GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
032617,000002: ## Copyright: Public domain.
032618,000003: ## Filename: P40-P47.agc
032619,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
032620,000005: ## It is part of the source code for the Lunar Module's (LM)
032621,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
032622,000007: ## Assembler: yaYUL
032623,000008: ## Contact: Ron Burkey <info@sandroid.org>.
032624,000009: ## Website: www.ibiblio.org/apollo.
032625,000010: ## Pages: 752-784
032626,000011: ## Mod history: 2009-05-19 RSB Adapted from the corresponding
032627,000012: ## Luminary131 file, using page
032628,000013: ## images from Luminary 1A.
032629,000014: ## 2011-01-06 JL Fixed interpretive indentation.
032630,000015: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
032631,000016: ## 2016-12-15 RSB Proofed text comments with octopus/ProoferComments
032632,000017: ## and corrected the errors found.
032633,000018: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
032634,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
032635,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
032636,000021: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
032637,000022: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
032638,000023: ## Zerlina 56 (it was unreferenced so caused no errors).
032639,000024: ## 2021-05-30 ABS TGDCALC -> TGOCALC
032640,000025:
032641,000026: ## This source code has been transcribed or otherwise adapted from
032642,000027: ## digitized images of a hardcopy from the MIT Museum. The digitization
032643,000028: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
032644,000029: ## the Museum. Many thanks to both. The images (with suitable reduction
032645,000030: ## in storage size and consequent reduction in image quality as well) are
032646,000031: ## available online at www.ibiblio.org/apollo. If for some reason you
032647,000032: ## find that the images are illegible, contact me at info@sandroid.org
032648,000033: ## about getting access to the (much) higher-quality images which Paul
032649,000034: ## actually created.
032650,000035: ##
032651,000036: ## Notations on the hardcopy document read, in part:
032652,000037: ##
032653,000038: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
032654,000039: ## 16:27 JULY 14, 1969
032655,000040:
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Page 752 |
032657,000042: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
032658,000043: # MOD 03 BY PETER ADLER MARCH 3, 1967
032659,000044: # CALLED VIA JOB FROM V37E
032660,000045:
032661,000046: # FUNCTIONAL DESCRIPTION
032662,000047:
032663,000048: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032664,000049: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009. |
032666,000051: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032667,000052: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032668,000053: # PGNCS CONTROLLED DPS MANEUVER.
032669,000054: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032670,000055: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032671,000056:
032672,000057: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032673,000058: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032674,000059:
032675,000060: # SUBROUTINES USED
032676,000061:
032677,000062: # R02 IMU STATUS CHECK
032678,000063: # S40.1 COMPUTATION OF THRUST DIRECTION
032679,000064: # S40.13 LENGTH OF BURN
032680,000065: # S40.2,3 PREFERRED IMU ORIENATTION
032681,000066: # S40.8 X PRODUCT STEERING
032682,000067: # S40.9 LAMBERT VTOGAIN
032683,000068: # R60LEM ATTITUDE MANEUVER
032684,000069: # LEMPREC EXTRAPOLATE STATE VECTOR
032685,000070: # PREREAD AVERAGE G, SERVICER
032686,000071: # ALLCOAST DAP COASTING INITIALIZATION
032687,000072: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
032688,000073: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032689,000074: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032690,000075: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032691,000076:
032692,000077: # RESTARTS VIA GROUP 4
032693,000078:
032694,000079: # DISPLAYS
032695,000080:
032696,000081: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032697,000082: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032698,000083: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032699,000084: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032700,000085: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032701,000086: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032702,000087: # V05N09 POSSIBLE ALARMS
032703,000088: # V50N07 PLEASE SELECT P00
032704,000089:
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Page 753 |
032706,000091: # VIA R30
032707,000092:
032708,000093: # V06N44 HAPO, PERI, TFF
032709,000094: # V06N35 TIME TO PERIGEE, HMS
032710,000095:
032711,000096: # ALARM OR ABORT EXIT MODES
032712,000097:
032713,000098: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032714,000099: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032715,000100:
032716,000101: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032717,000102: # TIG BY 45 SECS.
032718,000103:
032719,000104: # ERASABLE INITIALIZATION
032720,000105:
032721,000106: # DEBRIS
032722,000107:
032723,000108: # OUTPUT
032724,000109:
032725,000110: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032726,000111: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032727,000112: # = 0 FOR AIMPT (LAMBERT) COMP
032728,000113:
032729,000114: 27,2246 COUNT* $$/P40
032730,000115: 27,2246 E7,1455 EBANK= WHICH
032731,000116:
032732,000117: 36,3147 BANK 36
032733,000118: 36,2000 SETLOC P40S
032734,000119: 36,2000 BANK
032735,000120:
032736,000121: 36,3147 05353 P40LM TC PHASCHNG
032737,000122: 36,3150 04024 OCT 04024
032738,000123:
032739,000124: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032740,000125: 36,3152 55455 TS WHICH
032741,000126:
032742,000127: 36,3153 30106 CA FLGWRD10
032743,000128: 36,3154 74737 MASK APSFLBIT
032744,000129: 36,3155 10000 CCS A
032745,000130: 36,3156 13121 TCF P40ALM
032746,000131: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032747,000132: 36,3160 11254 CADR R02BOTH
032748,000133:
032749,000134: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
032750,000135: 36,3162 74737 MASK CSMDOCKD
032751,000136: 36,3163 10000 CCS A
032752,000137: 36,3164 32020 CAF THRESH1
032753,000138: 36,3165 62021 AD THRESH3
032754,000139: 36,3166 55251 TS DVTHRUSH
032755,000140: 36,3167 34751 CAF FOUR
032756,000141: 36,3170 55515 TS DVCNTR
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Page 754 |
032758,000143: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032759,000144: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032760,000145: 36,3173 34001 FDPS
032761,000146: 36,3174 02663 NOTHROTL
032762,000147: 36,3175 03735 STORE F
032763,000148: 36,3176 77735 SLOAD
032764,000149: 36,3177 26002 DPSVEX
032765,000150: 36,3200 70476 P40IN DCOMP SR1
032766,000151: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032767,000152: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
032768,000153: 36,3203 77624 CALL
032769,000154: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032770,000155: 36,3205 77776 EXIT
032771,000156:
032772,000157: 36,3206 00004 INHINT
032773,000158: 36,3207 04674 TC IBNKCALL
032774,000159: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032775,000160:
032776,000161: 36,3211 03213 TC P40SXT4
032777,000162:
032778,000163: # ***********************
032779,000164:
032780,000165: 36,3212 12126 TCF BURNBABY
032781,000166:
032782,000167: # ***********************
032783,000168:
032784,000169: 36,3213 00006 P40SXT4 EXTEND
032785,000170: 36,3214 23142 QXCH P40/RET
032786,000171: 36,3215 00003 P41MANU RELINT
032787,000172:
032788,000173: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032789,000174: 36,3217 00124 ADRES 3AXISFLG
032790,000175:
032791,000176: 36,3220 04616 TC BANKCALL
032792,000177: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032793,000178: 36,3222 01142 TC P40/RET
032794,000179:
032795,000180: 36,3223 E7,1462 EBANK= TRKMKCNT
032796,000181: 36,3223 30005 POSTBURN CA Z
032797,000182: 36,3224 55163 TS DISPDEX
032798,000183: 36,3225 00006 EXTEND
032799,000184: 36,3226 32056 DCA ACADN85
032800,000185: 36,3227 53253 DXCH AVEGEXIT
032801,000186: 36,3230 33760 CAF V16N40
032802,000187: 36,3231 04616 TC BANKCALL
032803,000188: 36,3232 20635 CADR GOFLASHR
032804,000189: 36,3233 03256 TC TERM40
032805,000190: 36,3234 13241 TCF TIGNOW
032806,000191: 36,3235 03223 TC POSTBURN
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Page 755 |
032808,000193: 36,3236 05353 P40PHS1 TC PHASCHNG
032809,000194: 36,3237 00014 OCT 00014
032810,000195: 36,3240 15155 TCF ENDOFJOB
032811,000196:
032812,000197: 36,3241 00004 TIGNOW INHINT
032813,000198: 36,3242 04674 TC IBNKCALL
032814,000199: 36,3243 40153 CADR ZATTEROR
032815,000200: 36,3244 04674 TC IBNKCALL
032816,000201: 36,3245 40140 CADR SETMINDB
032817,000202: 36,3246 00003 RELINT
032818,000203: 36,3247 33761 CAF V16N85B
032819,000204: 36,3250 04616 TC BANKCALL
032820,000205: 36,3251 20462 CADR REFLASHR
032821,000206: 36,3252 03256 TC TERM40
032822,000207: 36,3253 13256 TCF TERM40
032823,000208: 36,3254 03247 TC -5
032824,000209:
032825,000210: 36,3255 13236 TCF P40PHS1
032826,000211:
032827,000212: 36,3256 00006 TERM40 EXTEND
032828,000213: 36,3257 32106 DCA SERVCADR
032829,000214: 36,3260 53253 DXCH AVEGEXIT
032830,000215: 36,3261 34755 CAF ZERO
032831,000216: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032832,000217: 36,3263 30005 CA Z
032833,000218: 36,3264 55163 TS DISPDEX
032834,000219: 36,3265 00004 INHINT
032835,000220: 36,3266 04674 TC IBNKCALL
032836,000221: 36,3267 40123 CADR RESTORDB
032837,000222: 36,3270 00003 RELINT
032838,000223: 36,3271 06001 TC GOTOPOOH
032839,000224:
032840,000225: 36,3272 E7,1455 EBANK= WHICH
032841,000226: 36,3272 COUNT* $$/P41
032842,000227: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032843,000228: 36,3273 55455 TS WHICH
032844,000229:
032845,000230: 36,3274 04616 TC BANKCALL
032846,000231: 36,3275 11254 CADR R02BOTH
032847,000232:
032848,000233: 36,3276 06037 TC INTPRET # BOTH LM
032849,000234: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032850,000235: 36,3300 00700 NJETSFLG
032851,000236: 36,3301 75305 P41FJET1
032852,000237: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032853,000238:
032854,000239: 36,3303 37735 P41FJET STCALL F
032855,000240: 36,3304 75310 P41IN
032856,000241: 36,3305 77745 P41FJET1 DLOAD
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Page 756 |
032858,000243: 36,3306 34017 FRCS2
032859,000244: 36,3307 03735 STORE F
032860,000245:
032861,000246: 36,3310 77624 P41IN CALL
032862,000247: 36,3311 56246 S40.1 # BOTH
032863,000248: 36,3312 77624 P41NORM CALL
032864,000249: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032865,000250: 36,3314 77776 EXIT # SET PFRATFLG.
032866,000251:
032867,000252: 36,3315 00004 INHINT
032868,000253: 36,3316 04674 TC IBNKCALL
032869,000254: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032870,000255: 36,3320 04674 TC IBNKCALL
032871,000256: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032872,000257: 36,3322 03213 TC P40SXT4
032873,000258:
032874,000259: 36,3323 06037 TC INTPRET
032875,000260: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032876,000261: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032877,000262: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032878,000263: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032879,000264: 36,3330 77776 EXIT
032880,000265:
032881,000266: 36,3331 33761 CAF V16N85B
032882,000267: 36,3332 04616 TC BANKCALL
032883,000268: 36,3333 20446 CADR GODSPRET
032884,000269:
032885,000270: 36,3334 35017 CAF PRIO5
032886,000271: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032887,000272: 36,3336 05105 TC FINDVAC
032888,000273: 36,3337 E7,1700 EBANK= VGPREV
032889,000274: 36,3337 03361 74067 2CADR DYNMDISP
032890,000275:
032891,000276: 36,3341 05327 TC 2PHSCHNG
032892,000277: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032893,000278: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032894,000279:
032895,000280: # ***********************
032896,000281:
032897,000282: 36,3344 12135 TCF B*RNB*B*
032898,000283:
032899,000284: # ***********************
032900,000285:
032901,000286: 36,3345 34777 BLNKWAIT CAF 1SEC
032902,000287: 36,3346 04616 TC BANKCALL
032903,000288: 36,3347 01735 CADR DELAYJOB
032904,000289:
032905,000290: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032906,000291: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032907,000292:
032908,000293: # ***********************
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Page 757 |
032910,000295:
032911,000296: 36,3352 00006 EXTEND
032912,000297: 36,3353 13345 BZF BLNKWAIT
032913,000298:
032914,000299: 36,3354 33761 CAF V16N85B
032915,000300: 36,3355 04616 TC BANKCALL
032916,000301: 36,3356 20446 CADR GODSPRET
032917,000302:
032918,000303: 36,3357 35017 CAF PRIO5
032919,000304: 36,3360 05146 TC PRIOCHNG
032920,000305:
032921,000306: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032922,000307: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032923,000308: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032924,000309: 36,3364 06037 TC INTPRET
032925,000310: 36,3365 45175 VLOAD CALL
032926,000311: 36,3366 03701 VGPREV
032927,000312: 36,3367 57267 S41.1
032928,000313: 36,3370 03502 STORE VGBODY
032929,000314: 36,3371 77776 EXIT
032930,000315: 36,3372 34777 CAF 1SEC
032931,000316: 36,3373 04616 TC BANKCALL
032932,000317: 36,3374 01735 CADR DELAYJOB
032933,000318: 36,3375 13361 TCF DYNMDISP
032934,000319:
032935,000320: 36,3376 06037 CALCN85 TC INTPRET
032936,000321: 36,3377 77624 CALL
032937,000322: 36,3400 75611 UPDATEVG
032938,000323: 36,3401 45175 VLOAD CALL
032939,000324: 36,3402 03701 VGPREV
032940,000325: 36,3403 57267 S41.1
032941,000326: 36,3404 03502 STORE VGBODY
032942,000327: 36,3405 77776 EXIT
032943,000328: 36,3406 04635 TC POSTJUMP
032944,000329: 36,3407 65770 CADR SERVEXIT
032945,000330:
032946,000331: 36,3410 COUNT* $$/P42
032947,000332: 36,3410 E7,1455 EBANK= WHICH
032948,000333:
032949,000334: 36,3410 05353 P42LM TC PHASCHNG
032950,000335: 36,3411 04024 OCT 04024
032951,000336:
032952,000337: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032953,000338: 36,3413 55455 TS WHICH
032954,000339:
032955,000340: 36,3414 40106 CS FLGWRD10
032956,000341: 36,3415 74737 MASK APSFLBIT
032957,000342: 36,3416 10000 CCS A
032958,000343: 36,3417 03121 TC P40ALM
032959,000344: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758 |
032961,000346: 36,3421 11254 CADR R02BOTH
032962,000347: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032963,000348: 36,3423 55251 TS DVTHRUSH
032964,000349: 36,3424 34751 CAF FOUR
032965,000350: 36,3425 55515 TS DVCNTR
032966,000351:
032967,000352: 36,3426 06037 TC INTPRET
032968,000353: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032969,000354: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032970,000355: 36,3431 34007 FAPS
032971,000356: 36,3432 03735 STORE F
032972,000357: 36,3433 52135 SLOAD GOTO
032973,000358: 36,3434 26001 APSVEX
032974,000359: 36,3435 75200 P40IN
032975,000360:
032976,000361: 36,3436 E7,1455 EBANK= WHICH
032977,000362:
032978,000363: 36,3436 COUNT* $$/P47
032979,000364: 36,3436 04616 P47LM TC BANKCALL
032980,000365: 36,3437 11254 CADR R02BOTH
032981,000366: 36,3440 06037 TC INTPRET
032982,000367: 36,3441 77624 CALRB
032983,000368: 36,3442 27553 MIDTOAV2
032984,000369:
032985,000370: 36,3443 30155 CA MPAC +1
032986,000371: 36,3444 05173 TC TWIDDLE
032987,000372: 36,3445 03447 ADRES STARTP47
032988,000373:
032989,000374: 36,3446 15155 TCF ENDOFJOB
032990,000375:
032991,000376: 36,3447 05353 STARTP47 TC PHASCHNG
032992,000377: 36,3450 05014 OCT 05014
032993,000378: 36,3451 77777 OCT 77777
032994,000379:
032995,000380: 36,3452 00006 EXTEND
032996,000381: 36,3453 33764 DCA ACADN83
032997,000382: 36,3454 53253 DXCH AVEGEXIT
032998,000383: 36,3455 34736 CAF PRIO20
032999,000384: 36,3456 05105 TC FINDVAC
033000,000385: 36,3457 E7,1622 EBANK= DELVIMU
033001,000386: 36,3457 03513 74067 2CADR P47BODY
033002,000387:
033003,000388: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
033004,000389: # SEE TIG-30 IN BURNBABY.
033005,000390:
033006,000391: 36,3462 06037 CALCN83 TC INTPRET
033007,000392: 36,3463 53375 VLOAD VAD
033008,000393: 36,3464 03502 DELVCTL
033009,000394: 36,3465 03527 DELVREF
033010,000395: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759 |
033012,000397: 36,3467 77624 CALL
033013,000398: 36,3470 57267 S41.1
033014,000399: 36,3471 03623 STORE DELVIMU
033015,000400: 36,3472 77776 EXIT
033016,000401: 36,3473 05353 TC PHASCHNG
033017,000402: 36,3474 10035 OCT 10035 # REREADAC AND HERE
033018,000403:
033019,000404: 36,3475 06037 TC INTPRET
033020,000405: 36,3476 77775 VLOAD
033021,000406: 36,3477 03656 DELVSIN
033022,000407: 36,3500 03502 STORE DELVCTL
033023,000408: 36,3501 77776 EXIT
033024,000409:
033025,000410: 36,3502 04635 TC POSTJUMP
033026,000411: 36,3503 65770 CADR SERVEXIT
033027,000412:
033028,000413: 36,3504 33762 P47BOD CAF V1683
033029,000414: 36,3505 04616 TC BANKCALL
033030,000415: 36,3506 20635 CADR GOFLASHR
033031,000416: 36,3507 06001 TC GOTOPOOH
033032,000417: 36,3510 06001 TC GOTOPOOH
033033,000418:
033034,000419: 36,3511 13513 TCF P47BODY
033035,000420:
033036,000421: 36,3512 13236 TCF P40PHS1
033037,000422:
033038,000423: 36,3513 06037 P47BODY TC INTPRET
033039,000424: 36,3514 77775 VLOAD
033040,000425: 36,3515 06522 HI6ZEROS
033041,000426: 36,3516 03623 STORE DELVIMU
033042,000427: 36,3517 03502 STORE DELVCTL
033043,000428: 36,3520 77776 EXIT
033044,000429: 36,3521 03504 TC P47BOD
033045,000430:
033046,000431: 36,3522 COUNT* $$/P40
033047,000432: 36,3522 31517 IMPLBURN CA TGO +1
033048,000433: 36,3523 03735 TC GETDT
033049,000434: 36,3524 05173 TC TWIDDLE
033050,000435: 36,3525 03542 ADRES ENGOFTSK
033051,000436: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
033052,000437: 36,3527 00153 ADRES IGNFLAG
033053,000438: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
033054,000439: 36,3531 00154 ADRES ASTNFLAG
033055,000440: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
033056,000441: 36,3533 00044 ADRES IMPULSW
033057,000442: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033058,000443: 36,3535 40114 OCT 40114
033059,000444:
033060,000445: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
033061,000446: 36,3537 00062 DEC 50 B-14
|
|
Page 760 |
033063,000448: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
033064,000449:
033065,000450: 36,3541 05261 TC TASKOVER
033066,000451:
033067,000452: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033068,000453: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033069,000454: 36,3544 05261 TC TASKOVER
033070,000455:
033071,000456: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033072,000457: 36,3546 05105 TC FINDVAC
033073,000458: 36,3547 E7,1462 EBANK= TRKMKCNT
033074,000459: 36,3547 03223 74067 2CADR POSTBURN
033075,000460:
033076,000461: 36,3551 34753 ENGINOF2 CAF BIT1
033077,000462: 36,3552 05203 TC WAITLIST
033078,000463: 36,3553 E6,1422 EBANK= OMEGAQ
033079,000464: 36,3553 03606 74066 2CADR COASTSET
033080,000465:
033081,000466: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033082,000467: 36,3556 74745 MASK IDLEFBIT
033083,000468: 36,3557 26103 ADS FLAGWRD7
033084,000469:
033085,000470: 36,3560 02653 TC NOULLAGE
033086,000471:
033087,000472: 36,3561 00006 ENGINOF4 EXTEND
033088,000473: 36,3562 30025 DCA TIME2
033089,000474: 36,3563 53345 DXCH TEVENT
033090,000475:
033091,000476: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033092,000477: 36,3565 70101 MASK FLAGWRD5
033093,000478: 36,3566 54101 TS FLAGWRD5
033094,000479: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033095,000480: 36,3570 00006 EXTEND # SUBROUTINE.
033096,000481: 36,3571 02011 RAND DSALMOUT
033097,000482: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033098,000483: 36,3573 00006 EXTEND
033099,000484: 36,3574 01011 WRITE DSALMOUT
033100,000485:
033101,000486: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033102,000487: 36,3576 74736 MASK USEQRJTS
033103,000488: 36,3577 26111 ADS DAPBOOLS
033104,000489:
033105,000490: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033106,000491: 36,3601 54055 TS THRUST # IS TURNED OFF.
033107,000492: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033108,000493: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033109,000494: 36,3604 05014 WOR CHAN14
033110,000495:
033111,000496: 36,3605 04707 TC ISWRETRN
|
|
Page 761 |
033113,000498: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033114,000499: 36,3607 40204 CADR ALLCOAST
033115,000500: 36,3610 05261 TC TASKOVER
033116,000501:
033117,000502: 36,3611 E6,1422 EBANK= OMEGAQ
033118,000503: 36,3611 45020 UPDATEVG STQ CALL
033119,000504: 36,3612 03665 QTEMP1
033120,000505: 36,3613 56447 S40.8 # X-PRODUCT STEERING
033121,000506: 36,3614 43014 BON BON
033122,000507: 36,3615 01307 XDELVFLG
033123,000508: 36,3616 03665 QTEMP1
033124,000509: 36,3617 03705 NORMSW
033125,000510: 36,3620 75633 180SETUP
033126,000511: 36,3621 45345 DLOAD DSU
033127,000512: 36,3622 01235 PIPTIME
033128,000513: 36,3623 03763 TIGSAVE
033129,000514: 36,3624 50025 DSU BMN
033130,000515: 36,3625 03432 TNEWA
033131,000516: 36,3626 75656 GETRANS
033132,000517: 36,3627 43345 DLOAD DAD
033133,000518: 36,3630 03763 TIGSAVE
033134,000519: 36,3631 03432 TNEWA
033135,000520: 36,3632 03765 STORE TIGSAVEP
033136,000521: 36,3633 77776 180SETUP EXIT
033137,000522: 36,3634 10755 CCS PHASE2
033138,000523: 36,3635 13663 TCF NO.9
033139,000524: 36,3636 34737 CAF PRIO10
033140,000525: 36,3637 00004 INHINT
033141,000526: 36,3640 05105 TC FINDVAC
033142,000527: 36,3641 E7,1706 EBANK= VG
033143,000528: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
033144,000529:
033145,000530: 36,3643 05327 TC 2PHSCHNG
033146,000531: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
033147,000532: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
033148,000533:
033149,000534: 36,3646 06037 ENDSTEER TC INTPRET
033150,000535: 36,3647 77745 DLOAD
033151,000536: 36,3650 03765 TIGSAVEP
033152,000537: 36,3651 27763 STOVL TIGSAVE
033153,000538: 36,3652 01221 RN
033154,000539: 36,3653 26323 STOVL RINIT
033155,000540: 36,3654 01227 VN
033156,000541: 36,3655 02331 STORE VINIT
033157,000542: 36,3656 45345 GETRANS DLOAD DSU
033158,000543: 36,3657 03631 TPASS4
033159,000544: 36,3660 01235 PIPTIME
033160,000545: 36,3661 37452 STCALL DELLT4
033161,000546: 36,3662 03665 QTEMP1
033162,000547:
|
|
Page 762 |
033164,000549: 36,3663 06037 NO.9 TC INTPRET
033165,000550: 36,3664 77650 GOTO
033166,000551: 36,3665 03665 QTEMP1
033167,000552: 36,3666 06037 STEERING TC INTPRET
033168,000553:
033169,000554: 36,3667 77624 CALL
033170,000555: 36,3670 75611 UPDATEVG
033171,000556: 36,3671 77776 EXIT
033172,000557:
033173,000558: 36,3672 E7,1515 EBANK= DVCNTR
033174,000559: 36,3672 00004 NSTEER INHINT
033175,000560: 36,3673 35016 CA EBANK7
033176,000561: 36,3674 54003 TS EBANK
033177,000562: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033178,000563: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033179,000564: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
033180,000565:
033181,000566: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
033182,000567: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033183,000568: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033184,000569: 36,3703 10000 CCS A
033185,000570: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033186,000571: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033187,000572: 36,3706 65770 CADR SERVEXIT
033188,000573:
033189,000574: 36,3707 04674 TC IBNKCALL
033190,000575: 36,3710 40165 CADR STOPRATE
033191,000576:
033192,000577: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
033193,000578: 36,3712 00044 ADRES IMPULSW
033194,000579:
033195,000580: 36,3713 05504 TC UPFLAG
033196,000581: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
033197,000582:
033198,000583: 36,3715 00004 INHINT
033199,000584: 36,3716 00006 EXTEND
033200,000585: 36,3717 31442 DCA TIG
033201,000586: 36,3720 52155 DXCH MPAC
033202,000587: 36,3721 00006 EXTEND
033203,000588: 36,3722 40025 DCS TIME2
033204,000589: 36,3723 20155 DAS MPAC
033205,000590: 36,3724 07257 TC TPAGREE
033206,000591: 36,3725 30155 CAE MPAC +1
033207,000592: 36,3726 03735 TC GETDT
033208,000593: 36,3727 05173 TC TWIDDLE
033209,000594: 36,3730 03542 ADRES ENGOFTSK
033210,000595: 36,3731 05327 TC 2PHSCHNG
033211,000596: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033212,000597: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 763 |
033214,000599: 36,3734 15155 TCF ENDOFJOB
033215,000600:
033216,000601: 36,3735 10000 GETDT CCS A
033217,000602: 36,3736 13741 TCF +3
033218,000603: 36,3737 13741 TCF +2
033219,000604: 36,3740 34755 CAF ZERO
033220,000605: 36,3741 64753 AD ONE
033221,000606: 36,3742 56001 XCH L
033222,000607: 36,3743 34755 CAF ZERO
033223,000608: 36,3744 53517 DXCH TGO
033224,000609: 36,3745 31517 CA TGO +1
033225,000610: 36,3746 00002 TC Q
033226,000611:
033227,000612: # ************************************************************************
033228,000613:
033229,000614: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
033230,000615: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
033231,000616: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
033232,000617:
033233,000618: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
033234,000619: 36,3754 10624 SEC45 DEC 4500 B-14
033235,000620: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033236,000621: 36,3756 00764 5SEC DEC 500 B-14
033237,000622: 36,3757 05050 26SECS DEC 2600 B-14
033238,000623: 36,3760 04050 V16N40 VN 1640
033239,000624: 36,3761 04125 V16N85B VN 1685
033240,000625: 36,3762 04123 V1683 VN 1683
033241,000626: 36,3763 4777 SEC01 = 1SEC
033242,000627: 36,3763 36,2055 ACADN85 = P41TABLE +2
033243,000628:
033244,000629: 36,3763 E7,1622 EBANK= DELVIMU
033245,000630: 36,3763 03462 74067 ACADN83 2CADR CALCN83
033246,000631:
033247,000632: # *************************************************
|
|
Page 764 |
033249,000634: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
033250,000635: # MOD N02 LOG SECTION P40-P47
033251,000636: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033252,000637:
033253,000638: # FUNCTIONAL DESCRIPTION
033254,000639: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033255,000640: # VECTOR(VGTIG).
033256,000641:
033257,000642: # CALLING SEQUENCE
033258,000643: # L CALL
033259,000644: # L+1 S40.1
033260,000645:
033261,000646: # NORMAL EXIT MODE
033262,000647: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033263,000648: # ERROR RETURN IF NOSOFLAG =1
033264,000649:
033265,000650: # SUBROUTINES CALLED
033266,000651: # LEMPREC
033267,000652: # INITVEL
033268,000653: # CALCGRAV
033269,000654: # MIDGIM
033270,000655:
033271,000656: # ALARM OR ABORT EXIT MODES
033272,000657: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033273,000658:
033274,000659: # ERASABLE INITIALIZATION REQUIRED
033275,000660: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
033276,000661: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
033277,000662: # F THRUST FOR ENGINE USED
033278,000663: # IF DELTA-V MANEUVER
033279,000664: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033280,000665: # INERTIAL COORDS. OF ACTIVE VEHICLE
033281,000666: # AT TIME OF IGNITION VECTOR B7 M/CS
033282,000667: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
033283,000668: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
033284,000669: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
033285,000670: # IF AIMPT STEER
033286,000671: # TIG TIME OF IGNITION DP B28 CS
033287,000672: # RTARG POSITION TARGET TIME VECTOR B29 M
033288,000673: # CSTEER C FOR STEER LAW DP B2
033289,000674: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
033290,000675:
033291,000676: # OUTPUT
033292,000677: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
033293,000678: # VGTIG INITIAL VALUE OF VELOCITY
033294,000679: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
033295,000680: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
033296,000681: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033297,000682: # -GDT FOR S40.13 VECT B7 M/CS
033298,000683: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
033299,000684: # POSITION AT TIME OF IGNITION
033300,000685:
033301,000686: # DEBRIS QTEMP1
033302,000687: # MPAC, QPRET
033303,000688: # PUSHLIST
033304,000689:
033305,000690: 14,2347 BANK 14
033306,000691: 27,2000 SETLOC P40S1
033307,000692: 27,2000 BANK
|
|
Page 765 |
033309,000694: 27,2246 COUNT* $$/S40.1
033310,000695: 27,2246 71220 S40.1 STQ DLOAD
033311,000696: 27,2247 03632 QTEMP
033312,000697: 27,2250 03442 TIG
033313,000698: 27,2251 03763 STORE TIGSAVE
033314,000699: 27,2252 77614 DELVTEST BOFF
033315,000700: 27,2253 01347 XDELVFLG
033316,000701: 27,2254 56336 S40.1B
033317,000702: 27,2255 77201 CALCTHET SETPD VLOAD
033318,000703: 27,2256 00001 0
033319,000704: 27,2257 03650 VTIG
033320,000705: 27,2260 02331 STORE VINIT
033321,000706: 27,2261 53435 VXV UNIT
033322,000707: 27,2262 03642 RTIG
033323,000708: 27,2263 27673 STOVL UT # UP IN UT
033324,000709: 27,2264 03642 RTIG
033325,000710: 27,2265 02323 STORE RINIT
033326,000711: 27,2266 65236 VSQ PDDL
033327,000712: 27,2267 00045 36D
033328,000713: 27,2270 56205 DMP DDV
033329,000714: 27,2271 16412 THETACON
033330,000715: 27,2272 41205 DMP DMP
033331,000716: 27,2273 03664 DELVSAB
033332,000717: 27,2274 01245 WEIGHT/G
033333,000718: 27,2275 77671 DDV
033334,000719: 27,2276 03735 F
033335,000720: 27,2277 24017 STOVL 14D
033336,000721: 27,2300 03656 DELVSIN
033337,000722:
033338,000723: 27,2301 74241 DOT VXSC
033339,000724: 27,2302 03673 UT
033340,000725: 27,2303 03673 UT
033341,000726: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033342,000727: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
033343,000728: 27,2306 03656 DELVSIN
033344,000729: 27,2307 00017 14D
033345,000730: 27,2310 63356 SIN PDVL
033346,000731: 27,2311 00007 6D
033347,000732: 27,2312 53435 VXV UNIT
033348,000733: 27,2313 03673 UT
033349,000734: 27,2314 45561 VXSC STADR
033350,000735: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033351,000736: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
033352,000737: 27,2317 00017 14D
033353,000738: 27,2320 74346 COS VXSC
033354,000739: 27,2321 74255 VAD VXSC
033355,000740: 27,2322 03701 VGTIG
033356,000741: 27,2323 00045 36D
033357,000742: 27,2324 53352 VSL2 VAD
033358,000743: 27,2325 77626 STADR
|
|
Page 766 |
033360,000745: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
033361,000746:
033362,000747: 27,2327 77656 UNIT
033363,000748: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
033364,000749: 27,2331 03701 VGTIG
033365,000750: 27,2332 45006 PUSH CALL
033366,000751: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033367,000752: 27,2334 77650 GOTO
033368,000753: 27,2335 03632 QTEMP
033369,000754: 27,2336 77745 S40.1B DLOAD
033370,000755: 27,2337 03442 TIG
033371,000756: 27,2340 00041 STORE TDEC1
033372,000757: 27,2341 77621 BDSU
033373,000758: 27,2342 03631 TPASS4
033374,000759: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
033375,000760: 27,2344 27057 LEMPREC
033376,000761: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
033377,000762: 27,2346 00001 RATT
033378,000763: 27,2347 00001 0
033379,000764: 27,2350 03642 STORE RTIG
033380,000765: 27,2351 02323 STORE RINIT
033381,000766: 27,2352 77656 UNIT
033382,000767: 27,2353 27537 STOVL UNIT/R/
033383,000768: 27,2354 00007 VATT
033384,000769: 27,2355 03650 STORE VTIG
033385,000770: 27,2356 02331 STORE VINIT
033386,000771: 27,2357 65345 DLOAD PDDL # NUMIT = 0
033387,000772: 27,2360 06522 ZEROVECS
033388,000773: 27,2361 16406 EPS1
033389,000774: 27,2362 43214 BOFF DAD
033390,000775: 27,2363 03745 NORMSW
033391,000776: 27,2364 56366 SMALLEPS
033392,000777: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
033393,000778: 27,2366 66006 SMALLEPS PUSH SXA,1
033394,000779: 27,2367 02776 RTX1
033395,000780: 27,2370 45134 SXA,2 CALL
033396,000781: 27,2371 02777 RTX2
033397,000782: 27,2372 22000 INITVEL
033398,000783: 27,2373 41575 VLOAD PUSH
033399,000784: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
033400,000785: 27,2375 03701 STORE VGTIG
033401,000786: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
033402,000787: 27,2377 17673 STODL UT
033403,000788: 27,2400 00045 36D
033404,000789: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
033405,000790: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
033406,000791: 27,2403 77650 GOTO
033407,000792: 27,2404 03632 QTEMP
033408,000793:
033409,000794: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
033410,000795:
|
|
Page 767 |
033412,000797: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
033413,000798:
033414,000799: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
033415,000800:
|
|
Page 768 |
033417,000802: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
033418,000803: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033419,000804: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
033420,000805: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
033421,000806: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033422,000807:
033423,000808: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033424,000809: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033425,000810: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033426,000811: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
033427,000812: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033428,000813:
033429,000814: # CALLING SEQUENCE:
033430,000815: # L CALL INTERPRETIVE CALL.
033431,000816: # L +1 S40.2,3
033432,000817: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
033433,000818:
033434,000819: # SUBROUTINES CALLED: NONE.
033435,000820:
033436,000821: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
033437,000822:
033438,000823: # ALARM/ABORT MODES: NONE.
033439,000824:
033440,000825: # INPUT:
033441,000826: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033442,000827: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
033443,000828: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
033444,000829:
033445,000830: # OUTPUT:
033446,000831: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
033447,000832: # :YSCREF: IN REFERENCE COORDINATES
033448,000833: # :ZSCREF: (PREFERRED IMU ORIENTATION).
033449,000834: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033450,000835: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033451,000836: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033452,000837:
033453,000838: # DEBRIS: NONE.
|
|
Page 769 |
033455,000840:
033456,000841: 27,2413 COUNT* $$/S40.2
033457,000842: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033458,000843: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
033459,000844: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
033460,000845: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
033461,000846: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033462,000847: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
033463,000848: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033464,000849:
033465,000850: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033466,000851: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
033467,000852: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
033468,000853: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
033469,000854: 27,2426 46125 PDDL BHIZ
033470,000855: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
033471,000856: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
033472,000857: 27,2431 45575 STORY VLOAD STADR
033473,000858: 27,2432 74162 STORE YSCREF
033474,000859: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
033475,000860: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033476,000861: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
033477,000862: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
033478,000863:
033479,000864: 27,2437 43414 SET RVQ
033480,000865: 27,2440 01073 PFRATFLG
033481,000866: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
033482,000867: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
033483,000868: 27,2443 03650 VTIG
033484,000869: 27,2444 41456 UNIT PUSH
033485,000870: 27,2445 77650 GOTO
033486,000871: 27,2446 56431 STORY
|
|
Page 770 |
033488,000873: # SUBROUTINE S40.8
033489,000874: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
033490,000875:
033491,000876: # DESCRIPTION
033492,000877: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033493,000878: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033494,000879: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
033495,000880:
033496,000881: # CALLING SEQUENCE
033497,000882: # L-1 CALL
033498,000883: # L S40.8
033499,000884: # L+1 INTERPRETIVE RETURN
033500,000885:
033501,000886: # ALARM
033502,000887: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033503,000888: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
033504,000889:
033505,000890: # INPUT AND INITIALIZATION
033506,000891: # VGPREV REFERENCE 2(7) M/CS
033507,000892: # DELVREF REFERENCE 2(7) M/CS
033508,000893: # BDT REFERENCE 2(7) M/CS
033509,000894: # TDECAY TAIL-OFF TIME 2(28) CS
033510,000895: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033511,000896: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033512,000897: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033513,000898:
033514,000899: # NOTE: VGTIG EQUALS VGPREV
033515,000900:
033516,000901: # OUTPUT
033517,000902: # STEERSW SEE INPUT
033518,000903: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033519,000904: # TGO TIME TO CUT-OFF 2(28) CS
033520,000905: # SEE FINDCDUW FOR STEERING OUTPUTS.
033521,000906:
033522,000907: # SUBROUTINE CALLED
033523,000908: # FINDCDUW
033524,000909:
033525,000910: # DEBRIS
033526,000911: # MPACS, PUSHLIST
033527,000912:
033528,000913: 27,2447 COUNT* $$/S40.8
|
|
Page 771 |
033530,000915: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033531,000916: 27,2450 01347 XDELVFLG
033532,000917: 27,2451 56731 RASTEER1
033533,000918: 27,2452 52375 VLOAD VSU
033534,000919: 27,2453 03701 VGPREV
033535,000920: 27,2454 03527 DELVREF
033536,000921: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
033537,000922: 27,2456 76521 MXV VSL1
033538,000923: 27,2457 01734 REFSMMAT
033539,000924: 27,2460 03254 STORE UNFC/2
033540,000925: 27,2461 51575 BDTOK VLOAD ABVAL
033541,000926: 27,2462 03707 VG
033542,000927: 27,2463 03664 STORE VGDISP
033543,000928: 27,2464 77201 TGOCALC SETPD VLOAD
033544,000929: 27,2465 00001 0
033545,000930: 27,2466 03707 VG
033546,000931: 27,2467 27701 STOVL VGPREV
033547,000932: 27,2470 03527 DELVREF
033548,000933: 27,2471 57414 BOFF VCOMP
033549,000934: 27,2472 01344 STEERSW
033550,000935: 27,2473 00052 QPRET
033551,000936: 27,2474 77656 UNIT
033552,000937: 27,2475 41441 DOT PUSH
033553,000938: 27,2476 03707 VG
033554,000939: 27,2477 56244 BPL DDV
033555,000940: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
033556,000941: 27,2501 03743 VEX
033557,000942: 27,2502 41215 DAD DMP
033558,000943: 27,2503 06520 DPHALF
033559,000944: 27,2504 56261 SR DDV
033560,000945: 27,2505 20613 10D
033561,000946: 27,2506 00045 36D
033562,000947: 27,2507 43205 DMP DAD
033563,000948: 27,2510 16535 -FOURDT
033564,000949: 27,2511 03741 TDECAY
033565,000950: 27,2512 03517 STORE TGO
033566,000951: 27,2513 77615 DAD
033567,000952: 27,2514 01235 PIPTIME
033568,000953: 27,2515 17442 STODL TIG
033569,000954: 27,2516 03517 TGO
033570,000955: 27,2517 51025 DSU BPL
033571,000956: 27,2520 16537 FOURSECS # 400 CS
033572,000957: 27,2521 61111 FINDCDUW -2
033573,000958: 27,2522 43014 SET CLRGO
033574,000959: 27,2523 01066 IMPULSW
033575,000960: 27,2524 01224 STEERSW
033576,000961: 27,2525 00052 QPRET
033577,000962:
033578,000963: 27,2526 77776 ALARMIT EXIT
033579,000964:
|
|
Page 772 |
033581,000966: 27,2527 05567 TC ALARM
033582,000967: 27,2530 01407 OCT 01407
033583,000968: 27,2531 06037 TC INTPRET
033584,000969: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033585,000970: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
033586,000971:
033587,000972: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
033588,000973: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
033589,000974: 27,2540 E7,1742 2VEXHUST = VEX
033590,000975:
|
|
Page 773 |
033592,000977: # NAME S40.13 - TIMEBURN
033593,000978:
033594,000979: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033595,000980: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033596,000981: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033597,000982: # BURN
033598,000983: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033599,000984: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033600,000985: # SIGNAL
033601,000986:
033602,000987: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
033603,000988:
033604,000989: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033605,000990: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033606,000991: # F APS ENGINE THRUST IN M.NEWTONS AT +7
033607,000992: # AND ALSO FOR RCS ENGINE
033608,000993: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033609,000994: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
033610,000995: # REQUIRE MODIFICATION FOR SATURN BURNS.
033611,000996: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033612,000997: # =0 DPS
033613,000998: # =1 APS
033614,000999:
033615,001000: # OUTPUT IMPULSW ZERO FOR STEERING
033616,001001: # ONE FOR ATTITUDE HOLD
033617,001002: # NOTHROTL ZERO FOR THROTTLING
033618,001003: # ONE TO INHIBIT THROTTLING
033619,001004: # TGO TIME TO BURN IN CS
033620,001005:
033621,001006: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033622,001007: # FORCE
033623,001008:
033624,001009: 27,2540 E7,1516 EBANK= TGO
033625,001010: 27,2540 COUNT* $$/40.13
033626,001011: 27,2540 06037 S40.13 TC INTPRET
033627,001012: 27,2541 43001 SETPD CLEAR
033628,001013: 27,2542 00001 00D
033629,001014: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
033630,001015: 27,2544 51575 VLOAD ABVAL
033631,001016: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
033632,001017: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
033633,001018: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
033634,001019: 27,2550 34017 FRCS2
033635,001020: 27,2551 72471 DDV SL1 # SCALE
033636,001021: 27,2552 01245 WEIGHT/G
033637,001022: 27,2553 41421 BDSU PUSH
033638,001023: 27,2554 43014 BOFF SET
033639,001024: 27,2555 05342 APSFLAG
033640,001025: 27,2556 56626 S40.13D # FOR DPS ENGINE
033641,001026: 27,2557 02463 NOTHROTL
033642,001027: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
033643,001028: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
033644,001029: 27,2562 01245 WEIGHT/G
033645,001030: 27,2563 50021 BDSU BMN
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|
Page 774 |
033647,001032: 27,2564 00001 00D
033648,001033: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
033649,001034: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
033650,001035: 27,2567 03737 MDOT
033651,001036:
033652,001037: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033653,001038: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
033654,001039: # REQUIRE ADJUSTMENT
033655,001040:
033656,001041: 27,2570 16700 3.5SEC # 350 CS AT +14
033657,001042: 27,2571 65221 BDSU PDDL
033658,001043: 27,2572 01245 WEIGHT/G
033659,001044: 27,2573 03735 F
033660,001045: 27,2574 60405 DMP SR2 # SCALE
033661,001046: 27,2575 16702 5SECS
033662,001047: 27,2576 41471 DDV PUSH # 04D = TEMP2
033663,001048: 27,2577 51021 BDSU BPL
033664,001049: 27,2600 00003 02D
033665,001050: 27,2601 56626 S40.13D
033666,001051: 27,2602 55345 DLOAD BDDV
033667,001052: 27,2603 43205 DMP DAD
033668,001053: 27,2604 16702 5SECS
033669,001054: 27,2605 16676 1SEC2D # 100 CS AT +14
033670,001055: 27,2606 77650 GOTO
033671,001056: 27,2607 56616 S40.132
033672,001057: 27,2610 41345 S40.131 DLOAD DMP
033673,001058: 27,2611 01245 WEIGHT/G
033674,001059: 27,2612 41542 SR1 PUSH
033675,001060: 27,2613 56215 DAD DDV
033676,001061: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
033677,001062: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
033678,001063: 27,2616 77414 S40.132 SET EXIT
033679,001064: 27,2617 01066 IMPULSW
033680,001065: 27,2620 07257 S40.132* TC TPAGREE
033681,001066: 27,2621 30154 CA MPAC
033682,001067: 27,2622 56001 XCH L
033683,001068: 27,2623 34755 CA ZERO
033684,001069: 27,2624 53517 DXCH TGO
033685,001070: 27,2625 12650 TCF S40.134
033686,001071:
033687,001072: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033688,001073: 27,2627 00001 00D
033689,001074: 27,2630 01245 WEIGHT/G
033690,001075: 27,2631 43006 PUSH BON
033691,001076: 27,2632 05302 APSFLAG
033692,001077: 27,2633 56671 APSTGO
033693,001078: 27,2634 43071 DDV CLEAR
033694,001079: 27,2635 16007 S40.136
033695,001080: 27,2636 02663 NOTHROTL
033696,001081: 27,2637 41400 BOV PUSH
|
|
Page 775 |
033698,001083: 27,2640 56653 S40.130V
033699,001084: 27,2641 51025 S40.137 DSU BPL
033700,001085: 27,2642 16704 6SEC # 600.0 CS AT +14
033701,001086: 27,2643 56661 S40.138
033702,001087: 27,2644 52015 DAD GOTO
033703,001088: 27,2645 16704 6SEC
033704,001089: 27,2646 56616 S40.132
033705,001090: 27,2647 77776 S40.133 EXIT
033706,001091: 27,2650 05353 S40.134 TC PHASCHNG
033707,001092: 27,2651 00003 OCT 00003
033708,001093: 27,2652 05155 TC ENDOFJOB
033709,001094: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033710,001095: 27,2654 77671 DDV
033711,001096: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033712,001097: 27,2656 03517 STORE TGO
033713,001098: 27,2657 77776 EXIT
033714,001099: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033715,001100:
033716,001101: 27,2661 51025 S40.138 DSU BPL
033717,001102: 27,2662 16706 89SECS
033718,001103: 27,2663 56666 STORETGO
033719,001104: 27,2664 77614 SET
033720,001105: 27,2665 02463 NOTHROTL
033721,001106: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033722,001107: 27,2667 77776 EXIT
033723,001108: 27,2670 12620 TCF S40.132*
033724,001109:
033725,001110: 27,2671 62471 APSTGO DDV SL2
033726,001111: 27,2672 34007 FAPS
033727,001112: 27,2673 77650 GOTO
033728,001113: 27,2674 56667 STORETGO +1
033729,001114: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033730,001115:
033731,001116: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033732,001117:
033733,001118: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033734,001119:
033735,001120: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033736,001121:
033737,001122: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
033738,001123:
033739,001124: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033740,001125: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033741,001126: # COMPUTATION CYCLES (4 SECONDS).
033742,001127: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033743,001128: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033744,001129: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033745,001130:
033746,001131: # CALLING SEQ VIA FINDVAC AS NEW JOB.
033747,001132:
033748,001133: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033749,001134: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
|
|
Page 776 |
033751,001136: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033752,001137: # METERS/CS AT +7.
033753,001138: # TIG - TIME OF IGNITION IN CS AT +28.
033754,001139: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033755,001140: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033756,001141: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033757,001142: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033758,001143: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033759,001144: # METERS/CS AT +7.
033760,001145:
033761,001146: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033762,001147: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033763,001148: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033764,001149: # BDT - B VECTOR IN METERS/CS AT +7.
033765,001150:
033766,001151: # SUBROUTINES USED - INITVEL
033767,001152:
033768,001153: 27,2707 E7,1700 EBANK= VGPREV
033769,001154: 27,2707 COUNT* $$/S40.9
033770,001155: 27,2707 06037 S40.9 TC INTPRET
033771,001156: 27,2710 77601 SETPD
033772,001157: 27,2711 00001 00D
033773,001158: 27,2712 71214 SET DLOAD
033774,001159: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033775,001160: 27,2714 06522 HI6ZEROS
033776,001161: 27,2715 77725 PDDL
033777,001162: 27,2716 16406 EPS1
033778,001163: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033779,001164: 27,2720 03745 NORMSW
033780,001165: 27,2721 56723 EPSSMALL
033781,001166: 27,2722 16410 EPS2
033782,001167: 27,2723 45006 EPSSMALL PUSH CALL
033783,001168: 27,2724 22002 HAVEGUES
033784,001169: 27,2725 77776 ENDS40.9 EXIT
033785,001170: 27,2726 05353 TC PHASCHNG
033786,001171: 27,2727 00002 OCT 2
033787,001172: 27,2730 15155 TCF ENDOFJOB
033788,001173:
033789,001174: 27,2731 51575 RASTEER1 VLOAD ABVAL
033790,001175: 27,2732 01221 RN
033791,001176: 27,2733 53744 LXC,2 SL*
033792,001177: 27,2734 02777 RTX2
033793,001178: 27,2735 57576 0,2
033794,001179: 27,2736 27715 STOVL RMAG
033795,001180: 27,2737 03444 RTARG
033796,001181: 27,2740 47051 VSU RTB
033797,001182: 27,2741 01221 RN
033798,001183: 27,2742 21724 NORMUNX1
033799,001184: 27,2743 17656 STODL IC
033800,001185: 27,2744 00045 36D # C(36D) = ABVAL(C)
033801,001186: 27,2745 53674 XAD,2 SL*
033802,001187: 27,2746 00046 X1
|
|
Page 777 |
033804,001189: 27,2747 57576 0,2
033805,001190: 27,2750 00037 STORE 30D
033806,001191: 27,2751 41301 NORM DMP
033807,001192: 27,2752 00050 X2
033808,001193: 27,2753 03715 RMAG
033809,001194: 27,2754 57101 NORM XAD,2
033810,001195: 27,2755 00047 X1
033811,001196: 27,2756 00046 X1
033812,001197: 27,2757 77734 SXA,2
033813,001198: 27,2760 03766 MUSCALE
033814,001199: 27,2761 17725 STODL R1C # 2(+58 -X)
033815,001200: 27,2762 00037 30D
033816,001201: 27,2763 65342 SR1 PDDL
033817,001202: 27,2764 03715 RMAG
033818,001203: 27,2765 65342 SR1 PDDL
033819,001204: 27,2766 03723 RTMAG
033820,001205: 27,2767 43342 SR1 DAD
033821,001206: 27,2770 45415 DAD STADR
033822,001207: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033823,001208: 27,2772 41225 DSU DMP
033824,001209: 27,2773 00037 30D
033825,001210: 27,2774 03721 MU/A
033826,001211: 27,2775 77621 BDSU
033827,001212: 27,2776 03717 MUASTEER
033828,001213: 27,2777 45325 PDDL DSU
033829,001214: 27,3000 03733 SS
033830,001215: 27,3001 03715 RMAG
033831,001216: 27,3002 70501 NORM SR1
033832,001217: 27,3003 00047 X1
033833,001218: 27,3004 41271 DDV DMP
033834,001219: 27,3005 03725 R1C
033835,001220: 27,3006 53664 XSU,2 SL*
033836,001221: 27,3007 00046 X1
033837,001222: 27,3010 57575 1,2
033838,001223: 27,3011 77754 LXA,2
033839,001224: 27,3012 03766 MUSCALE
033840,001225: 27,3013 75366 SQRT SIGN
033841,001226: 27,3014 02673 GEOMSGN
033842,001227: 27,3015 00041 STORE 32D # + OR - A
033843,001228: 27,3016 41345 DLOAD DMP
033844,001229: 27,3017 03733 SS
033845,001230: 27,3020 03721 MU/A
033846,001231: 27,3021 77621 BDSU
033847,001232: 27,3022 03717 MUASTEER
033848,001233: 27,3023 45325 PDDL DSU
033849,001234: 27,3024 03733 SS
033850,001235: 27,3025 03723 RTMAG
033851,001236: 27,3026 70501 NORM SR1
033852,001237: 27,3027 00047 X1
033853,001238: 27,3030 41271 DDV DMP
033854,001239:
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|
Page 778 |
033856,001241: 27,3031 03725 R1C
033857,001242: 27,3032 53664 XSU,2 SL*
033858,001243: 27,3033 00046 X1
033859,001244: 27,3034 57575 1,2
033860,001245: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033861,001246: 27,3036 03733 SS
033862,001247: 27,3037 56225 DSU DDV
033863,001248: 27,3040 00037 30D
033864,001249: 27,3041 03733 SS
033865,001250: 27,3042 41566 SQRT PUSH
033866,001251: 27,3043 67542 SR1 ASIN
033867,001252: 27,3044 65205 DMP PDDL
033868,001253: 27,3045 17216 2PI+3
033869,001254: 27,3046 56325 PDDL DDV
033870,001255: 27,3047 00037 30D
033871,001256: 27,3050 03733 SS
033872,001257: 27,3051 77600 BOV
033873,001258: 27,3052 57053 +1
033874,001259: 27,3053 41366 SQRT DMP
033875,001260: 27,3054 44242 SR3 BDSU
033876,001261: 27,3055 65365 SIGN PDDL
033877,001262: 27,3056 02673 GEOMSGN
033878,001263: 27,3057 17216 2PI+3
033879,001264: 27,3060 45302 SR2 DSU
033880,001265: 27,3061 65205 DMP PDDL
033881,001266: 27,3062 03733 SS
033882,001267: 27,3063 03733 SS
033883,001268: 27,3064 75442 SR3 SQRT
033884,001269: 27,3065 77605 DMP
033885,001270: 27,3066 52525 PDDL SL3
033886,001271: 27,3067 03717 MUASTEER
033887,001272: 27,3070 55366 SQRT BDDV
033888,001273: 27,3071 43225 DSU DAD
033889,001274: 27,3072 03631 TPASS4
033890,001275: 27,3073 01235 PIPTIME
033891,001276: 27,3074 14037 STODL 30D
033892,001277: 27,3075 77765 SIGN
033893,001278: 27,3076 00037 30D # B WITH SIGN
033894,001279: 27,3077 00037 STORE 30D
033895,001280: 27,3100 77214 BON VLOAD
033896,001281: 27,3101 03705 NORMSW
033897,001282: 27,3102 57123 180MESS
033898,001283: 27,3103 03656 IC
033899,001284: 27,3104 53451 VSU UNIT
033900,001285: 27,3105 03537 UNIT/R/
033901,001286: 27,3106 63361 VXSC PDVL
033902,001287: 27,3107 00037 30D
033903,001288: 27,3110 03656 IC
033904,001289: 27,3111 53455 VAD UNIT
033905,001290: 27,3112 03537 UNIT/R/
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|
Page 779 |
033907,001292: 27,3113 53361 GETVRVG1 VXSC VAD
033908,001293: 27,3114 00041 32D
033909,001294: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033910,001295: 27,3116 02777 RTX2
033911,001296: 27,3117 57177 0 -1,2
033912,001297: 27,3120 02337 STORE VIPRIME
033913,001298: 27,3121 77650 GOTO
033914,001299: 27,3122 57166 ASTREND -2
033915,001300: 27,3123 50375 180MESS VLOAD DOT
033916,001301: 27,3124 03656 IC
033917,001302: 27,3125 03537 UNIT/R/
033918,001303: 27,3126 77240 BMN VLOAD
033919,001304: 27,3127 57146 NEGPROD
033920,001305: 27,3130 03656 IC
033921,001306: 27,3131 63362 VSR1 PDVL
033922,001307: 27,3132 03537 UNIT/R/
033923,001308: 27,3133 53362 VSR1 VAD
033924,001309: 27,3134 77656 UNIT
033925,001310: 27,3135 57406 PUSH VCOMP # FOR A
033926,001311: 27,3136 75235 VXV SIGN
033927,001312: 27,3137 02674 UN
033928,001313: 27,3140 02673 GEOMSGN
033929,001314: 27,3141 74256 UNIT VXSC
033930,001315: 27,3142 00037 30D
033931,001316: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033932,001317: 27,3144 77650 GOTO
033933,001318: 27,3145 57113 GETVRVG1
033934,001319: 27,3146 74575 NEGPROD VLOAD VSR1
033935,001320: 27,3147 03537 UNIT/R/
033936,001321: 27,3150 74515 PDVL VSR1
033937,001322: 27,3151 03656 IC
033938,001323: 27,3152 53451 VSU UNIT
033939,001324: 27,3153 77606 PUSH
033940,001325: 27,3154 75235 VXV SIGN
033941,001326: 27,3155 02674 UN # FOR B
033942,001327: 27,3156 02673 GEOMSGN
033943,001328: 27,3157 74256 UNIT VXSC
033944,001329: 27,3160 00041 32D
033945,001330: 27,3161 77715 PDVL
033946,001331: 27,3162 53361 VXSC VAD
033947,001332: 27,3163 00037 30D
033948,001333: 27,3164 77650 GOTO
033949,001334: 27,3165 57115 GETVRVG2
033950,001335: 27,3166 77651 VSU
033951,001336: 27,3167 03553 VN1
033952,001337: 27,3170 02366 ASTREND STORE DELVEET3
033953,001338: 27,3171 53135 FIRSTTME SLOAD BZE
033954,001339: 27,3172 03000 RTX2
033955,001340: 27,3173 57177 GETGOBL
033956,001341: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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|
Page 780 |
033958,001343: 27,3175 02366 DELVEET3
033959,001344: 27,3176 57212 NOGOBL
033960,001345: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033961,001346: 27,3200 01221 RN
033962,001347: 27,3201 45345 DLOAD DSU
033963,001348: 27,3202 01235 PIPTIME # 2
033964,001349: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033965,001350: 27,3204 56205 DMP DDV # OBL
033966,001351: 27,3205 16023 EARTHMU
033967,001352: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033968,001353: 27,3207 53361 VXSC VAD
033969,001354: 27,3210 03521 UNITGOBL
033970,001355: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033971,001356: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033972,001357: 27,3213 77650 GOTO
033973,001358: 27,3214 56455 VGAIN*
033974,001359:
033975,001360: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033976,001361:
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|
Page 781 |
033978,001363: # TRIMGIMB (FORMERLY S40.6)
033979,001364: # MOD 0 24 FEB 67 PETER ADLER
033980,001365:
033981,001366: # FUNCTION:
033982,001367: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033983,001368: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033984,001369: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033985,001370:
033986,001371: # CALLING SEQUENCE:
033987,001372: # VIA WAITLIST FROM R03
033988,001373:
033989,001374: # INPUT:
033990,001375: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033991,001376: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033992,001377:
033993,001378: # SUBROUTINES USED:
033994,001379: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033995,001380:
033996,001381: 27,3217 COUNT* $$/S40.6
033997,001382: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033998,001383:
033999,001384: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034000,001385: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
034001,001386:
034002,001387: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
034003,001388: 27,3222 00006 EXTEND
034004,001389: 27,3223 03012 WAND CHAN12
034005,001390: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
034006,001391: 27,3225 00006 EXTEND
034007,001392: 27,3226 05012 WOR CHAN12
034008,001393: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034009,001394: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
034010,001395: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
034011,001396: 27,3232 00006 EXTEND
034012,001397: 27,3233 03012 WAND CHAN12
034013,001398: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034014,001399: 27,3235 00006 EXTEND
034015,001400: 27,3236 05012 WOR CHAN12
034016,001401: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034017,001402: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034018,001403: 27,3241 03260 ADRES PITCHOFF
034019,001404:
034020,001405: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034021,001406: 27,3243 05224 TC VARDELAY # UNTIL THEN
034022,001407: 27,3244 44740 CS BIT12
034023,001408: 27,3245 00006 EXTEND
034024,001409: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
034025,001410: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034026,001411: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034027,001412: 27,3251 00006 EXTEND
034028,001413: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034029,001414: 27,3253 34737 CAF PRIO10 # RETURN TO R03
034030,001415: 27,3254 05072 TC NOVAC
034031,001416: 27,3255 E7,1471 EBANK= WHOCARES
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|
Page 782 |
034033,001418: 27,3255 02323 02067 2CADR TRIMDONE
034034,001419:
034035,001420: 27,3257 05261 TC TASKOVER
034036,001421: 27,3260 44742 PITCHOFF CS BIT10
034037,001422: 27,3261 00006 EXTEND
034038,001423: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
034039,001424: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034040,001425: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034041,001426: 27,3265 00137 ADRES GMBDRVSW
034042,001427: 27,3266 05261 TC TASKOVER
034043,001428:
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|
Page 783 |
034045,001430: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034046,001431: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034047,001432:
034048,001433: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034049,001434:
034050,001435: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034051,001436: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034052,001437: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034053,001438: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034054,001439: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034055,001440: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034056,001441: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034057,001442: # CALLER WITH C(MPAC) = VELOCITY(LM).
034058,001443:
034059,001444: # CALLING SEQUENCE:
034060,001445: # L VLOAD CALL
034061,001446: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034062,001447: # L +2 S41.1
034063,001448: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034064,001449:
034065,001450: # SUBROUTINES CALLED:
034066,001451: # 1. CDUTRIG,
034067,001452: # WHICH CALLS CDULOGIC.
034068,001453: # 2. *SMNB*
034069,001454:
034070,001455: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034071,001456:
034072,001457: # ALARM/ABORT MODES: NONE.
034073,001458:
034074,001459: # RESTART PROTECTION: NONE.
034075,001460:
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|
Page 784 |
034077,001462: # INPUT:
034078,001463: # 1. REFSMMAT.
034079,001464: # 2. CDUX, CDUY, CDUZ.
034080,001465: # 3. VELOCITY (REF) IN MPAC.
034081,001466:
034082,001467: # OUTPUT:
034083,001468: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034084,001469: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034085,001470: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034086,001471: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034087,001472:
034088,001473: # DEBRIS: NONE.
034089,001474:
034090,001475: # CHECKOUT STATUS: CODED.
034091,001476:
034092,001477: 27,3267 COUNT* $$/S41.1
034093,001478: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034094,001479: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034095,001480: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034096,001481: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034097,001482: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc