34017 FRCS2
032050,000222: 36,3307 03735 STORE F
032051,000223:
032052,000224: 36,3310 77624 P41IN CALL
032053,000225: 36,3311 56246 S40.1 # BOTH
032054,000226: 36,3312 77624 P41NORM CALL
032055,000227: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032056,000228: 36,3314 77776 EXIT # SET PFRATFLG.
032057,000229:
032058,000230: 36,3315 00004 INHINT
032059,000231: 36,3316 04674 TC IBNKCALL
032060,000232: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032061,000233: 36,3320 04674 TC IBNKCALL
032062,000234: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032063,000235: 36,3322 03213 TC P40SXT4
032064,000236:
032065,000237: 36,3323 06037 TC INTPRET
032066,000238: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032067,000239: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032068,000240: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032069,000241: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032070,000242: 36,3330 77776 EXIT
032071,000243:
032072,000244: 36,3331 33761 CAF V16N85B
032073,000245: 36,3332 04616 TC BANKCALL
032074,000246: 36,3333 20446 CADR GODSPRET
032075,000247:
032076,000248: 36,3334 35017 CAF PRIO5
032077,000249: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032078,000250: 36,3336 05105 TC FINDVAC
032079,000251: 36,3337 E7,1700 EBANK= VGPREV
032080,000252: 36,3337 03361 74067 2CADR DYNMDISP
032081,000253:
032082,000254: 36,3341 05327 TC 2PHSCHNG
032083,000255: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032084,000256: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032085,000257:
032086,000258: # ***********************
032087,000259:
032088,000260: 36,3344 12135 TCF B*RNB*B*
032089,000261:
032090,000262: # ***********************
032091,000263:
032092,000264: 36,3345 34777 BLNKWAIT CAF 1SEC
032093,000265: 36,3346 04616 TC BANKCALL
032094,000266: 36,3347 01735 CADR DELAYJOB
032095,000267:
032096,000268: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032097,000269: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032098,000270:
032099,000271: # ***********************
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Page 757
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032101,000273:
032102,000274: 36,3352 00006 EXTEND
032103,000275: 36,3353 13345 BZF BLNKWAIT
032104,000276:
032105,000277: 36,3354 33761 CAF V16N85B
032106,000278: 36,3355 04616 TC BANKCALL
032107,000279: 36,3356 20446 CADR GODSPRET
032108,000280:
032109,000281: 36,3357 35017 CAF PRIO5
032110,000282: 36,3360 05146 TC PRIOCHNG
032111,000283:
032112,000284: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032113,000285: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032114,000286: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032115,000287: 36,3364 06037 TC INTPRET
032116,000288: 36,3365 45175 VLOAD CALL
032117,000289: 36,3366 03701 VGPREV
032118,000290: 36,3367 57267 S41.1
032119,000291: 36,3370 03502 STORE VGBODY
032120,000292: 36,3371 77776 EXIT
032121,000293: 36,3372 34777 CAF 1SEC
032122,000294: 36,3373 04616 TC BANKCALL
032123,000295: 36,3374 01735 CADR DELAYJOB
032124,000296: 36,3375 13361 TCF DYNMDISP
032125,000297:
032126,000298: 36,3376 06037 CALCN85 TC INTPRET
032127,000299: 36,3377 77624 CALL
032128,000300: 36,3400 75611 UPDATEVG
032129,000301: 36,3401 45175 VLOAD CALL
032130,000302: 36,3402 03701 VGPREV
032131,000303: 36,3403 57267 S41.1
032132,000304: 36,3404 03502 STORE VGBODY
032133,000305: 36,3405 77776 EXIT
032134,000306: 36,3406 04635 TC POSTJUMP
032135,000307: 36,3407 65770 CADR SERVEXIT
032136,000308:
032137,000309: 36,3410 COUNT* $$/P42
032138,000310: 36,3410 E7,1455 EBANK= WHICH
032139,000311:
032140,000312: 36,3410 05353 P42LM TC PHASCHNG
032141,000313: 36,3411 04024 OCT 04024
032142,000314:
032143,000315: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032144,000316: 36,3413 55455 TS WHICH
032145,000317:
032146,000318: 36,3414 40106 CS FLGWRD10
032147,000319: 36,3415 74737 MASK APSFLBIT
032148,000320: 36,3416 10000 CCS A
032149,000321: 36,3417 03121 TC P40ALM
032150,000322: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758
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032152,000324: 36,3421 11254 CADR R02BOTH
032153,000325: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032154,000326: 36,3423 55251 TS DVTHRUSH
032155,000327: 36,3424 34751 CAF FOUR
032156,000328: 36,3425 55515 TS DVCNTR
032157,000329:
032158,000330: 36,3426 06037 TC INTPRET
032159,000331: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032160,000332: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032161,000333: 36,3431 34007 FAPS
032162,000334: 36,3432 03735 STORE F
032163,000335: 36,3433 52135 SLOAD GOTO
032164,000336: 36,3434 26001 APSVEX
032165,000337: 36,3435 75200 P40IN
032166,000338:
032167,000339: 36,3436 E7,1455 EBANK= WHICH
032168,000340:
032169,000341: 36,3436 COUNT* $$/P47
032170,000342: 36,3436 04616 P47LM TC BANKCALL
032171,000343: 36,3437 11254 CADR R02BOTH
032172,000344: 36,3440 06037 TC INTPRET
032173,000345: 36,3441 77624 CALRB
032174,000346: 36,3442 27553 MIDTOAV2
032175,000347:
032176,000348: 36,3443 30155 CA MPAC +1
032177,000349: 36,3444 05173 TC TWIDDLE
032178,000350: 36,3445 03447 ADRES STARTP47
032179,000351:
032180,000352: 36,3446 15155 TCF ENDOFJOB
032181,000353:
032182,000354: 36,3447 05353 STARTP47 TC PHASCHNG
032183,000355: 36,3450 05014 OCT 05014
032184,000356: 36,3451 77777 OCT 77777
032185,000357:
032186,000358: 36,3452 00006 EXTEND
032187,000359: 36,3453 33764 DCA ACADN83
032188,000360: 36,3454 53253 DXCH AVEGEXIT
032189,000361: 36,3455 34736 CAF PRIO20
032190,000362: 36,3456 05105 TC FINDVAC
032191,000363: 36,3457 E7,1622 EBANK= DELVIMU
032192,000364: 36,3457 03513 74067 2CADR P47BODY
032193,000365:
032194,000366: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032195,000367: # SEE TIG-30 IN BURNBABY.
032196,000368:
032197,000369: 36,3462 06037 CALCN83 TC INTPRET
032198,000370: 36,3463 53375 VLOAD VAD
032199,000371: 36,3464 03502 DELVCTL
032200,000372: 36,3465 03527 DELVREF
032201,000373: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759
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032203,000375: 36,3467 77624 CALL
032204,000376: 36,3470 57267 S41.1
032205,000377: 36,3471 03623 STORE DELVIMU
032206,000378: 36,3472 77776 EXIT
032207,000379: 36,3473 05353 TC PHASCHNG
032208,000380: 36,3474 10035 OCT 10035 # REREADAC AND HERE
032209,000381:
032210,000382: 36,3475 06037 TC INTPRET
032211,000383: 36,3476 77775 VLOAD
032212,000384: 36,3477 03656 DELVSIN
032213,000385: 36,3500 03502 STORE DELVCTL
032214,000386: 36,3501 77776 EXIT
032215,000387:
032216,000388: 36,3502 04635 TC POSTJUMP
032217,000389: 36,3503 65770 CADR SERVEXIT
032218,000390:
032219,000391: 36,3504 33762 P47BOD CAF V1683
032220,000392: 36,3505 04616 TC BANKCALL
032221,000393: 36,3506 20635 CADR GOFLASHR
032222,000394: 36,3507 06001 TC GOTOPOOH
032223,000395: 36,3510 06001 TC GOTOPOOH
032224,000396:
032225,000397: 36,3511 13513 TCF P47BODY
032226,000398:
032227,000399: 36,3512 13236 TCF P40PHS1
032228,000400:
032229,000401: 36,3513 06037 P47BODY TC INTPRET
032230,000402: 36,3514 77775 VLOAD
032231,000403: 36,3515 06522 HI6ZEROS
032232,000404: 36,3516 03623 STORE DELVIMU
032233,000405: 36,3517 03502 STORE DELVCTL
032234,000406: 36,3520 77776 EXIT
032235,000407: 36,3521 03504 TC P47BOD
032236,000408:
032237,000409: 36,3522 COUNT* $$/P40
032238,000410: 36,3522 31517 IMPLBURN CA TGO +1
032239,000411: 36,3523 03735 TC GETDT
032240,000412: 36,3524 05173 TC TWIDDLE
032241,000413: 36,3525 03542 ADRES ENGOFTSK
032242,000414: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032243,000415: 36,3527 00153 ADRES IGNFLAG
032244,000416: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032245,000417: 36,3531 00154 ADRES ASTNFLAG
032246,000418: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
032247,000419: 36,3533 00044 ADRES IMPULSW
032248,000420: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032249,000421: 36,3535 40114 OCT 40114
032250,000422:
032251,000423: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
032252,000424: 36,3537 00062 DEC 50 B-14
|
|
Page 760
|
032254,000426: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
032255,000427:
032256,000428: 36,3541 05261 TC TASKOVER
032257,000429:
032258,000430: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032259,000431: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032260,000432: 36,3544 05261 TC TASKOVER
032261,000433:
032262,000434: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032263,000435: 36,3546 05105 TC FINDVAC
032264,000436: 36,3547 E7,1462 EBANK= TRKMKCNT
032265,000437: 36,3547 03223 74067 2CADR POSTBURN
032266,000438:
032267,000439: 36,3551 34753 ENGINOF2 CAF BIT1
032268,000440: 36,3552 05203 TC WAITLIST
032269,000441: 36,3553 E6,1422 EBANK= OMEGAQ
032270,000442: 36,3553 03606 74066 2CADR COASTSET
032271,000443:
032272,000444: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032273,000445: 36,3556 74745 MASK IDLEFBIT
032274,000446: 36,3557 26103 ADS FLAGWRD7
032275,000447:
032276,000448: 36,3560 02653 TC NOULLAGE
032277,000449:
032278,000450: 36,3561 00006 ENGINOF4 EXTEND
032279,000451: 36,3562 30025 DCA TIME2
032280,000452: 36,3563 53345 DXCH TEVENT
032281,000453:
032282,000454: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032283,000455: 36,3565 70101 MASK FLAGWRD5
032284,000456: 36,3566 54101 TS FLAGWRD5
032285,000457: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032286,000458: 36,3570 00006 EXTEND # SUBROUTINE.
032287,000459: 36,3571 02011 RAND DSALMOUT
032288,000460: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032289,000461: 36,3573 00006 EXTEND
032290,000462: 36,3574 01011 WRITE DSALMOUT
032291,000463:
032292,000464: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032293,000465: 36,3576 74736 MASK USEQRJTS
032294,000466: 36,3577 26111 ADS DAPBOOLS
032295,000467:
032296,000468: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032297,000469: 36,3601 54055 TS THRUST # IS TURNED OFF.
032298,000470: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032299,000471: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
032300,000472: 36,3604 05014 WOR CHAN14
032301,000473:
032302,000474: 36,3605 04707 TC ISWRETRN
|
|
Page 761
|
032304,000476: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032305,000477: 36,3607 40204 CADR ALLCOAST
032306,000478: 36,3610 05261 TC TASKOVER
032307,000479:
032308,000480: 36,3611 E6,1422 EBANK= OMEGAQ
032309,000481: 36,3611 45020 UPDATEVG STQ CALL
032310,000482: 36,3612 03665 QTEMP1
032311,000483: 36,3613 56447 S40.8 # X-PRODUCT STEERING
032312,000484: 36,3614 43014 BON BON
032313,000485: 36,3615 01307 XDELVFLG
032314,000486: 36,3616 03665 QTEMP1
032315,000487: 36,3617 03705 NORMSW
032316,000488: 36,3620 75633 180SETUP
032317,000489: 36,3621 45345 DLOAD DSU
032318,000490: 36,3622 01235 PIPTIME
032319,000491: 36,3623 03763 TIGSAVE
032320,000492: 36,3624 50025 DSU BMN
032321,000493: 36,3625 03432 TNEWA
032322,000494: 36,3626 75656 GETRANS
032323,000495: 36,3627 43345 DLOAD DAD
032324,000496: 36,3630 03763 TIGSAVE
032325,000497: 36,3631 03432 TNEWA
032326,000498: 36,3632 03765 STORE TIGSAVEP
032327,000499: 36,3633 77776 180SETUP EXIT
032328,000500: 36,3634 10755 CCS PHASE2
032329,000501: 36,3635 13663 TCF NO.9
032330,000502: 36,3636 34737 CAF PRIO10
032331,000503: 36,3637 00004 INHINT
032332,000504: 36,3640 05105 TC FINDVAC
032333,000505: 36,3641 E7,1706 EBANK= VG
032334,000506: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032335,000507:
032336,000508: 36,3643 05327 TC 2PHSCHNG
032337,000509: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
032338,000510: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032339,000511:
032340,000512: 36,3646 06037 ENDSTEER TC INTPRET
032341,000513: 36,3647 77745 DLOAD
032342,000514: 36,3650 03765 TIGSAVEP
032343,000515: 36,3651 27763 STOVL TIGSAVE
032344,000516: 36,3652 01221 RN
032345,000517: 36,3653 26323 STOVL RINIT
032346,000518: 36,3654 01227 VN
032347,000519: 36,3655 02331 STORE VINIT
032348,000520: 36,3656 45345 GETRANS DLOAD DSU
032349,000521: 36,3657 03631 TPASS4
032350,000522: 36,3660 01235 PIPTIME
032351,000523: 36,3661 37452 STCALL DELLT4
032352,000524: 36,3662 03665 QTEMP1
032353,000525:
|
|
Page 762
|
032355,000527: 36,3663 06037 NO.9 TC INTPRET
032356,000528: 36,3664 77650 GOTO
032357,000529: 36,3665 03665 QTEMP1
032358,000530: 36,3666 06037 STEERING TC INTPRET
032359,000531:
032360,000532: 36,3667 77624 CALL
032361,000533: 36,3670 75611 UPDATEVG
032362,000534: 36,3671 77776 EXIT
032363,000535:
032364,000536: 36,3672 E7,1515 EBANK= DVCNTR
032365,000537: 36,3672 00004 NSTEER INHINT
032366,000538: 36,3673 35016 CA EBANK7
032367,000539: 36,3674 54003 TS EBANK
032368,000540: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032369,000541: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032370,000542: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
032371,000543:
032372,000544: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
032373,000545: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032374,000546: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032375,000547: 36,3703 10000 CCS A
032376,000548: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032377,000549: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032378,000550: 36,3706 65770 CADR SERVEXIT
032379,000551:
032380,000552: 36,3707 04674 TC IBNKCALL
032381,000553: 36,3710 40165 CADR STOPRATE
032382,000554:
032383,000555: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
032384,000556: 36,3712 00044 ADRES IMPULSW
032385,000557:
032386,000558: 36,3713 05504 TC UPFLAG
032387,000559: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
032388,000560:
032389,000561: 36,3715 00004 INHINT
032390,000562: 36,3716 00006 EXTEND
032391,000563: 36,3717 31442 DCA TIG
032392,000564: 36,3720 52155 DXCH MPAC
032393,000565: 36,3721 00006 EXTEND
032394,000566: 36,3722 40025 DCS TIME2
032395,000567: 36,3723 20155 DAS MPAC
032396,000568: 36,3724 07257 TC TPAGREE
032397,000569: 36,3725 30155 CAE MPAC +1
032398,000570: 36,3726 03735 TC GETDT
032399,000571: 36,3727 05173 TC TWIDDLE
032400,000572: 36,3730 03542 ADRES ENGOFTSK
032401,000573: 36,3731 05327 TC 2PHSCHNG
032402,000574: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032403,000575: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763
|
032405,000577: 36,3734 15155 TCF ENDOFJOB
032406,000578:
032407,000579: 36,3735 10000 GETDT CCS A
032408,000580: 36,3736 13741 TCF +3
032409,000581: 36,3737 13741 TCF +2
032410,000582: 36,3740 34755 CAF ZERO
032411,000583: 36,3741 64753 AD ONE
032412,000584: 36,3742 56001 XCH L
032413,000585: 36,3743 34755 CAF ZERO
032414,000586: 36,3744 53517 DXCH TGO
032415,000587: 36,3745 31517 CA TGO +1
032416,000588: 36,3746 00002 TC Q
032417,000589:
032418,000590: # ************************************************************************
032419,000591:
032420,000592: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032421,000593: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032422,000594: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
032423,000595:
032424,000596: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032425,000597: 36,3754 10624 SEC45 DEC 4500 B-14
032426,000598: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032427,000599: 36,3756 00764 5SEC DEC 500 B-14
032428,000600: 36,3757 05050 26SECS DEC 2600 B-14
032429,000601: 36,3760 04050 V16N40 VN 1640
032430,000602: 36,3761 04125 V16N85B VN 1685
032431,000603: 36,3762 04123 V1683 VN 1683
032432,000604: 36,3763 4777 SEC01 = 1SEC
032433,000605: 36,3763 36,2055 ACADN85 = P41TABLE +2
032434,000606:
032435,000607: 36,3763 E7,1622 EBANK= DELVIMU
032436,000608: 36,3763 03462 74067 ACADN83 2CADR CALCN83
032437,000609:
032438,000610: # *************************************************
|
|
Page 764
|
032440,000612: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032441,000613: # MOD N02 LOG SECTION P40-P47
032442,000614: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032443,000615:
032444,000616: # FUNCTIONAL DESCRIPTION
032445,000617: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032446,000618: # VECTOR(VGTIG).
032447,000619:
032448,000620: # CALLING SEQUENCE
032449,000621: # L CALL
032450,000622: # L+1 S40.1
032451,000623:
032452,000624: # NORMAL EXIT MODE
032453,000625: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032454,000626: # ERROR RETURN IF NOSOFLAG =1
032455,000627:
032456,000628: # SUBROUTINES CALLED
032457,000629: # LEMPREC
032458,000630: # INITVEL
032459,000631: # CALCGRAV
032460,000632: # MIDGIM
032461,000633:
032462,000634: # ALARM OR ABORT EXIT MODES
032463,000635: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032464,000636:
032465,000637: # ERASABLE INITIALIZATION REQUIRED
032466,000638: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032467,000639: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032468,000640: # F THRUST FOR ENGINE USED
032469,000641: # IF DELTA-V MANEUVER
032470,000642: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032471,000643: # INERTIAL COORDS. OF ACTIVE VEHICLE
032472,000644: # AT TIME OF IGNITION VECTOR B7 M/CS
032473,000645: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032474,000646: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032475,000647: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032476,000648: # IF AIMPT STEER
032477,000649: # TIG TIME OF IGNITION DP B28 CS
032478,000650: # RTARG POSITION TARGET TIME VECTOR B29 M
032479,000651: # CSTEER C FOR STEER LAW DP B2
032480,000652: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032481,000653:
032482,000654: # OUTPUT
032483,000655: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032484,000656: # VGTIG INITIAL VALUE OF VELOCITY
032485,000657: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032486,000658: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032487,000659: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032488,000660: # -GDT FOR S40.13 VECT B7 M/CS
032489,000661: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032490,000662: # POSITION AT TIME OF IGNITION
032491,000663:
032492,000664: # DEBRIS QTEMP1
032493,000665: # MPAC, QPRET
032494,000666: # PUSHLIST
032495,000667:
032496,000668: 14,2347 BANK 14
032497,000669: 27,2000 SETLOC P40S1
032498,000670: 27,2000 BANK
|
|
Page 765
|
032500,000672: 27,2246 COUNT* $$/S40.1
032501,000673: 27,2246 71220 S40.1 STQ DLOAD
032502,000674: 27,2247 03632 QTEMP
032503,000675: 27,2250 03442 TIG
032504,000676: 27,2251 03763 STORE TIGSAVE
032505,000677: 27,2252 77614 DELVTEST BOFF
032506,000678: 27,2253 01347 XDELVFLG
032507,000679: 27,2254 56336 S40.1B
032508,000680: 27,2255 77201 CALCTHET SETPD VLOAD
032509,000681: 27,2256 00001 0
032510,000682: 27,2257 03650 VTIG
032511,000683: 27,2260 02331 STORE VINIT
032512,000684: 27,2261 53435 VXV UNIT
032513,000685: 27,2262 03642 RTIG
032514,000686: 27,2263 27673 STOVL UT # UP IN UT
032515,000687: 27,2264 03642 RTIG
032516,000688: 27,2265 02323 STORE RINIT
032517,000689: 27,2266 65236 VSQ PDDL
032518,000690: 27,2267 00045 36D
032519,000691: 27,2270 56205 DMP DDV
032520,000692: 27,2271 16412 THETACON
032521,000693: 27,2272 41205 DMP DMP
032522,000694: 27,2273 03664 DELVSAB
032523,000695: 27,2274 01245 WEIGHT/G
032524,000696: 27,2275 77671 DDV
032525,000697: 27,2276 03735 F
032526,000698: 27,2277 24017 STOVL 14D
032527,000699: 27,2300 03656 DELVSIN
032528,000700:
032529,000701: 27,2301 74241 DOT VXSC
032530,000702: 27,2302 03673 UT
032531,000703: 27,2303 03673 UT
032532,000704: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032533,000705: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032534,000706: 27,2306 03656 DELVSIN
032535,000707: 27,2307 00017 14D
032536,000708: 27,2310 63356 SIN PDVL
032537,000709: 27,2311 00007 6D
032538,000710: 27,2312 53435 VXV UNIT
032539,000711: 27,2313 03673 UT
032540,000712: 27,2314 45561 VXSC STADR
032541,000713: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032542,000714: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032543,000715: 27,2317 00017 14D
032544,000716: 27,2320 74346 COS VXSC
032545,000717: 27,2321 74255 VAD VXSC
032546,000718: 27,2322 03701 VGTIG
032547,000719: 27,2323 00045 36D
032548,000720: 27,2324 53352 VSL2 VAD
032549,000721: 27,2325 77626 STADR
|
|
Page 766
|
032551,000723: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032552,000724:
032553,000725: 27,2327 77656 UNIT
032554,000726: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032555,000727: 27,2331 03701 VGTIG
032556,000728: 27,2332 45006 PUSH CALL
032557,000729: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032558,000730: 27,2334 77650 GOTO
032559,000731: 27,2335 03632 QTEMP
032560,000732: 27,2336 77745 S40.1B DLOAD
032561,000733: 27,2337 03442 TIG
032562,000734: 27,2340 00041 STORE TDEC1
032563,000735: 27,2341 77621 BDSU
032564,000736: 27,2342 03631 TPASS4
032565,000737: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032566,000738: 27,2344 27057 LEMPREC
032567,000739: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032568,000740: 27,2346 00001 RATT
032569,000741: 27,2347 00001 0
032570,000742: 27,2350 03642 STORE RTIG
032571,000743: 27,2351 02323 STORE RINIT
032572,000744: 27,2352 77656 UNIT
032573,000745: 27,2353 27537 STOVL UNIT/R/
032574,000746: 27,2354 00007 VATT
032575,000747: 27,2355 03650 STORE VTIG
032576,000748: 27,2356 02331 STORE VINIT
032577,000749: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032578,000750: 27,2360 06522 ZEROVECS
032579,000751: 27,2361 16406 EPS1
032580,000752: 27,2362 43214 BOFF DAD
032581,000753: 27,2363 03745 NORMSW
032582,000754: 27,2364 56366 SMALLEPS
032583,000755: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032584,000756: 27,2366 66006 SMALLEPS PUSH SXA,1
032585,000757: 27,2367 02776 RTX1
032586,000758: 27,2370 45134 SXA,2 CALL
032587,000759: 27,2371 02777 RTX2
032588,000760: 27,2372 22000 INITVEL
032589,000761: 27,2373 41575 VLOAD PUSH
032590,000762: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032591,000763: 27,2375 03701 STORE VGTIG
032592,000764: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032593,000765: 27,2377 17673 STODL UT
032594,000766: 27,2400 00045 36D
032595,000767: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032596,000768: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
032597,000769: 27,2403 77650 GOTO
032598,000770: 27,2404 03632 QTEMP
032599,000771:
032600,000772: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032601,000773:
|
|
Page 767
|
032603,000775: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032604,000776:
032605,000777: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032606,000778:
|
|
Page 768
|
032608,000780: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032609,000781: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032610,000782: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032611,000783: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032612,000784: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032613,000785:
032614,000786: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032615,000787: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032616,000788: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032617,000789: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032618,000790: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032619,000791:
032620,000792: # CALLING SEQUENCE:
032621,000793: # L CALL INTERPRETIVE CALL.
032622,000794: # L +1 S40.2,3
032623,000795: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032624,000796:
032625,000797: # SUBROUTINES CALLED: NONE.
032626,000798:
032627,000799: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032628,000800:
032629,000801: # ALARM/ABORT MODES: NONE.
032630,000802:
032631,000803: # INPUT:
032632,000804: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032633,000805: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032634,000806: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032635,000807:
032636,000808: # OUTPUT:
032637,000809: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032638,000810: # :YSCREF: IN REFERENCE COORDINATES
032639,000811: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032640,000812: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032641,000813: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032642,000814: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032643,000815:
032644,000816: # DEBRIS: NONE.
|
|
Page 769
|
032646,000818:
032647,000819: 27,2413 COUNT* $$/S40.2
032648,000820: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032649,000821: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032650,000822: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032651,000823: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032652,000824: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032653,000825: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032654,000826: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032655,000827:
032656,000828: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032657,000829: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032658,000830: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032659,000831: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032660,000832: 27,2426 46125 PDDL BHIZ
032661,000833: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032662,000834: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032663,000835: 27,2431 45575 STORY VLOAD STADR
032664,000836: 27,2432 74162 STORE YSCREF
032665,000837: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032666,000838: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032667,000839: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032668,000840: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032669,000841:
032670,000842: 27,2437 43414 SET RVQ
032671,000843: 27,2440 01073 PFRATFLG
032672,000844: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032673,000845: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032674,000846: 27,2443 03650 VTIG
032675,000847: 27,2444 41456 UNIT PUSH
032676,000848: 27,2445 77650 GOTO
032677,000849: 27,2446 56431 STORY
|
|
Page 770
|
032679,000851: # SUBROUTINE S40.8
032680,000852: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032681,000853:
032682,000854: # DESCRIPTION
032683,000855: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032684,000856: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032685,000857: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032686,000858:
032687,000859: # CALLING SEQUENCE
032688,000860: # L-1 CALL
032689,000861: # L S40.8
032690,000862: # L+1 INTERPRETIVE RETURN
032691,000863:
032692,000864: # ALARM
032693,000865: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032694,000866: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032695,000867:
032696,000868: # INPUT AND INITIALIZATION
032697,000869: # VGPREV REFERENCE 2(7) M/CS
032698,000870: # DELVREF REFERENCE 2(7) M/CS
032699,000871: # BDT REFERENCE 2(7) M/CS
032700,000872: # TDECAY TAIL-OFF TIME 2(28) CS
032701,000873: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032702,000874: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032703,000875: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032704,000876:
032705,000877: # NOTE: VGTIG EQUALS VGPREV
032706,000878:
032707,000879: # OUTPUT
032708,000880: # STEERSW SEE INPUT
032709,000881: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032710,000882: # TGO TIME TO CUT-OFF 2(28) CS
032711,000883: # SEE FINDCDUW FOR STEERING OUTPUTS.
032712,000884:
032713,000885: # SUBROUTINE CALLED
032714,000886: # FINDCDUW
032715,000887:
032716,000888: # DEBRIS
032717,000889: # MPACS, PUSHLIST
032718,000890:
032719,000891: 27,2447 COUNT* $$/S40.8
|
|
Page 771
|
032721,000893: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032722,000894: 27,2450 01347 XDELVFLG
032723,000895: 27,2451 56731 RASTEER1
032724,000896: 27,2452 52375 VLOAD VSU
032725,000897: 27,2453 03701 VGPREV
032726,000898: 27,2454 03527 DELVREF
032727,000899: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032728,000900: 27,2456 76521 MXV VSL1
032729,000901: 27,2457 01734 REFSMMAT
032730,000902: 27,2460 03254 STORE UNFC/2
032731,000903: 27,2461 51575 BDTOK VLOAD ABVAL
032732,000904: 27,2462 03707 VG
032733,000905: 27,2463 03664 STORE VGDISP
032734,000906: 27,2464 77201 TGOCALC SETPD VLOAD
032735,000907: 27,2465 00001 0
032736,000908: 27,2466 03707 VG
032737,000909: 27,2467 27701 STOVL VGPREV
032738,000910: 27,2470 03527 DELVREF
032739,000911: 27,2471 57414 BOFF VCOMP
032740,000912: 27,2472 01344 STEERSW
032741,000913: 27,2473 00052 QPRET
032742,000914: 27,2474 77656 UNIT
032743,000915: 27,2475 41441 DOT PUSH
032744,000916: 27,2476 03707 VG
032745,000917: 27,2477 56244 BPL DDV
032746,000918: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032747,000919: 27,2501 03743 VEX
032748,000920: 27,2502 41215 DAD DMP
032749,000921: 27,2503 06520 DPHALF
032750,000922: 27,2504 56261 SR DDV
032751,000923: 27,2505 20613 10D
032752,000924: 27,2506 00045 36D
032753,000925: 27,2507 43205 DMP DAD
032754,000926: 27,2510 16535 -FOURDT
032755,000927: 27,2511 03741 TDECAY
032756,000928: 27,2512 03517 STORE TGO
032757,000929: 27,2513 77615 DAD
032758,000930: 27,2514 01235 PIPTIME
032759,000931: 27,2515 17442 STODL TIG
032760,000932: 27,2516 03517 TGO
032761,000933: 27,2517 51025 DSU BPL
032762,000934: 27,2520 16537 FOURSECS # 400 CS
032763,000935: 27,2521 61111 FINDCDUW -2
032764,000936: 27,2522 43014 SET CLRGO
032765,000937: 27,2523 01066 IMPULSW
032766,000938: 27,2524 01224 STEERSW
032767,000939: 27,2525 00052 QPRET
032768,000940:
032769,000941: 27,2526 77776 ALARMIT EXIT
032770,000942:
|
|
Page 772
|
032772,000944: 27,2527 05567 TC ALARM
032773,000945: 27,2530 01407 OCT 01407
032774,000946: 27,2531 06037 TC INTPRET
032775,000947: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032776,000948: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032777,000949:
032778,000950: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032779,000951: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032780,000952: 27,2540 E7,1742 2VEXHUST = VEX
032781,000953:
|
|
Page 773
|
032783,000955: # NAME S40.13 - TIMEBURN
032784,000956:
032785,000957: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032786,000958: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032787,000959: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032788,000960: # BURN
032789,000961: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032790,000962: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032791,000963: # SIGNAL
032792,000964:
032793,000965: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032794,000966:
032795,000967: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032796,000968: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032797,000969: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032798,000970: # AND ALSO FOR RCS ENGINE
032799,000971: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032800,000972: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032801,000973: # REQUIRE MODIFICATION FOR SATURN BURNS.
032802,000974: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032803,000975: # =0 DPS
032804,000976: # =1 APS
032805,000977:
032806,000978: # OUTPUT IMPULSW ZERO FOR STEERING
032807,000979: # ONE FOR ATTITUDE HOLD
032808,000980: # NOTHROTL ZERO FOR THROTTLING
032809,000981: # ONE TO INHIBIT THROTTLING
032810,000982: # TGO TIME TO BURN IN CS
032811,000983:
032812,000984: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032813,000985: # FORCE
032814,000986:
032815,000987: 27,2540 E7,1516 EBANK= TGO
032816,000988: 27,2540 COUNT* $$/40.13
032817,000989: 27,2540 06037 S40.13 TC INTPRET
032818,000990: 27,2541 43001 SETPD CLEAR
032819,000991: 27,2542 00001 00D
032820,000992: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032821,000993: 27,2544 51575 VLOAD ABVAL
032822,000994: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032823,000995: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032824,000996: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032825,000997: 27,2550 34017 FRCS2
032826,000998: 27,2551 72471 DDV SL1 # SCALE
032827,000999: 27,2552 01245 WEIGHT/G
032828,001000: 27,2553 41421 BDSU PUSH
032829,001001: 27,2554 43014 BOFF SET
032830,001002: 27,2555 05342 APSFLAG
032831,001003: 27,2556 56626 S40.13D # FOR DPS ENGINE
032832,001004: 27,2557 02463 NOTHROTL
032833,001005: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032834,001006: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032835,001007: 27,2562 01245 WEIGHT/G
032836,001008: 27,2563 50021 BDSU BMN
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|
Page 774
|
032838,001010: 27,2564 00001 00D
032839,001011: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032840,001012: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032841,001013: 27,2567 03737 MDOT
032842,001014:
032843,001015: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032844,001016: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032845,001017: # REQUIRE ADJUSTMENT
032846,001018:
032847,001019: 27,2570 16700 3.5SEC # 350 CS AT +14
032848,001020: 27,2571 65221 BDSU PDDL
032849,001021: 27,2572 01245 WEIGHT/G
032850,001022: 27,2573 03735 F
032851,001023: 27,2574 60405 DMP SR2 # SCALE
032852,001024: 27,2575 16702 5SECS
032853,001025: 27,2576 41471 DDV PUSH # 04D = TEMP2
032854,001026: 27,2577 51021 BDSU BPL
032855,001027: 27,2600 00003 02D
032856,001028: 27,2601 56626 S40.13D
032857,001029: 27,2602 55345 DLOAD BDDV
032858,001030: 27,2603 43205 DMP DAD
032859,001031: 27,2604 16702 5SECS
032860,001032: 27,2605 16676 1SEC2D # 100 CS AT +14
032861,001033: 27,2606 77650 GOTO
032862,001034: 27,2607 56616 S40.132
032863,001035: 27,2610 41345 S40.131 DLOAD DMP
032864,001036: 27,2611 01245 WEIGHT/G
032865,001037: 27,2612 41542 SR1 PUSH
032866,001038: 27,2613 56215 DAD DDV
032867,001039: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
032868,001040: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032869,001041: 27,2616 77414 S40.132 SET EXIT
032870,001042: 27,2617 01066 IMPULSW
032871,001043: 27,2620 07257 S40.132* TC TPAGREE
032872,001044: 27,2621 30154 CA MPAC
032873,001045: 27,2622 56001 XCH L
032874,001046: 27,2623 34755 CA ZERO
032875,001047: 27,2624 53517 DXCH TGO
032876,001048: 27,2625 12650 TCF S40.134
032877,001049:
032878,001050: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032879,001051: 27,2627 00001 00D
032880,001052: 27,2630 01245 WEIGHT/G
032881,001053: 27,2631 43006 PUSH BON
032882,001054: 27,2632 05302 APSFLAG
032883,001055: 27,2633 56671 APSTGO
032884,001056: 27,2634 43071 DDV CLEAR
032885,001057: 27,2635 16007 S40.136
032886,001058: 27,2636 02663 NOTHROTL
032887,001059: 27,2637 41400 BOV PUSH
|
|
Page 775
|
032889,001061: 27,2640 56653 S40.130V
032890,001062: 27,2641 51025 S40.137 DSU BPL
032891,001063: 27,2642 16704 6SEC # 600.0 CS AT +14
032892,001064: 27,2643 56661 S40.138
032893,001065: 27,2644 52015 DAD GOTO
032894,001066: 27,2645 16704 6SEC
032895,001067: 27,2646 56616 S40.132
032896,001068: 27,2647 77776 S40.133 EXIT
032897,001069: 27,2650 05353 S40.134 TC PHASCHNG
032898,001070: 27,2651 00003 OCT 00003
032899,001071: 27,2652 05155 TC ENDOFJOB
032900,001072: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032901,001073: 27,2654 77671 DDV
032902,001074: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032903,001075: 27,2656 03517 STORE TGO
032904,001076: 27,2657 77776 EXIT
032905,001077: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032906,001078:
032907,001079: 27,2661 51025 S40.138 DSU BPL
032908,001080: 27,2662 16706 89SECS
032909,001081: 27,2663 56666 STORETGO
032910,001082: 27,2664 77614 SET
032911,001083: 27,2665 02463 NOTHROTL
032912,001084: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032913,001085: 27,2667 77776 EXIT
032914,001086: 27,2670 12620 TCF S40.132*
032915,001087:
032916,001088: 27,2671 62471 APSTGO DDV SL2
032917,001089: 27,2672 34007 FAPS
032918,001090: 27,2673 77650 GOTO
032919,001091: 27,2674 56667 STORETGO +1
032920,001092: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032921,001093:
032922,001094: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032923,001095:
032924,001096: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032925,001097:
032926,001098: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032927,001099:
032928,001100: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032929,001101:
032930,001102: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032931,001103: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032932,001104: # COMPUTATION CYCLES (4 SECONDS).
032933,001105: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032934,001106: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032935,001107: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032936,001108:
032937,001109: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032938,001110:
032939,001111: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032940,001112: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
|
|
Page 776
|
032942,001114: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032943,001115: # METERS/CS AT +7.
032944,001116: # TIG - TIME OF IGNITION IN CS AT +28.
032945,001117: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032946,001118: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032947,001119: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032948,001120: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032949,001121: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032950,001122: # METERS/CS AT +7.
032951,001123:
032952,001124: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032953,001125: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032954,001126: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032955,001127: # BDT - B VECTOR IN METERS/CS AT +7.
032956,001128:
032957,001129: # SUBROUTINES USED - INITVEL
032958,001130:
032959,001131: 27,2707 E7,1700 EBANK= VGPREV
032960,001132: 27,2707 COUNT* $$/S40.9
032961,001133: 27,2707 06037 S40.9 TC INTPRET
032962,001134: 27,2710 77601 SETPD
032963,001135: 27,2711 00001 00D
032964,001136: 27,2712 71214 SET DLOAD
032965,001137: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032966,001138: 27,2714 06522 HI6ZEROS
032967,001139: 27,2715 77725 PDDL
032968,001140: 27,2716 16406 EPS1
032969,001141: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032970,001142: 27,2720 03745 NORMSW
032971,001143: 27,2721 56723 EPSSMALL
032972,001144: 27,2722 16410 EPS2
032973,001145: 27,2723 45006 EPSSMALL PUSH CALL
032974,001146: 27,2724 22002 HAVEGUES
032975,001147: 27,2725 77776 ENDS40.9 EXIT
032976,001148: 27,2726 05353 TC PHASCHNG
032977,001149: 27,2727 00002 OCT 2
032978,001150: 27,2730 15155 TCF ENDOFJOB
032979,001151:
032980,001152: 27,2731 51575 RASTEER1 VLOAD ABVAL
032981,001153: 27,2732 01221 RN
032982,001154: 27,2733 53744 LXC,2 SL*
032983,001155: 27,2734 02777 RTX2
032984,001156: 27,2735 57576 0,2
032985,001157: 27,2736 27715 STOVL RMAG
032986,001158: 27,2737 03444 RTARG
032987,001159: 27,2740 47051 VSU RTB
032988,001160: 27,2741 01221 RN
032989,001161: 27,2742 21724 NORMUNX1
032990,001162: 27,2743 17656 STODL IC
032991,001163: 27,2744 00045 36D # C(36D) = ABVAL(C)
032992,001164: 27,2745 53674 XAD,2 SL*
032993,001165: 27,2746 00046 X1
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|
Page 777
|
032995,001167: 27,2747 57576 0,2
032996,001168: 27,2750 00037 STORE 30D
032997,001169: 27,2751 41301 NORM DMP
032998,001170: 27,2752 00050 X2
032999,001171: 27,2753 03715 RMAG
033000,001172: 27,2754 57101 NORM XAD,2
033001,001173: 27,2755 00047 X1
033002,001174: 27,2756 00046 X1
033003,001175: 27,2757 77734 SXA,2
033004,001176: 27,2760 03766 MUSCALE
033005,001177: 27,2761 17725 STODL R1C # 2(+58 -X)
033006,001178: 27,2762 00037 30D
033007,001179: 27,2763 65342 SR1 PDDL
033008,001180: 27,2764 03715 RMAG
033009,001181: 27,2765 65342 SR1 PDDL
033010,001182: 27,2766 03723 RTMAG
033011,001183: 27,2767 43342 SR1 DAD
033012,001184: 27,2770 45415 DAD STADR
033013,001185: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033014,001186: 27,2772 41225 DSU DMP
033015,001187: 27,2773 00037 30D
033016,001188: 27,2774 03721 MU/A
033017,001189: 27,2775 77621 BDSU
033018,001190: 27,2776 03717 MUASTEER
033019,001191: 27,2777 45325 PDDL DSU
033020,001192: 27,3000 03733 SS
033021,001193: 27,3001 03715 RMAG
033022,001194: 27,3002 70501 NORM SR1
033023,001195: 27,3003 00047 X1
033024,001196: 27,3004 41271 DDV DMP
033025,001197: 27,3005 03725 R1C
033026,001198: 27,3006 53664 XSU,2 SL*
033027,001199: 27,3007 00046 X1
033028,001200: 27,3010 57575 1,2
033029,001201: 27,3011 77754 LXA,2
033030,001202: 27,3012 03766 MUSCALE
033031,001203: 27,3013 75366 SQRT SIGN
033032,001204: 27,3014 02673 GEOMSGN
033033,001205: 27,3015 00041 STORE 32D # + OR - A
033034,001206: 27,3016 41345 DLOAD DMP
033035,001207: 27,3017 03733 SS
033036,001208: 27,3020 03721 MU/A
033037,001209: 27,3021 77621 BDSU
033038,001210: 27,3022 03717 MUASTEER
033039,001211: 27,3023 45325 PDDL DSU
033040,001212: 27,3024 03733 SS
033041,001213: 27,3025 03723 RTMAG
033042,001214: 27,3026 70501 NORM SR1
033043,001215: 27,3027 00047 X1
033044,001216: 27,3030 41271 DDV DMP
033045,001217:
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|
Page 778
|
033047,001219: 27,3031 03725 R1C
033048,001220: 27,3032 53664 XSU,2 SL*
033049,001221: 27,3033 00046 X1
033050,001222: 27,3034 57575 1,2
033051,001223: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033052,001224: 27,3036 03733 SS
033053,001225: 27,3037 56225 DSU DDV
033054,001226: 27,3040 00037 30D
033055,001227: 27,3041 03733 SS
033056,001228: 27,3042 41566 SQRT PUSH
033057,001229: 27,3043 67542 SR1 ASIN
033058,001230: 27,3044 65205 DMP PDDL
033059,001231: 27,3045 17216 2PI+3
033060,001232: 27,3046 56325 PDDL DDV
033061,001233: 27,3047 00037 30D
033062,001234: 27,3050 03733 SS
033063,001235: 27,3051 77600 BOV
033064,001236: 27,3052 57053 +1
033065,001237: 27,3053 41366 SQRT DMP
033066,001238: 27,3054 44242 SR3 BDSU
033067,001239: 27,3055 65365 SIGN PDDL
033068,001240: 27,3056 02673 GEOMSGN
033069,001241: 27,3057 17216 2PI+3
033070,001242: 27,3060 45302 SR2 DSU
033071,001243: 27,3061 65205 DMP PDDL
033072,001244: 27,3062 03733 SS
033073,001245: 27,3063 03733 SS
033074,001246: 27,3064 75442 SR3 SQRT
033075,001247: 27,3065 77605 DMP
033076,001248: 27,3066 52525 PDDL SL3
033077,001249: 27,3067 03717 MUASTEER
033078,001250: 27,3070 55366 SQRT BDDV
033079,001251: 27,3071 43225 DSU DAD
033080,001252: 27,3072 03631 TPASS4
033081,001253: 27,3073 01235 PIPTIME
033082,001254: 27,3074 14037 STODL 30D
033083,001255: 27,3075 77765 SIGN
033084,001256: 27,3076 00037 30D # B WITH SIGN
033085,001257: 27,3077 00037 STORE 30D
033086,001258: 27,3100 77214 BON VLOAD
033087,001259: 27,3101 03705 NORMSW
033088,001260: 27,3102 57123 180MESS
033089,001261: 27,3103 03656 IC
033090,001262: 27,3104 53451 VSU UNIT
033091,001263: 27,3105 03537 UNIT/R/
033092,001264: 27,3106 63361 VXSC PDVL
033093,001265: 27,3107 00037 30D
033094,001266: 27,3110 03656 IC
033095,001267: 27,3111 53455 VAD UNIT
033096,001268: 27,3112 03537 UNIT/R/
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|
Page 779
|
033098,001270: 27,3113 53361 GETVRVG1 VXSC VAD
033099,001271: 27,3114 00041 32D
033100,001272: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033101,001273: 27,3116 02777 RTX2
033102,001274: 27,3117 57177 0 -1,2
033103,001275: 27,3120 02337 STORE VIPRIME
033104,001276: 27,3121 77650 GOTO
033105,001277: 27,3122 57166 ASTREND -2
033106,001278: 27,3123 50375 180MESS VLOAD DOT
033107,001279: 27,3124 03656 IC
033108,001280: 27,3125 03537 UNIT/R/
033109,001281: 27,3126 77240 BMN VLOAD
033110,001282: 27,3127 57146 NEGPROD
033111,001283: 27,3130 03656 IC
033112,001284: 27,3131 63362 VSR1 PDVL
033113,001285: 27,3132 03537 UNIT/R/
033114,001286: 27,3133 53362 VSR1 VAD
033115,001287: 27,3134 77656 UNIT
033116,001288: 27,3135 57406 PUSH VCOMP # FOR A
033117,001289: 27,3136 75235 VXV SIGN
033118,001290: 27,3137 02674 UN
033119,001291: 27,3140 02673 GEOMSGN
033120,001292: 27,3141 74256 UNIT VXSC
033121,001293: 27,3142 00037 30D
033122,001294: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033123,001295: 27,3144 77650 GOTO
033124,001296: 27,3145 57113 GETVRVG1
033125,001297: 27,3146 74575 NEGPROD VLOAD VSR1
033126,001298: 27,3147 03537 UNIT/R/
033127,001299: 27,3150 74515 PDVL VSR1
033128,001300: 27,3151 03656 IC
033129,001301: 27,3152 53451 VSU UNIT
033130,001302: 27,3153 77606 PUSH
033131,001303: 27,3154 75235 VXV SIGN
033132,001304: 27,3155 02674 UN # FOR B
033133,001305: 27,3156 02673 GEOMSGN
033134,001306: 27,3157 74256 UNIT VXSC
033135,001307: 27,3160 00041 32D
033136,001308: 27,3161 77715 PDVL
033137,001309: 27,3162 53361 VXSC VAD
033138,001310: 27,3163 00037 30D
033139,001311: 27,3164 77650 GOTO
033140,001312: 27,3165 57115 GETVRVG2
033141,001313: 27,3166 77651 VSU
033142,001314: 27,3167 03553 VN1
033143,001315: 27,3170 02366 ASTREND STORE DELVEET3
033144,001316: 27,3171 53135 FIRSTTME SLOAD BZE
033145,001317: 27,3172 03000 RTX2
033146,001318: 27,3173 57177 GETGOBL
033147,001319: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780
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033149,001321: 27,3175 02366 DELVEET3
033150,001322: 27,3176 57212 NOGOBL
033151,001323: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033152,001324: 27,3200 01221 RN
033153,001325: 27,3201 45345 DLOAD DSU
033154,001326: 27,3202 01235 PIPTIME # 2
033155,001327: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033156,001328: 27,3204 56205 DMP DDV # OBL
033157,001329: 27,3205 16023 EARTHMU
033158,001330: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033159,001331: 27,3207 53361 VXSC VAD
033160,001332: 27,3210 03521 UNITGOBL
033161,001333: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033162,001334: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033163,001335: 27,3213 77650 GOTO
033164,001336: 27,3214 56455 VGAIN*
033165,001337:
033166,001338: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033167,001339:
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Page 781
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033169,001341: # TRIMGIMB (FORMERLY S40.6)
033170,001342: # MOD 0 24 FEB 67 PETER ADLER
033171,001343:
033172,001344: # FUNCTION:
033173,001345: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033174,001346: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033175,001347: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033176,001348:
033177,001349: # CALLING SEQUENCE:
033178,001350: # VIA WAITLIST FROM R03
033179,001351:
033180,001352: # INPUT:
033181,001353: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033182,001354: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033183,001355:
033184,001356: # SUBROUTINES USED:
033185,001357: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033186,001358:
033187,001359: 27,3217 COUNT* $$/S40.6
033188,001360: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033189,001361:
033190,001362: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033191,001363: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033192,001364:
033193,001365: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033194,001366: 27,3222 00006 EXTEND
033195,001367: 27,3223 03012 WAND CHAN12
033196,001368: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033197,001369: 27,3225 00006 EXTEND
033198,001370: 27,3226 05012 WOR CHAN12
033199,001371: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033200,001372: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033201,001373: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033202,001374: 27,3232 00006 EXTEND
033203,001375: 27,3233 03012 WAND CHAN12
033204,001376: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033205,001377: 27,3235 00006 EXTEND
033206,001378: 27,3236 05012 WOR CHAN12
033207,001379: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033208,001380: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033209,001381: 27,3241 03260 ADRES PITCHOFF
033210,001382:
033211,001383: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033212,001384: 27,3243 05224 TC VARDELAY # UNTIL THEN
033213,001385: 27,3244 44740 CS BIT12
033214,001386: 27,3245 00006 EXTEND
033215,001387: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033216,001388: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033217,001389: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033218,001390: 27,3251 00006 EXTEND
033219,001391: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033220,001392: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033221,001393: 27,3254 05072 TC NOVAC
033222,001394: 27,3255 E7,1471 EBANK= WHOCARES
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Page 782
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033224,001396: 27,3255 02323 02067 2CADR TRIMDONE
033225,001397:
033226,001398: 27,3257 05261 TC TASKOVER
033227,001399: 27,3260 44742 PITCHOFF CS BIT10
033228,001400: 27,3261 00006 EXTEND
033229,001401: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033230,001402: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033231,001403: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033232,001404: 27,3265 00137 ADRES GMBDRVSW
033233,001405: 27,3266 05261 TC TASKOVER
033234,001406:
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Page 783
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033236,001408: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033237,001409: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033238,001410:
033239,001411: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033240,001412:
033241,001413: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033242,001414: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033243,001415: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033244,001416: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033245,001417: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033246,001418: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033247,001419: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033248,001420: # CALLER WITH C(MPAC) = VELOCITY(LM).
033249,001421:
033250,001422: # CALLING SEQUENCE:
033251,001423: # L VLOAD CALL
033252,001424: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033253,001425: # L +2 S41.1
033254,001426: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033255,001427:
033256,001428: # SUBROUTINES CALLED:
033257,001429: # 1. CDUTRIG,
033258,001430: # WHICH CALLS CDULOGIC.
033259,001431: # 2. *SMNB*
033260,001432:
033261,001433: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033262,001434:
033263,001435: # ALARM/ABORT MODES: NONE.
033264,001436:
033265,001437: # RESTART PROTECTION: NONE.
033266,001438:
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Page 784
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033268,001440: # INPUT:
033269,001441: # 1. REFSMMAT.
033270,001442: # 2. CDUX, CDUY, CDUZ.
033271,001443: # 3. VELOCITY (REF) IN MPAC.
033272,001444:
033273,001445: # OUTPUT:
033274,001446: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033275,001447: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033276,001448: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033277,001449: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033278,001450:
033279,001451: # DEBRIS: NONE.
033280,001452:
033281,001453: # CHECKOUT STATUS: CODED.
033282,001454:
033283,001455: 27,3267 COUNT* $$/S41.1
033284,001456: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033285,001457: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033286,001458: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033287,001459: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033288,001460: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc