Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
031792,000002: ## Copyright: Public domain.
031793,000003: ## Filename: P40-P47.agc
031794,000004: ## Purpose: A section of Luminary revision 116.
031795,000005: ## It is part of the source code for the Lunar Module's (LM)
031796,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
031797,000007: ## This file is intended to be a faithful transcription, except
031798,000008: ## that the code format has been changed to conform to the
031799,000009: ## requirements of the yaYUL assembler rather than the
031800,000010: ## original YUL assembler.
031801,000011: ## Reference: pp. 745-777
031802,000012: ## Assembler: yaYUL
031803,000013: ## Contact: Ron Burkey <info@sandroid.org>.
031804,000014: ## Website: www.ibiblio.org/apollo/index.html
031805,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
031806,000016: ## 2017-03-10 RSB Transcribed, and then proofed comment-text using
031807,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
031808,000018: ## (Admittedly, the former is more for detecting errors
031809,000019: ## in Luminary 99 than the other way around.)
031810,000020: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
031811,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
031812,000022: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
031813,000023: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
031814,000024: ## Zerlina 56 (it was unreferenced so caused no errors).
031815,000025: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031816,000026:
|
|
Page 745 |
031818,000028: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031819,000029: # MOD 03 BY PETER ADLER MARCH 3, 1967
031820,000030: # CALLED VIA JOB FROM V37E
031821,000031:
031822,000032: # FUNCTIONAL DESCRIPTION
031823,000033:
031824,000034: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031825,000035: # THRUSTING MANEUVER.
031826,000036: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031827,000037: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031828,000038: # PGNCS CONTROLLED DPS MANEUVER.
031829,000039: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031830,000040: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031831,000041:
031832,000042: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031833,000043: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031834,000044:
031835,000045: # SUBROUTINES USED
031836,000046:
031837,000047: # R02 IMU STATUS CHECK
031838,000048: # S40.1 COMPUTATION OF THRUST DIRECTION
031839,000049: # S40.13 LENGTH OF BURN
031840,000050: # S40.2,3 PREFERRED IMU ORIENATTION
031841,000051: # S40.8 X PRODUCT STEERING
031842,000052: # S40.9 LAMBERT VTOGAIN
031843,000053: # R60LEM ATTITUDE MANEUVER
031844,000054: # LEMPREC EXTRAPOLATE STATE VECTOR
031845,000055: # PREREAD AVERAGE G, SERVICER
031846,000056: # ALLCOAST DAP COASTING INITIALIZATION
031847,000057: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031848,000058: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031849,000059: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031850,000060: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031851,000061:
031852,000062: # RESTARTS VIA GROUP 4
031853,000063:
031854,000064: # DISPLAYS
031855,000065:
031856,000066: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031857,000067: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031858,000068: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031859,000069: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031860,000070: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031861,000071: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031862,000072: # V05N09 POSSIBLE ALARMS
031863,000073: # V50N07 PLEASE SELECT P00
031864,000074:
|
|
Page 746 |
031866,000076: # VIA R30
031867,000077:
031868,000078: # V06N44 HAPO, PERI, TFF
031869,000079: # V06N35 TIME TO PERIGEE, HMS
031870,000080:
031871,000081: # ALARM OR ABORT EXIT MODES
031872,000082:
031873,000083: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031874,000084: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031875,000085:
031876,000086: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031877,000087: # TIG BY 45 SECS.
031878,000088:
031879,000089: # ERASABLE INITIALIZATION
031880,000090:
031881,000091: # DEBRIS
031882,000092:
031883,000093: # OUTPUT
031884,000094:
031885,000095: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031886,000096: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031887,000097: # = 0 FOR AIMPT (LAMBERT) COMP
031888,000098:
031889,000099: 27,2246 COUNT* $$/P40
031890,000100: 27,2246 E7,1455 EBANK= WHICH
031891,000101:
031892,000102: 36,3153 BANK 36
031893,000103: 36,2000 SETLOC P40S
031894,000104: 36,2000 BANK
031895,000105:
031896,000106: 36,3153 05353 P40LM TC PHASCHNG
031897,000107: 36,3154 04024 OCT 04024
031898,000108:
031899,000109: 36,3155 33137 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031900,000110: 36,3156 55455 TS WHICH
031901,000111:
031902,000112: 36,3157 30106 CA FLGWRD10
031903,000113: 36,3160 74737 MASK APSFLBIT
031904,000114: 36,3161 10000 CCS A
031905,000115: 36,3162 13125 TCF P40ALM
031906,000116: 36,3163 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031907,000117: 36,3164 11236 CADR R02BOTH
031908,000118:
031909,000119: 36,3165 40111 CS DAPBOOLS # INITIALIZE DVMON
031910,000120: 36,3166 74737 MASK CSMDOCKD
031911,000121: 36,3167 10000 CCS A
031912,000122: 36,3170 32022 CAF THRESH1
031913,000123: 36,3171 62023 AD THRESH3
031914,000124: 36,3172 55250 TS DVTHRUSH
031915,000125: 36,3173 34751 CAF FOUR
031916,000126: 36,3174 55515 TS DVCNTR
|
|
Page 747 |
031918,000128: 36,3175 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031919,000129: 36,3176 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031920,000130: 36,3177 34001 FDPS
031921,000131: 36,3200 02663 NOTHROTL
031922,000132: 36,3201 03735 STORE F
031923,000133: 36,3202 77735 SLOAD
031924,000134: 36,3203 26002 DPSVEX
031925,000135: 36,3204 70476 P40IN DCOMP SR1
031926,000136: 36,3205 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031927,000137: 36,3206 56246 S40.1 # COMPUTES UT AND VGTIG
031928,000138: 36,3207 77624 CALL
031929,000139: 36,3210 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031930,000140: 36,3211 77776 EXIT
031931,000141:
031932,000142: 36,3212 00004 INHINT
031933,000143: 36,3213 04674 TC IBNKCALL
031934,000144: 36,3214 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031935,000145:
031936,000146: 36,3215 03217 TC P40SXT4
031937,000147:
031938,000148: # ***********************
031939,000149:
031940,000150: 36,3216 12130 TCF BURNBABY
031941,000151:
031942,000152: # ***********************
031943,000153:
031944,000154: 36,3217 00006 P40SXT4 EXTEND
031945,000155: 36,3220 23141 QXCH P40/RET
031946,000156: 36,3221 00003 P41MANU RELINT
031947,000157:
031948,000158: 36,3222 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031949,000159: 36,3223 00124 ADRES 3AXISFLG
031950,000160:
031951,000161: 36,3224 04616 TC BANKCALL
031952,000162: 36,3225 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031953,000163: 36,3226 01141 TC P40/RET
031954,000164:
031955,000165: 36,3227 E7,1462 EBANK= TRKMKCNT
031956,000166: 36,3227 30005 POSTBURN CA Z
031957,000167: 36,3230 55162 TS DISPDEX
031958,000168: 36,3231 00006 EXTEND
031959,000169: 36,3232 32060 DCA ACADN85
031960,000170: 36,3233 53252 DXCH AVEGEXIT
031961,000171: 36,3234 33764 CAF V16N40
031962,000172: 36,3235 04616 TC BANKCALL
031963,000173: 36,3236 20636 CADR GOFLASHR
031964,000174: 36,3237 03262 TC TERM40
031965,000175: 36,3240 13245 TCF TIGNOW
031966,000176: 36,3241 03227 TC POSTBURN
|
|
Page 748 |
031968,000178: 36,3242 05353 P40PHS1 TC PHASCHNG
031969,000179: 36,3243 00014 OCT 00014
031970,000180: 36,3244 15155 TCF ENDOFJOB
031971,000181:
031972,000182: 36,3245 00004 TIGNOW INHINT
031973,000183: 36,3246 04674 TC IBNKCALL
031974,000184: 36,3247 40154 CADR ZATTEROR
031975,000185: 36,3250 04674 TC IBNKCALL
031976,000186: 36,3251 40141 CADR SETMINDB
031977,000187: 36,3252 00003 RELINT
031978,000188: 36,3253 33765 CAF V16N85B
031979,000189: 36,3254 04616 TC BANKCALL
031980,000190: 36,3255 20463 CADR REFLASHR
031981,000191: 36,3256 03262 TC TERM40
031982,000192: 36,3257 13262 TCF TERM40
031983,000193: 36,3260 03253 TC -5
031984,000194:
031985,000195: 36,3261 13242 TCF P40PHS1
031986,000196:
031987,000197: 36,3262 00006 TERM40 EXTEND
031988,000198: 36,3263 32110 DCA SERVCADR
031989,000199: 36,3264 53252 DXCH AVEGEXIT
031990,000200: 36,3265 34755 CAF ZERO
031991,000201: 36,3266 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
031992,000202: 36,3267 30005 CA Z
031993,000203: 36,3270 55162 TS DISPDEX
031994,000204: 36,3271 00004 INHINT
031995,000205: 36,3272 04674 TC IBNKCALL
031996,000206: 36,3273 40115 CADR RESTORDB
031997,000207: 36,3274 00003 RELINT
031998,000208: 36,3275 06001 TC GOTOPOOH
031999,000209:
032000,000210: 36,3276 E7,1455 EBANK= WHICH
032001,000211: 36,3276 COUNT* $$/P41
032002,000212: 36,3276 33140 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032003,000213: 36,3277 55455 TS WHICH
032004,000214:
032005,000215: 36,3300 04616 TC BANKCALL
032006,000216: 36,3301 11236 CADR R02BOTH
032007,000217:
032008,000218: 36,3302 06042 TC INTPRET # BOTH LM
032009,000219: 36,3303 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032010,000220: 36,3304 00700 NJETSFLG
032011,000221: 36,3305 75311 P41FJET1
032012,000222: 36,3306 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032013,000223:
032014,000224: 36,3307 37735 P41FJET STCALL F
032015,000225: 36,3310 75314 P41IN
032016,000226: 36,3311 77745 P41FJET1 DLOAD
|
|
Page 749 |
032018,000228: 36,3312 34021 FRCS2
032019,000229: 36,3313 03735 STORE F
032020,000230:
032021,000231: 36,3314 77624 P41IN CALL
032022,000232: 36,3315 56246 S40.1 # BOTH
032023,000233: 36,3316 77624 P41NORM CALL
032024,000234: 36,3317 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032025,000235: 36,3320 77776 EXIT # SET PFRATFLG.
032026,000236:
032027,000237: 36,3321 00004 INHINT
032028,000238: 36,3322 04674 TC IBNKCALL
032029,000239: 36,3323 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032030,000240: 36,3324 04674 TC IBNKCALL
032031,000241: 36,3325 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032032,000242: 36,3326 03217 TC P40SXT4
032033,000243:
032034,000244: 36,3327 06042 TC INTPRET
032035,000245: 36,3330 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032036,000246: 36,3331 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032037,000247: 36,3332 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032038,000248: 36,3333 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032039,000249: 36,3334 77776 EXIT
032040,000250:
032041,000251: 36,3335 33765 CAF V16N85B
032042,000252: 36,3336 04616 TC BANKCALL
032043,000253: 36,3337 20447 CADR GODSPRET
032044,000254:
032045,000255: 36,3340 35017 CAF PRIO5
032046,000256: 36,3341 55162 TS DISPDEX # FOR SAFETY ONLY
032047,000257: 36,3342 05105 TC FINDVAC
032048,000258: 36,3343 E7,1700 EBANK= VGPREV
032049,000259: 36,3343 03365 74067 2CADR DYNMDISP
032050,000260:
032051,000261: 36,3345 05327 TC 2PHSCHNG
032052,000262: 36,3346 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032053,000263: 36,3347 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032054,000264:
032055,000265: # ***********************
032056,000266:
032057,000267: 36,3350 12137 TCF B*RNB*B*
032058,000268:
032059,000269: # ***********************
032060,000270:
032061,000271: 36,3351 34777 BLNKWAIT CAF 1SEC
032062,000272: 36,3352 04616 TC BANKCALL
032063,000273: 36,3353 01736 CADR DELAYJOB
032064,000274:
032065,000275: 36,3354 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032066,000276: 36,3355 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032067,000277:
032068,000278: # ***********************
|
|
Page 750 |
032070,000280:
032071,000281: 36,3356 00006 EXTEND
032072,000282: 36,3357 13351 BZF BLNKWAIT
032073,000283:
032074,000284: 36,3360 33765 CAF V16N85B
032075,000285: 36,3361 04616 TC BANKCALL
032076,000286: 36,3362 20447 CADR GODSPRET
032077,000287:
032078,000288: 36,3363 35017 CAF PRIO5
032079,000289: 36,3364 05146 TC PRIOCHNG
032080,000290:
032081,000291: 36,3365 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032082,000292: 36,3366 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032083,000293: 36,3367 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032084,000294: 36,3370 06042 TC INTPRET
032085,000295: 36,3371 45175 VLOAD CALL
032086,000296: 36,3372 03701 VGPREV
032087,000297: 36,3373 57267 S41.1
032088,000298: 36,3374 03502 STORE VGBODY
032089,000299: 36,3375 77776 EXIT
032090,000300: 36,3376 34777 CAF 1SEC
032091,000301: 36,3377 04616 TC BANKCALL
032092,000302: 36,3400 01736 CADR DELAYJOB
032093,000303: 36,3401 13365 TCF DYNMDISP
032094,000304:
032095,000305: 36,3402 06042 CALCN85 TC INTPRET
032096,000306: 36,3403 77624 CALL
032097,000307: 36,3404 75615 UPDATEVG
032098,000308: 36,3405 45175 VLOAD CALL
032099,000309: 36,3406 03701 VGPREV
032100,000310: 36,3407 57267 S41.1
032101,000311: 36,3410 03502 STORE VGBODY
032102,000312: 36,3411 77776 EXIT
032103,000313: 36,3412 04635 TC POSTJUMP
032104,000314: 36,3413 65761 CADR SERVEXIT
032105,000315:
032106,000316: 36,3414 COUNT* $$/P42
032107,000317: 36,3414 E7,1455 EBANK= WHICH
032108,000318:
032109,000319: 36,3414 05353 P42LM TC PHASCHNG
032110,000320: 36,3415 04024 OCT 04024
032111,000321:
032112,000322: 36,3416 33141 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032113,000323: 36,3417 55455 TS WHICH
032114,000324:
032115,000325: 36,3420 40106 CS FLGWRD10
032116,000326: 36,3421 74737 MASK APSFLBIT
032117,000327: 36,3422 10000 CCS A
032118,000328: 36,3423 03125 TC P40ALM
032119,000329: 36,3424 04616 P42STAGE TC BANKCALL
|
|
Page 751 |
032121,000331: 36,3425 11236 CADR R02BOTH
032122,000332: 36,3426 36000 CAF THRESH2 # INITIALIZE DVMON
032123,000333: 36,3427 55250 TS DVTHRUSH
032124,000334: 36,3430 34751 CAF FOUR
032125,000335: 36,3431 55515 TS DVCNTR
032126,000336:
032127,000337: 36,3432 06042 TC INTPRET
032128,000338: 36,3433 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032129,000339: 36,3434 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032130,000340: 36,3435 34007 FAPS
032131,000341: 36,3436 03735 STORE F
032132,000342: 36,3437 52135 SLOAD GOTO
032133,000343: 36,3440 26001 APSVEX
032134,000344: 36,3441 75204 P40IN
032135,000345:
032136,000346: 36,3442 E7,1455 EBANK= WHICH
032137,000347:
032138,000348: 36,3442 COUNT* $$/P47
032139,000349: 36,3442 04616 P47LM TC BANKCALL
032140,000350: 36,3443 11236 CADR R02BOTH
032141,000351: 36,3444 06042 TC INTPRET
032142,000352: 36,3445 77624 CALRB
032143,000353: 36,3446 27551 MIDTOAV2
032144,000354:
032145,000355: 36,3447 30155 CA MPAC +1
032146,000356: 36,3450 05173 TC TWIDDLE
032147,000357: 36,3451 03453 ADRES STARTP47
032148,000358:
032149,000359: 36,3452 15155 TCF ENDOFJOB
032150,000360:
032151,000361: 36,3453 05353 STARTP47 TC PHASCHNG
032152,000362: 36,3454 05014 OCT 05014
032153,000363: 36,3455 77777 OCT 77777
032154,000364:
032155,000365: 36,3456 00006 EXTEND
032156,000366: 36,3457 33770 DCA ACADN83
032157,000367: 36,3460 53252 DXCH AVEGEXIT
032158,000368: 36,3461 34736 CAF PRIO20
032159,000369: 36,3462 05105 TC FINDVAC
032160,000370: 36,3463 E7,1622 EBANK= DELVIMU
032161,000371: 36,3463 03517 74067 2CADR P47BODY
032162,000372:
032163,000373: 36,3465 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032164,000374: # SEE TIG-30 IN BURNBABY.
032165,000375:
032166,000376: 36,3466 06042 CALCN83 TC INTPRET
032167,000377: 36,3467 53375 VLOAD VAD
032168,000378: 36,3470 03502 DELVCTL
032169,000379: 36,3471 03527 DELVREF
032170,000380: 36,3472 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
|
|
Page 752 |
032172,000382: 36,3473 77624 CALL
032173,000383: 36,3474 57267 S41.1
032174,000384: 36,3475 03623 STORE DELVIMU
032175,000385: 36,3476 77776 EXIT
032176,000386: 36,3477 05353 TC PHASCHNG
032177,000387: 36,3500 10035 OCT 10035 # REREADAC AND HERE
032178,000388:
032179,000389: 36,3501 06042 TC INTPRET
032180,000390: 36,3502 77775 VLOAD
032181,000391: 36,3503 03656 DELVSIN
032182,000392: 36,3504 03502 STORE DELVCTL
032183,000393: 36,3505 77776 EXIT
032184,000394:
032185,000395: 36,3506 04635 TC POSTJUMP
032186,000396: 36,3507 65761 CADR SERVEXIT
032187,000397:
032188,000398: 36,3510 33766 P47BOD CAF V1683
032189,000399: 36,3511 04616 TC BANKCALL
032190,000400: 36,3512 20636 CADR GOFLASHR
032191,000401: 36,3513 06001 TC GOTOPOOH
032192,000402: 36,3514 06001 TC GOTOPOOH
032193,000403:
032194,000404: 36,3515 13517 TCF P47BODY
032195,000405:
032196,000406: 36,3516 13242 TCF P40PHS1
032197,000407:
032198,000408: 36,3517 06042 P47BODY TC INTPRET
032199,000409: 36,3520 77775 VLOAD
032200,000410: 36,3521 06524 HI6ZEROS
032201,000411: 36,3522 03623 STORE DELVIMU
032202,000412: 36,3523 03502 STORE DELVCTL
032203,000413: 36,3524 77776 EXIT
032204,000414: 36,3525 03510 TC P47BOD
032205,000415:
032206,000416: 36,3526 COUNT* $$/P40
032207,000417: 36,3526 31517 IMPLBURN CA TGO +1
032208,000418: 36,3527 03741 TC GETDT
032209,000419: 36,3530 05173 TC TWIDDLE
032210,000420: 36,3531 03546 ADRES ENGOFTSK
032211,000421: 36,3532 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032212,000422: 36,3533 00153 ADRES IGNFLAG
032213,000423: 36,3534 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032214,000424: 36,3535 00154 ADRES ASTNFLAG
032215,000425: 36,3536 05516 TC DOWNFLAG # TURN OFF IMPULSW
032216,000426: 36,3537 00044 ADRES IMPULSW
032217,000427: 36,3540 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032218,000428: 36,3541 40114 OCT 40114
032219,000429:
032220,000430: 36,3542 05221 TC FIXDELAY # WAIT HALF A SECOND
032221,000431: 36,3543 00062 DEC 50 B-14
|
|
Page 753 |
032223,000433: 36,3544 02657 TC NOULLAGE # TURN OFF ULLAGE
032224,000434:
032225,000435: 36,3545 05261 TC TASKOVER
032226,000436:
032227,000437: 36,3546 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032228,000438: 36,3547 75551 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032229,000439: 36,3550 05261 TC TASKOVER
032230,000440:
032231,000441: 36,3551 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032232,000442: 36,3552 05105 TC FINDVAC
032233,000443: 36,3553 E7,1462 EBANK= TRKMKCNT
032234,000444: 36,3553 03227 74067 2CADR POSTBURN
032235,000445:
032236,000446: 36,3555 34753 ENGINOF2 CAF BIT1
032237,000447: 36,3556 05203 TC WAITLIST
032238,000448: 36,3557 E6,1422 EBANK= OMEGAQ
032239,000449: 36,3557 03612 74066 2CADR COASTSET
032240,000450:
032241,000451: 36,3561 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032242,000452: 36,3562 74745 MASK IDLEFBIT
032243,000453: 36,3563 26103 ADS FLAGWRD7
032244,000454:
032245,000455: 36,3564 02657 TC NOULLAGE
032246,000456:
032247,000457: 36,3565 00006 ENGINOF4 EXTEND
032248,000458: 36,3566 30025 DCA TIME2
032249,000459: 36,3567 53342 DXCH TEVENT
032250,000460:
032251,000461: 36,3570 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032252,000462: 36,3571 70101 MASK FLAGWRD5
032253,000463: 36,3572 54101 TS FLAGWRD5
032254,000464: 36,3573 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032255,000465: 36,3574 00006 EXTEND # SUBROUTINE.
032256,000466: 36,3575 02011 RAND DSALMOUT
032257,000467: 36,3576 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032258,000468: 36,3577 00006 EXTEND
032259,000469: 36,3600 01011 WRITE DSALMOUT
032260,000470:
032261,000471: 36,3601 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032262,000472: 36,3602 74736 MASK USEQRJTS
032263,000473: 36,3603 26111 ADS DAPBOOLS
032264,000474:
032265,000475: 36,3604 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032266,000476: 36,3605 54055 TS THRUST # IS TURNED OFF.
032267,000477: 36,3606 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032268,000478: 36,3607 00006 EXTEND # ENGINE IS DISARMED.
032269,000479: 36,3610 05014 WOR CHAN14
032270,000480:
032271,000481: 36,3611 04707 TC ISWRETRN
|
|
Page 754 |
032273,000483: 36,3612 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032274,000484: 36,3613 40205 CADR ALLCOAST
032275,000485: 36,3614 05261 TC TASKOVER
032276,000486:
032277,000487: 36,3615 E6,1422 EBANK= OMEGAQ
032278,000488: 36,3615 45020 UPDATEVG STQ CALL
032279,000489: 36,3616 03665 QTEMP1
032280,000490: 36,3617 56447 S40.8 # X-PRODUCT STEERING
032281,000491: 36,3620 43014 BON BON
032282,000492: 36,3621 01307 XDELVFLG
032283,000493: 36,3622 03665 QTEMP1
032284,000494: 36,3623 03705 NORMSW
032285,000495: 36,3624 75637 180SETUP
032286,000496: 36,3625 45345 DLOAD DSU
032287,000497: 36,3626 01234 PIPTIME
032288,000498: 36,3627 03763 TIGSAVE
032289,000499: 36,3630 50025 DSU BMN
032290,000500: 36,3631 03432 TNEWA
032291,000501: 36,3632 75662 GETRANS
032292,000502: 36,3633 43345 DLOAD DAD
032293,000503: 36,3634 03763 TIGSAVE
032294,000504: 36,3635 03432 TNEWA
032295,000505: 36,3636 03765 STORE TIGSAVEP
032296,000506: 36,3637 77776 180SETUP EXIT
032297,000507: 36,3640 10754 CCS PHASE2
032298,000508: 36,3641 13667 TCF NO.9
032299,000509: 36,3642 34737 CAF PRIO10
032300,000510: 36,3643 00004 INHINT
032301,000511: 36,3644 05105 TC FINDVAC
032302,000512: 36,3645 E7,1706 EBANK= VG
032303,000513: 36,3645 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032304,000514:
032305,000515: 36,3647 05327 TC 2PHSCHNG
032306,000516: 36,3650 00172 OCT 00172 # 2.17SPOT FOR S40.9
032307,000517: 36,3651 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032308,000518:
032309,000519: 36,3652 06042 ENDSTEER TC INTPRET
032310,000520: 36,3653 77745 DLOAD
032311,000521: 36,3654 03765 TIGSAVEP
032312,000522: 36,3655 27763 STOVL TIGSAVE
032313,000523: 36,3656 01220 RN
032314,000524: 36,3657 26323 STOVL RINIT
032315,000525: 36,3660 01226 VN
032316,000526: 36,3661 02331 STORE VINIT
032317,000527: 36,3662 45345 GETRANS DLOAD DSU
032318,000528: 36,3663 03631 TPASS4
032319,000529: 36,3664 01234 PIPTIME
032320,000530: 36,3665 37452 STCALL DELLT4
032321,000531: 36,3666 03665 QTEMP1
032322,000532:
|
|
Page 755 |
032324,000534: 36,3667 06042 NO.9 TC INTPRET
032325,000535: 36,3670 77650 GOTO
032326,000536: 36,3671 03665 QTEMP1
032327,000537: 36,3672 06042 STEERING TC INTPRET
032328,000538:
032329,000539: 36,3673 77624 CALL
032330,000540: 36,3674 75615 UPDATEVG
032331,000541: 36,3675 77776 EXIT
032332,000542:
032333,000543: 36,3676 E7,1515 EBANK= DVCNTR
032334,000544: 36,3676 00004 NSTEER INHINT
032335,000545: 36,3677 35016 CA EBANK7
032336,000546: 36,3700 54003 TS EBANK
032337,000547: 36,3701 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032338,000548: 36,3702 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032339,000549: 36,3703 10000 CCS A # STEERING IS ALMOST DONE.
032340,000550:
032341,000551: 36,3704 13711 TCF +5 # IMPULSW = 0 EXIT
032342,000552: 36,3705 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032343,000553: 36,3706 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032344,000554: 36,3707 10000 CCS A
032345,000555: 36,3710 13713 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032346,000556: 36,3711 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032347,000557: 36,3712 65761 CADR SERVEXIT
032348,000558:
032349,000559: 36,3713 04674 TC IBNKCALL
032350,000560: 36,3714 40166 CADR STOPRATE
032351,000561:
032352,000562: 36,3715 05516 TC DOWNFLAG # TURN OFF IMPULSW
032353,000563: 36,3716 00044 ADRES IMPULSW
032354,000564:
032355,000565: 36,3717 05504 TC UPFLAG
032356,000566: 36,3720 00161 ADRES IDLEFLAG # TURN OFF DVMON
032357,000567:
032358,000568: 36,3721 00004 INHINT
032359,000569: 36,3722 00006 EXTEND
032360,000570: 36,3723 31442 DCA TIG
032361,000571: 36,3724 52155 DXCH MPAC
032362,000572: 36,3725 00006 EXTEND
032363,000573: 36,3726 40025 DCS TIME2
032364,000574: 36,3727 20155 DAS MPAC
032365,000575: 36,3730 07262 TC TPAGREE
032366,000576: 36,3731 30155 CAE MPAC +1
032367,000577: 36,3732 03741 TC GETDT
032368,000578: 36,3733 05173 TC TWIDDLE
032369,000579: 36,3734 03546 ADRES ENGOFTSK
032370,000580: 36,3735 05327 TC 2PHSCHNG
032371,000581: 36,3736 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032372,000582: 36,3737 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 756 |
032374,000584: 36,3740 15155 TCF ENDOFJOB
032375,000585:
032376,000586: 36,3741 10000 GETDT CCS A
032377,000587: 36,3742 13745 TCF +3
032378,000588: 36,3743 13745 TCF +2
032379,000589: 36,3744 34755 CAF ZERO
032380,000590: 36,3745 64753 AD ONE
032381,000591: 36,3746 56001 XCH L
032382,000592: 36,3747 34755 CAF ZERO
032383,000593: 36,3750 53517 DXCH TGO
032384,000594: 36,3751 31517 CA TGO +1
032385,000595: 36,3752 00002 TC Q
032386,000596:
032387,000597: # ************************************************************************
032388,000598:
032389,000599: 36,3753 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032390,000600: 36,3754 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032391,000601: 36,3755 00000 05670 SEC30DP 2DEC 3000 B-28
032392,000602:
032393,000603: 36,3757 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032394,000604: 36,3760 10624 SEC45 DEC 4500 B-14
032395,000605: 36,3761 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032396,000606: 36,3762 00764 5SEC DEC 500 B-14
032397,000607: 36,3763 05050 26SECS DEC 2600 B-14
032398,000608: 36,3764 04050 V16N40 VN 1640
032399,000609: 36,3765 04125 V16N85B VN 1685
032400,000610: 36,3766 04123 V1683 VN 1683
032401,000611: 36,3767 4777 SEC01 = 1SEC
032402,000612: 36,3767 36,2057 ACADN85 = P41TABLE +2
032403,000613:
032404,000614: 36,3767 E7,1622 EBANK= DELVIMU
032405,000615: 36,3767 03466 74067 ACADN83 2CADR CALCN83
032406,000616:
032407,000617: # *************************************************
|
|
Page 757 |
032409,000619: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032410,000620: # MOD N02 LOG SECTION P40-P47
032411,000621: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032412,000622:
032413,000623: # FUNCTIONAL DESCRIPTION
032414,000624: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032415,000625: # VECTOR(VGTIG).
032416,000626:
032417,000627: # CALLING SEQUENCE
032418,000628: # L CALL
032419,000629: # L+1 S40.1
032420,000630:
032421,000631: # NORMAL EXIT MODE
032422,000632: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032423,000633: # ERROR RETURN IF NOSOFLAG =1
032424,000634:
032425,000635: # SUBROUTINES CALLED
032426,000636: # LEMPREC
032427,000637: # INITVEL
032428,000638: # CALCGRAV
032429,000639: # MIDGIM
032430,000640:
032431,000641: # ALARM OR ABORT EXIT MODES
032432,000642: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032433,000643:
032434,000644: # ERASABLE INITIALIZATION REQUIRED
032435,000645: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032436,000646: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032437,000647: # F THRUST FOR ENGINE USED
032438,000648: # IF DELTA-V MANEUVER
032439,000649: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032440,000650: # INERTIAL COORDS. OF ACTIVE VEHICLE
032441,000651: # AT TIME OF IGNITION VECTOR B7 M/CS
032442,000652: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032443,000653: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032444,000654: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032445,000655: # IF AIMPT STEER
032446,000656: # TIG TIME OF IGNITION DP B28 CS
032447,000657: # RTARG POSITION TARGET TIME VECTOR B29 M
032448,000658: # CSTEER C FOR STEER LAW DP B2
032449,000659: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032450,000660:
032451,000661: # OUTPUT
032452,000662: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032453,000663: # VGTIG INITIAL VALUE OF VELOCITY
032454,000664: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032455,000665: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032456,000666: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032457,000667: # -GDT FOR S40.13 VECT B7 M/CS
032458,000668: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032459,000669: # POSITION AT TIME OF IGNITION
032460,000670:
032461,000671: # DEBRIS QTEMP1
032462,000672: # MPAC, QPRET
032463,000673: # PUSHLIST
032464,000674:
032465,000675: 14,2347 BANK 14
032466,000676: 27,2000 SETLOC P40S1
032467,000677: 27,2000 BANK
|
|
Page 758 |
032469,000679: 27,2246 COUNT* $$/S40.1
032470,000680: 27,2246 71220 S40.1 STQ DLOAD
032471,000681: 27,2247 03632 QTEMP
032472,000682: 27,2250 03442 TIG
032473,000683: 27,2251 03763 STORE TIGSAVE
032474,000684: 27,2252 77614 DELVTEST BOFF
032475,000685: 27,2253 01347 XDELVFLG
032476,000686: 27,2254 56336 S40.1B
032477,000687: 27,2255 77201 CALCTHET SETPD VLOAD
032478,000688: 27,2256 00001 0
032479,000689: 27,2257 03650 VTIG
032480,000690: 27,2260 02331 STORE VINIT
032481,000691: 27,2261 53435 VXV UNIT
032482,000692: 27,2262 03642 RTIG
032483,000693: 27,2263 27673 STOVL UT # UP IN UT
032484,000694: 27,2264 03642 RTIG
032485,000695: 27,2265 02323 STORE RINIT
032486,000696: 27,2266 65236 VSQ PDDL
032487,000697: 27,2267 00045 36D
032488,000698: 27,2270 56205 DMP DDV
032489,000699: 27,2271 16412 THETACON
032490,000700: 27,2272 41205 DMP DMP
032491,000701: 27,2273 03664 DELVSAB
032492,000702: 27,2274 01244 WEIGHT/G
032493,000703: 27,2275 77671 DDV
032494,000704: 27,2276 03735 F
032495,000705: 27,2277 24017 STOVL 14D
032496,000706: 27,2300 03656 DELVSIN
032497,000707:
032498,000708: 27,2301 74241 DOT VXSC
032499,000709: 27,2302 03673 UT
032500,000710: 27,2303 03673 UT
032501,000711: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032502,000712: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032503,000713: 27,2306 03656 DELVSIN
032504,000714: 27,2307 00017 14D
032505,000715: 27,2310 63356 SIN PDVL
032506,000716: 27,2311 00007 6D
032507,000717: 27,2312 53435 VXV UNIT
032508,000718: 27,2313 03673 UT
032509,000719: 27,2314 45561 VXSC STADR
032510,000720: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032511,000721: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032512,000722: 27,2317 00017 14D
032513,000723: 27,2320 74346 COS VXSC
032514,000724: 27,2321 74255 VAD VXSC
032515,000725: 27,2322 03701 VGTIG
032516,000726: 27,2323 00045 36D
032517,000727: 27,2324 53352 VSL2 VAD
032518,000728: 27,2325 77626 STADR
|
|
Page 759 |
032520,000730: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032521,000731:
032522,000732: 27,2327 77656 UNIT
032523,000733: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032524,000734: 27,2331 03701 VGTIG
032525,000735: 27,2332 45006 PUSH CALL
032526,000736: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032527,000737: 27,2334 77650 GOTO
032528,000738: 27,2335 03632 QTEMP
032529,000739: 27,2336 77745 S40.1B DLOAD
032530,000740: 27,2337 03442 TIG
032531,000741: 27,2340 00041 STORE TDEC1
032532,000742: 27,2341 77621 BDSU
032533,000743: 27,2342 03631 TPASS4
032534,000744: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032535,000745: 27,2344 27060 LEMPREC
032536,000746: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032537,000747: 27,2346 00001 RATT
032538,000748: 27,2347 00001 0
032539,000749: 27,2350 03642 STORE RTIG
032540,000750: 27,2351 02323 STORE RINIT
032541,000751: 27,2352 77656 UNIT
032542,000752: 27,2353 27537 STOVL UNIT/R/
032543,000753: 27,2354 00007 VATT
032544,000754: 27,2355 03650 STORE VTIG
032545,000755: 27,2356 02331 STORE VINIT
032546,000756: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032547,000757: 27,2360 06524 ZEROVECS
032548,000758: 27,2361 16406 EPS1
032549,000759: 27,2362 43214 BOFF DAD
032550,000760: 27,2363 03745 NORMSW
032551,000761: 27,2364 56366 SMALLEPS
032552,000762: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032553,000763: 27,2366 66006 SMALLEPS PUSH SXA,1
032554,000764: 27,2367 02776 RTX1
032555,000765: 27,2370 45134 SXA,2 CALL
032556,000766: 27,2371 02777 RTX2
032557,000767: 27,2372 22000 INITVEL
032558,000768: 27,2373 41575 VLOAD PUSH
032559,000769: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032560,000770: 27,2375 03701 STORE VGTIG
032561,000771: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032562,000772: 27,2377 17673 STODL UT
032563,000773: 27,2400 00045 36D
032564,000774: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032565,000775: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032566,000776: 27,2403 77650 GOTO
032567,000777: 27,2404 03632 QTEMP
032568,000778:
032569,000779: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032570,000780:
|
|
Page 760 |
032572,000782: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032573,000783:
032574,000784: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032575,000785:
|
|
Page 761 |
032577,000787: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032578,000788: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032579,000789: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032580,000790: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032581,000791: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032582,000792:
032583,000793: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032584,000794: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032585,000795: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032586,000796: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032587,000797: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032588,000798:
032589,000799: # CALLING SEQUENCE:
032590,000800: # L CALL INTERPRETIVE CALL.
032591,000801: # L +1 S40.2,3
032592,000802: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032593,000803:
032594,000804: # SUBROUTINES CALLED: NONE.
032595,000805:
032596,000806: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032597,000807:
032598,000808: # ALARM/ABORT MODES: NONE.
032599,000809:
032600,000810: # INPUT:
032601,000811: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032602,000812: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032603,000813: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032604,000814:
032605,000815: # OUTPUT:
032606,000816: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
032607,000817: # : YSCREF : IN REFERENCE COORDINATES
032608,000818: # : ZSCREF : (PREFERRED IMU ORIENTATION).
032609,000819: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032610,000820: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032611,000821: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032612,000822:
032613,000823: # DEBRIS: NONE.
|
|
Page 762 |
032615,000825:
032616,000826: 27,2413 COUNT* $$/S40.2
032617,000827: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032618,000828: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032619,000829: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032620,000830: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032621,000831: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032622,000832: 27,2420 06522 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032623,000833: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032624,000834:
032625,000835: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032626,000836: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032627,000837: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032628,000838: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032629,000839: 27,2426 46125 PDDL BHIZ
032630,000840: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032631,000841: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032632,000842: 27,2431 45575 STORY VLOAD STADR
032633,000843: 27,2432 74162 STORE YSCREF
032634,000844: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032635,000845: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032636,000846: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032637,000847: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032638,000848:
032639,000849: 27,2437 43414 SET RVQ
032640,000850: 27,2440 01073 PFRATFLG
032641,000851: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032642,000852: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032643,000853: 27,2443 03650 VTIG
032644,000854: 27,2444 41456 UNIT PUSH
032645,000855: 27,2445 77650 GOTO
032646,000856: 27,2446 56431 STORY
|
|
Page 763 |
032648,000858: # SUBROUTINE S40.8
032649,000859: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032650,000860:
032651,000861: # DESCRIPTION
032652,000862: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032653,000863: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032654,000864: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032655,000865:
032656,000866: # CALLING SEQUENCE
032657,000867: # L-1 CALL
032658,000868: # L S40.8
032659,000869: # L+1 INTERPRETIVE RETURN
032660,000870:
032661,000871: # ALARM
032662,000872: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032663,000873: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032664,000874:
032665,000875: # INPUT AND INITIALIZATION
032666,000876: # VGPREV REFERENCE 2(7) M/CS
032667,000877: # DELVREF REFERENCE 2(7) M/CS
032668,000878: # BDT REFERENCE 2(7) M/CS
032669,000879: # TDECAY TAIL-OFF TIME 2(28) CS
032670,000880: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032671,000881: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032672,000882: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032673,000883:
032674,000884: # NOTE: VGTIG EQUALS VGPREV
032675,000885:
032676,000886: # OUTPUT
032677,000887: # STEERSW SEE INPUT
032678,000888: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032679,000889: # TGO TIME TO CUT-OFF 2(28) CS
032680,000890: # SEE FINDCDUW FOR STEERING OUTPUTS.
032681,000891:
032682,000892: # SUBROUTINE CALLED
032683,000893: # FINDCDUW
032684,000894:
032685,000895: # DEBRIS
032686,000896: # MPACS, PUSHLIST
032687,000897:
032688,000898: 27,2447 COUNT* $$/S40.8
|
|
Page 764 |
032690,000900: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032691,000901: 27,2450 01347 XDELVFLG
032692,000902: 27,2451 56731 RASTEER1
032693,000903: 27,2452 52375 VLOAD VSU
032694,000904: 27,2453 03701 VGPREV
032695,000905: 27,2454 03527 DELVREF
032696,000906: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032697,000907: 27,2456 76521 MXV VSL1
032698,000908: 27,2457 01734 REFSMMAT
032699,000909: 27,2460 03254 STORE UNFC/2
032700,000910: 27,2461 51575 BDTOK VLOAD ABVAL
032701,000911: 27,2462 03707 VG
032702,000912: 27,2463 03664 STORE VGDISP
032703,000913: 27,2464 77201 TGOCALC SETPD VLOAD
032704,000914: 27,2465 00001 0
032705,000915: 27,2466 03707 VG
032706,000916: 27,2467 27701 STOVL VGPREV
032707,000917: 27,2470 03527 DELVREF
032708,000918: 27,2471 57414 BOFF VCOMP
032709,000919: 27,2472 01344 STEERSW
032710,000920: 27,2473 00052 QPRET
032711,000921: 27,2474 77656 UNIT
032712,000922: 27,2475 41441 DOT PUSH
032713,000923: 27,2476 03707 VG
032714,000924: 27,2477 56244 BPL DDV
032715,000925: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032716,000926: 27,2501 03743 VEX
032717,000927: 27,2502 41215 DAD DMP
032718,000928: 27,2503 06522 DPHALF
032719,000929: 27,2504 56261 SR DDV
032720,000930: 27,2505 20613 10D
032721,000931: 27,2506 00045 36D
032722,000932: 27,2507 43205 DMP DAD
032723,000933: 27,2510 16535 -FOURDT
032724,000934: 27,2511 03741 TDECAY
032725,000935: 27,2512 03517 STORE TGO
032726,000936: 27,2513 77615 DAD
032727,000937: 27,2514 01234 PIPTIME
032728,000938: 27,2515 17442 STODL TIG
032729,000939: 27,2516 03517 TGO
032730,000940: 27,2517 51025 DSU BPL
032731,000941: 27,2520 16537 FOURSECS # 400 CS
032732,000942: 27,2521 61076 FINDCDUW -2
032733,000943: 27,2522 43014 SET CLRGO
032734,000944: 27,2523 01066 IMPULSW
032735,000945: 27,2524 01224 STEERSW
032736,000946: 27,2525 00052 QPRET
032737,000947:
032738,000948: 27,2526 77776 ALARMIT EXIT
032739,000949:
|
|
Page 765 |
032741,000951: 27,2527 05567 TC ALARM
032742,000952: 27,2530 01407 OCT 01407
032743,000953: 27,2531 06042 TC INTPRET
032744,000954: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032745,000955: 27,2533 61076 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032746,000956:
032747,000957: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032748,000958: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032749,000959: 27,2540 E7,1742 2VEXHUST = VEX
032750,000960:
|
|
Page 766 |
032752,000962: # NAME S40.13 - TIMEBURN
032753,000963:
032754,000964: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032755,000965: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032756,000966: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032757,000967: # BURN
032758,000968: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032759,000969: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032760,000970: # SIGNAL
032761,000971:
032762,000972: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032763,000973:
032764,000974: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032765,000975: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032766,000976: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032767,000977: # AND ALSO FOR RCS ENGINE
032768,000978: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032769,000979: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032770,000980: # REQUIRE MODIFICATION FOR SATURN BURNS.
032771,000981: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032772,000982: # =0 DPS
032773,000983: # =1 APS
032774,000984:
032775,000985: # OUTPUT IMPULSW ZERO FOR STEERING
032776,000986: # ONE FOR ATTITUDE HOLD
032777,000987: # NOTHROTL ZERO FOR THROTTLING
032778,000988: # ONE TO INHIBIT THROTTLING
032779,000989: # TGO TIME TO BURN IN CS
032780,000990:
032781,000991: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032782,000992: # FORCE
032783,000993:
032784,000994: 27,2540 E7,1516 EBANK= TGO
032785,000995: 27,2540 COUNT* $$/40.13
032786,000996: 27,2540 06042 S40.13 TC INTPRET
032787,000997: 27,2541 43001 SETPD CLEAR
032788,000998: 27,2542 00001 00D
032789,000999: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032790,001000: 27,2544 51575 VLOAD ABVAL
032791,001001: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032792,001002: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032793,001003: 27,2547 21006 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032794,001004: 27,2550 34021 FRCS2
032795,001005: 27,2551 72471 DDV SL1 # SCALE
032796,001006: 27,2552 01244 WEIGHT/G
032797,001007: 27,2553 41421 BDSU PUSH
032798,001008: 27,2554 43014 BOFF SET
032799,001009: 27,2555 05342 APSFLAG
032800,001010: 27,2556 56626 S40.13D # FOR DPS ENGINE
032801,001011: 27,2557 02463 NOTHROTL
032802,001012: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032803,001013: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032804,001014: 27,2562 01244 WEIGHT/G
032805,001015: 27,2563 50021 BDSU BMN
|
|
Page 767 |
032807,001017: 27,2564 00001 00D
032808,001018: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032809,001019: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032810,001020: 27,2567 03737 MDOT
032811,001021:
032812,001022: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032813,001023: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032814,001024: # REQUIRE ADJUSTMENT
032815,001025:
032816,001026: 27,2570 16700 3.5SEC # 350 CS AT +14
032817,001027: 27,2571 65221 BDSU PDDL
032818,001028: 27,2572 01244 WEIGHT/G
032819,001029: 27,2573 03735 F
032820,001030: 27,2574 60405 DMP SR2 # SCALE
032821,001031: 27,2575 16702 5SECS
032822,001032: 27,2576 41471 DDV PUSH # 04D = TEMP2
032823,001033: 27,2577 51021 BDSU BPL
032824,001034: 27,2600 00003 02D
032825,001035: 27,2601 56626 S40.13D
032826,001036: 27,2602 55345 DLOAD BDDV
032827,001037: 27,2603 43205 DMP DAD
032828,001038: 27,2604 16702 5SECS
032829,001039: 27,2605 16676 1SEC2D # 100 CS AT +14
032830,001040: 27,2606 77650 GOTO
032831,001041: 27,2607 56616 S40.132
032832,001042: 27,2610 41345 S40.131 DLOAD DMP
032833,001043: 27,2611 01244 WEIGHT/G
032834,001044: 27,2612 41542 SR1 PUSH
032835,001045: 27,2613 56215 DAD DDV
032836,001046: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
032837,001047: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032838,001048: 27,2616 77414 S40.132 SET EXIT
032839,001049: 27,2617 01066 IMPULSW
032840,001050: 27,2620 07262 S40.132* TC TPAGREE
032841,001051: 27,2621 30154 CA MPAC
032842,001052: 27,2622 56001 XCH L
032843,001053: 27,2623 34755 CA ZERO
032844,001054: 27,2624 53517 DXCH TGO
032845,001055: 27,2625 12650 TCF S40.134
032846,001056:
032847,001057: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032848,001058: 27,2627 00001 00D
032849,001059: 27,2630 01244 WEIGHT/G
032850,001060: 27,2631 43006 PUSH BON
032851,001061: 27,2632 05302 APSFLAG
032852,001062: 27,2633 56671 APSTGO
032853,001063: 27,2634 43071 DDV CLEAR
032854,001064: 27,2635 16007 S40.136
032855,001065: 27,2636 02663 NOTHROTL
032856,001066: 27,2637 41400 BOV PUSH
|
|
Page 768 |
032858,001068: 27,2640 56653 S40.130V
032859,001069: 27,2641 51025 S40.137 DSU BPL
032860,001070: 27,2642 16704 6SEC # 600.0 CS AT +14
032861,001071: 27,2643 56661 S40.138
032862,001072: 27,2644 52015 DAD GOTO
032863,001073: 27,2645 16704 6SEC
032864,001074: 27,2646 56616 S40.132
032865,001075: 27,2647 77776 S40.133 EXIT
032866,001076: 27,2650 05353 S40.134 TC PHASCHNG
032867,001077: 27,2651 00003 OCT 00003
032868,001078: 27,2652 05155 TC ENDOFJOB
032869,001079: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032870,001080: 27,2654 77671 DDV
032871,001081: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032872,001082: 27,2656 03517 STORE TGO
032873,001083: 27,2657 77776 EXIT
032874,001084: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032875,001085:
032876,001086: 27,2661 51025 S40.138 DSU BPL
032877,001087: 27,2662 16706 89SECS
032878,001088: 27,2663 56666 STORETGO
032879,001089: 27,2664 77614 SET
032880,001090: 27,2665 02463 NOTHROTL
032881,001091: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032882,001092: 27,2667 77776 EXIT
032883,001093: 27,2670 12620 TCF S40.132*
032884,001094:
032885,001095: 27,2671 62471 APSTGO DDV SL2
032886,001096: 27,2672 34007 FAPS
032887,001097: 27,2673 77650 GOTO
032888,001098: 27,2674 56667 STORETGO +1
032889,001099: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032890,001100:
032891,001101: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032892,001102:
032893,001103: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032894,001104:
032895,001105: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032896,001106:
032897,001107: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032898,001108:
032899,001109: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032900,001110: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032901,001111: # COMPUTATION CYCLES (4 SECONDS).
032902,001112: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032903,001113: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032904,001114: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032905,001115:
032906,001116: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032907,001117:
032908,001118: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032909,001119: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
|
|
Page 769 |
032911,001121: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032912,001122: # METERS/CS AT +7.
032913,001123: # TIG - TIME OF IGNITION IN CS AT +28.
032914,001124: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032915,001125: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032916,001126: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032917,001127: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032918,001128: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032919,001129: # METERS/CS AT +7.
032920,001130:
032921,001131: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032922,001132: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032923,001133: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032924,001134: # BDT - B VECTOR IN METERS/CS AT +7.
032925,001135:
032926,001136: # SUBROUTINES USED - INITVEL
032927,001137:
032928,001138: 27,2707 E7,1700 EBANK= VGPREV
032929,001139: 27,2707 COUNT* $$/S40.9
032930,001140: 27,2707 06042 S40.9 TC INTPRET
032931,001141: 27,2710 77601 SETPD
032932,001142: 27,2711 00001 00D
032933,001143: 27,2712 71214 SET DLOAD
032934,001144: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032935,001145: 27,2714 06524 HI6ZEROS
032936,001146: 27,2715 77725 PDDL
032937,001147: 27,2716 16406 EPS1
032938,001148: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032939,001149: 27,2720 03745 NORMSW
032940,001150: 27,2721 56723 EPSSMALL
032941,001151: 27,2722 16410 EPS2
032942,001152: 27,2723 45006 EPSSMALL PUSH CALL
032943,001153: 27,2724 22002 HAVEGUES
032944,001154: 27,2725 77776 ENDS40.9 EXIT
032945,001155: 27,2726 05353 TC PHASCHNG
032946,001156: 27,2727 00002 OCT 2
032947,001157: 27,2730 15155 TCF ENDOFJOB
032948,001158:
032949,001159: 27,2731 51575 RASTEER1 VLOAD ABVAL
032950,001160: 27,2732 01220 RN
032951,001161: 27,2733 53744 LXC,2 SL*
032952,001162: 27,2734 02777 RTX2
032953,001163: 27,2735 57576 0,2
032954,001164: 27,2736 27715 STOVL RMAG
032955,001165: 27,2737 03444 RTARG
032956,001166: 27,2740 47051 VSU RTB
032957,001167: 27,2741 01220 RN
032958,001168: 27,2742 21725 NORMUNX1
032959,001169: 27,2743 17656 STODL IC
032960,001170: 27,2744 00045 36D # C(36D) = ABVAL(C)
032961,001171: 27,2745 53674 XAD,2 SL*
032962,001172: 27,2746 00046 X1
|
|
Page 770 |
032964,001174: 27,2747 57576 0,2
032965,001175: 27,2750 00037 STORE 30D
032966,001176: 27,2751 41301 NORM DMP
032967,001177: 27,2752 00050 X2
032968,001178: 27,2753 03715 RMAG
032969,001179: 27,2754 57101 NORM XAD,2
032970,001180: 27,2755 00047 X1
032971,001181: 27,2756 00046 X1
032972,001182: 27,2757 77734 SXA,2
032973,001183: 27,2760 03766 MUSCALE
032974,001184: 27,2761 17725 STODL R1C # 2(+58 -X)
032975,001185: 27,2762 00037 30D
032976,001186: 27,2763 65342 SR1 PDDL
032977,001187: 27,2764 03715 RMAG
032978,001188: 27,2765 65342 SR1 PDDL
032979,001189: 27,2766 03723 RTMAG
032980,001190: 27,2767 43342 SR1 DAD
032981,001191: 27,2770 45415 DAD STADR
032982,001192: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
032983,001193: 27,2772 41225 DSU DMP
032984,001194: 27,2773 00037 30D
032985,001195: 27,2774 03721 MU/A
032986,001196: 27,2775 77621 BDSU
032987,001197: 27,2776 03717 MUASTEER
032988,001198: 27,2777 45325 PDDL DSU
032989,001199: 27,3000 03733 SS
032990,001200: 27,3001 03715 RMAG
032991,001201: 27,3002 70501 NORM SR1
032992,001202: 27,3003 00047 X1
032993,001203: 27,3004 41271 DDV DMP
032994,001204: 27,3005 03725 R1C
032995,001205: 27,3006 53664 XSU,2 SL*
032996,001206: 27,3007 00046 X1
032997,001207: 27,3010 57575 1,2
032998,001208: 27,3011 77754 LXA,2
032999,001209: 27,3012 03766 MUSCALE
033000,001210: 27,3013 75366 SQRT SIGN
033001,001211: 27,3014 02673 GEOMSGN
033002,001212: 27,3015 00041 STORE 32D # + OR - A
033003,001213: 27,3016 41345 DLOAD DMP
033004,001214: 27,3017 03733 SS
033005,001215: 27,3020 03721 MU/A
033006,001216: 27,3021 77621 BDSU
033007,001217: 27,3022 03717 MUASTEER
033008,001218: 27,3023 45325 PDDL DSU
033009,001219: 27,3024 03733 SS
033010,001220: 27,3025 03723 RTMAG
033011,001221: 27,3026 70501 NORM SR1
033012,001222: 27,3027 00047 X1
033013,001223: 27,3030 41271 DDV DMP
033014,001224:
|
|
Page 771 |
033016,001226: 27,3031 03725 R1C
033017,001227: 27,3032 53664 XSU,2 SL*
033018,001228: 27,3033 00046 X1
033019,001229: 27,3034 57575 1,2
033020,001230: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033021,001231: 27,3036 03733 SS
033022,001232: 27,3037 56225 DSU DDV
033023,001233: 27,3040 00037 30D
033024,001234: 27,3041 03733 SS
033025,001235: 27,3042 41566 SQRT PUSH
033026,001236: 27,3043 67542 SR1 ASIN
033027,001237: 27,3044 65205 DMP PDDL
033028,001238: 27,3045 17216 2PI+3
033029,001239: 27,3046 56325 PDDL DDV
033030,001240: 27,3047 00037 30D
033031,001241: 27,3050 03733 SS
033032,001242: 27,3051 77600 BOV
033033,001243: 27,3052 57053 +1
033034,001244: 27,3053 41366 SQRT DMP
033035,001245: 27,3054 44242 SR3 BDSU
033036,001246: 27,3055 65365 SIGN PDDL
033037,001247: 27,3056 02673 GEOMSGN
033038,001248: 27,3057 17216 2PI+3
033039,001249: 27,3060 45302 SR2 DSU
033040,001250: 27,3061 65205 DMP PDDL
033041,001251: 27,3062 03733 SS
033042,001252: 27,3063 03733 SS
033043,001253: 27,3064 75442 SR3 SQRT
033044,001254: 27,3065 77605 DMP
033045,001255: 27,3066 52525 PDDL SL3
033046,001256: 27,3067 03717 MUASTEER
033047,001257: 27,3070 55366 SQRT BDDV
033048,001258: 27,3071 43225 DSU DAD
033049,001259: 27,3072 03631 TPASS4
033050,001260: 27,3073 01234 PIPTIME
033051,001261: 27,3074 14037 STODL 30D
033052,001262: 27,3075 77765 SIGN
033053,001263: 27,3076 00037 30D # B WITH SIGN
033054,001264: 27,3077 00037 STORE 30D
033055,001265: 27,3100 77214 BON VLOAD
033056,001266: 27,3101 03705 NORMSW
033057,001267: 27,3102 57123 180MESS
033058,001268: 27,3103 03656 IC
033059,001269: 27,3104 53451 VSU UNIT
033060,001270: 27,3105 03537 UNIT/R/
033061,001271: 27,3106 63361 VXSC PDVL
033062,001272: 27,3107 00037 30D
033063,001273: 27,3110 03656 IC
033064,001274: 27,3111 53455 VAD UNIT
033065,001275: 27,3112 03537 UNIT/R/
|
|
Page 772 |
033067,001277: 27,3113 53361 GETVRVG1 VXSC VAD
033068,001278: 27,3114 00041 32D
033069,001279: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033070,001280: 27,3116 02777 RTX2
033071,001281: 27,3117 57177 0 -1,2
033072,001282: 27,3120 02337 STORE VIPRIME
033073,001283: 27,3121 77650 GOTO
033074,001284: 27,3122 57166 ASTREND -2
033075,001285: 27,3123 50375 180MESS VLOAD DOT
033076,001286: 27,3124 03656 IC
033077,001287: 27,3125 03537 UNIT/R/
033078,001288: 27,3126 77240 BMN VLOAD
033079,001289: 27,3127 57146 NEGPROD
033080,001290: 27,3130 03656 IC
033081,001291: 27,3131 63362 VSR1 PDVL
033082,001292: 27,3132 03537 UNIT/R/
033083,001293: 27,3133 53362 VSR1 VAD
033084,001294: 27,3134 77656 UNIT
033085,001295: 27,3135 57406 PUSH VCOMP # FOR A
033086,001296: 27,3136 75235 VXV SIGN
033087,001297: 27,3137 02674 UN
033088,001298: 27,3140 02673 GEOMSGN
033089,001299: 27,3141 74256 UNIT VXSC
033090,001300: 27,3142 00037 30D
033091,001301: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033092,001302: 27,3144 77650 GOTO
033093,001303: 27,3145 57113 GETVRVG1
033094,001304: 27,3146 74575 NEGPROD VLOAD VSR1
033095,001305: 27,3147 03537 UNIT/R/
033096,001306: 27,3150 74515 PDVL VSR1
033097,001307: 27,3151 03656 IC
033098,001308: 27,3152 53451 VSU UNIT
033099,001309: 27,3153 77606 PUSH
033100,001310: 27,3154 75235 VXV SIGN
033101,001311: 27,3155 02674 UN # FOR B
033102,001312: 27,3156 02673 GEOMSGN
033103,001313: 27,3157 74256 UNIT VXSC
033104,001314: 27,3160 00041 32D
033105,001315: 27,3161 77715 PDVL
033106,001316: 27,3162 53361 VXSC VAD
033107,001317: 27,3163 00037 30D
033108,001318: 27,3164 77650 GOTO
033109,001319: 27,3165 57115 GETVRVG2
033110,001320: 27,3166 77651 VSU
033111,001321: 27,3167 03553 VN1
033112,001322: 27,3170 02366 ASTREND STORE DELVEET3
033113,001323: 27,3171 53135 FIRSTTME SLOAD BZE
033114,001324: 27,3172 03000 RTX2
033115,001325: 27,3173 57177 GETGOBL
033116,001326: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
|
|
Page 773 |
033118,001328: 27,3175 02366 DELVEET3
033119,001329: 27,3176 57212 NOGOBL
033120,001330: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033121,001331: 27,3200 01220 RN
033122,001332: 27,3201 45345 DLOAD DSU
033123,001333: 27,3202 01234 PIPTIME # 2
033124,001334: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033125,001335: 27,3204 56205 DMP DDV # OBL
033126,001336: 27,3205 16023 EARTHMU
033127,001337: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033128,001338: 27,3207 53361 VXSC VAD
033129,001339: 27,3210 03521 UNITGOBL
033130,001340: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033131,001341: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033132,001342: 27,3213 77650 GOTO
033133,001343: 27,3214 56455 VGAIN*
033134,001344:
033135,001345: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033136,001346:
|
|
Page 774 |
033138,001348: # TRIMGIMB (FORMERLY S40.6)
033139,001349: # MOD 0 24 FEB 67 PETER ADLER
033140,001350:
033141,001351: # FUNCTION:
033142,001352: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033143,001353: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033144,001354: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033145,001355:
033146,001356: # CALLING SEQUENCE:
033147,001357: # VIA WAITLIST FROM R03
033148,001358:
033149,001359: # INPUT:
033150,001360: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033151,001361: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033152,001362:
033153,001363: # SUBROUTINES USED:
033154,001364: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033155,001365:
033156,001366: 27,3217 COUNT* $$/S40.6
033157,001367: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033158,001368:
033159,001369: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033160,001370: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033161,001371:
033162,001372: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033163,001373: 27,3222 00006 EXTEND
033164,001374: 27,3223 03012 WAND CHAN12
033165,001375: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033166,001376: 27,3225 00006 EXTEND
033167,001377: 27,3226 05012 WOR CHAN12
033168,001378: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033169,001379: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033170,001380: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033171,001381: 27,3232 00006 EXTEND
033172,001382: 27,3233 03012 WAND CHAN12
033173,001383: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033174,001384: 27,3235 00006 EXTEND
033175,001385: 27,3236 05012 WOR CHAN12
033176,001386: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033177,001387: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033178,001388: 27,3241 03260 ADRES PITCHOFF
033179,001389:
033180,001390: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033181,001391: 27,3243 05224 TC VARDELAY # UNTIL THEN
033182,001392: 27,3244 44740 CS BIT12
033183,001393: 27,3245 00006 EXTEND
033184,001394: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033185,001395: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033186,001396: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033187,001397: 27,3251 00006 EXTEND
033188,001398: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033189,001399: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033190,001400: 27,3254 05072 TC NOVAC
033191,001401: 27,3255 E7,1471 EBANK= WHOCARES
|
|
Page 775 |
033193,001403: 27,3255 02325 02067 2CADR TRIMDONE
033194,001404:
033195,001405: 27,3257 05261 TC TASKOVER
033196,001406: 27,3260 44742 PITCHOFF CS BIT10
033197,001407: 27,3261 00006 EXTEND
033198,001408: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033199,001409: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033200,001410: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033201,001411: 27,3265 00137 ADRES GMBDRVSW
033202,001412: 27,3266 05261 TC TASKOVER
033203,001413:
|
|
Page 776 |
033205,001415: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033206,001416: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033207,001417:
033208,001418: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033209,001419:
033210,001420: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033211,001421: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033212,001422: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033213,001423: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033214,001424: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033215,001425: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033216,001426: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033217,001427: # CALLER WITH C(MPAC) = VELOCITY(LM).
033218,001428:
033219,001429: # CALLING SEQUENCE:
033220,001430: # L VLOAD CALL
033221,001431: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033222,001432: # L +2 S41.1
033223,001433: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033224,001434:
033225,001435: # SUBROUTINES CALLED:
033226,001436: # 1. CDUTRIG,
033227,001437: # WHICH CALLS CDULOGIC.
033228,001438: # 2. *SMNB*
033229,001439:
033230,001440: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033231,001441:
033232,001442: # ALARM/ABORT MODES: NONE.
033233,001443:
033234,001444: # RESTART PROTECTION: NONE.
033235,001445:
|
|
Page 777 |
033237,001447: # INPUT:
033238,001448: # 1. REFSMMAT.
033239,001449: # 2. CDUX, CDUY, CDUZ.
033240,001450: # 3. VELOCITY (REF) IN MPAC.
033241,001451:
033242,001452: # OUTPUT:
033243,001453: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033244,001454: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033245,001455: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033246,001456: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033247,001457:
033248,001458: # DEBRIS: NONE.
033249,001459:
033250,001460: # CHECKOUT STATUS: CODED.
033251,001461:
033252,001462: 27,3267 COUNT* $$/S41.1
033253,001463: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033254,001464: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033255,001465: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033256,001466: 27,3272 47650 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033257,001467: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc