Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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031850,000002: ## Copyright: Public domain.
031851,000003: ## Filename: P40-P47.agc
031852,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
031853,000005: ## This was the original program released for the Apollo 13 LM,
031854,000006: ## although several more revisions would follow. It has been
031855,000007: ## reconstructed from a listing of Luminary 131, from which it
031856,000008: ## differs on only two lines in P70-P71. The difference is
031857,000009: ## described in detail in Luminary memo #129, which was used
031858,000010: ## to perform the reconstruction. This file is intended to be a
031859,000011: ## faithful reconstruction, except that the code format has been
031860,000012: ## changed to conform to the requirements of the yaYUL assembler
031861,000013: ## rather than the original YUL assembler.
031862,000014: ## Reference: pp. 747-779
031863,000015: ## Contact: Ron Burkey <info@sandroid.org>.
031864,000016: ## Website: www.ibiblio.org/apollo
031865,000017: ## Mod history: 05/24/03 RSB. Began transcribing.
031866,000018: ## 2010-01-05 JL Fixed indentation of STADR instruction.
031867,000019: ## 2016-12-01 RSB There were a number of "modern" comments about hand-written
031868,000020: ## notations, which I had added back in 2003, but whiche never
031869,000021: ## got converted to ##-style. However, after having changed them
031870,000022: ## to ##-style, they no longer worked properly after being rendered
031871,000023: ## to html, so they had to be considerably reworked to fix that.
031872,000024: ## 2017-01-06 RSB Page numbers now agree with those on the
031873,000025: ## original harcopy, as opposed to the PDF page
031874,000026: ## numbers in 1701.pdf.
031875,000027: ## 2017-02-25 RSB Proofed comment text using octopus/ProoferComments.
031876,000028: ## 2017-02-28 RSB Fixed lingering typos.
031877,000029: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
031878,000030: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
031879,000031: ## side-by-side diff of Luminary 69/99/116/131/210.
031880,000032: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
031881,000033: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
031882,000034: ## Zerlina 56 (it was unreferenced so caused no errors).
031883,000035: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
031884,000036: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031885,000037:
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Page 747
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031887,000039: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031888,000040: # MOD 03 BY PETER ADLER MARCH 3, 1967
031889,000041: # CALLED VIA JOB FROM V37E
031890,000042:
031891,000043: # FUNCTIONAL DESCRIPTION
031892,000044: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031893,000045: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2003.
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031895,000047: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031896,000048: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031897,000049: # PGNCS CONTROLLED DPS MANEUVER.
031898,000050: # 5) IN POSTBURN -- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031899,000051: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031900,000052: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031901,000053: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031902,000054:
031903,000055: # SUBROUTINES USED
031904,000056: # R02 IMU STATUS CHECK
031905,000057: # S40.1 COMPUTATION OF THRUST DIRECTION
031906,000058: # S40.13 LENGTH OF BURN
031907,000059: # S40.2,3 PREFERRED IMU ORIENATTION
031908,000060: # S40.8 X PRODUCT STEERING
031909,000061: # S40.9 LAMBERT VTOGAIN
031910,000062: # R60LEM ATTITUDE MANEUVER
031911,000063: # LEMPREC EXTRAPOLATE STATE VECTOR
031912,000064: # PREREAD AVERAGE G, SERVICER
031913,000065: # ALLCOAST DAP COASTING INITIALIZATION
031914,000066: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031915,000067: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031916,000068: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031917,000069: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031918,000070:
031919,000071: # RESTARTS VIA GROUP 4
031920,000072:
031921,000073: # DISPLAYS
031922,000074: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
031923,000075: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031924,000076: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031925,000077: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031926,000078: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031927,000079: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031928,000080: # V05N09 POSSIBLE ALARMS
031929,000081: # V50N07 PLEASE SELECT P00
031930,000082:
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Page 748
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031932,000084: # VIA R30
031933,000085:
031934,000086: # V06N44 HAPO, PERI, TFF
031935,000087: # V06N35 TIME TO PERIGEE, HMS
031936,000088:
031937,000089: # ALARM OR ABORT EXIT MODES
031938,000090: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031939,000091: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031940,000092:
031941,000093: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031942,000094: # TIG BY 45 SECS.
031943,000095:
031944,000096: # ERASABLE INITIALIZATION
031945,000097:
031946,000098: # DEBRIS
031947,000099:
031948,000100: # OUTPUT
031949,000101: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031950,000102: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031951,000103: # = 0 FOR AIMPT (LAMBERT) COMP
031952,000104:
031953,000105: 27,2246 COUNT* $$/P40
031954,000106: 27,2246 E7,1455 EBANK= WHICH
031955,000107:
031956,000108: 36,3153 BANK 36
031957,000109: 36,2000 SETLOC P40S
031958,000110: 36,2000 BANK
031959,000111:
031960,000112: 36,3153 05353 P40LM TC PHASCHNG
031961,000113: 36,3154 04024 OCT 04024
031962,000114:
031963,000115: 36,3155 33137 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031964,000116: 36,3156 55455 TS WHICH
031965,000117:
031966,000118: 36,3157 30106 CA FLGWRD10
031967,000119: 36,3160 74737 MASK APSFLBIT
031968,000120: 36,3161 10000 CCS A
031969,000121: 36,3162 13125 TCF P40ALM
031970,000122: 36,3163 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031971,000123: 36,3164 11233 CADR R02BOTH
031972,000124:
031973,000125: 36,3165 40111 CS DAPBOOLS # INITIALIZE DVMON
031974,000126: 36,3166 74737 MASK CSMDOCKD
031975,000127: 36,3167 10000 CCS A
031976,000128: 36,3170 32022 CAF THRESH1
031977,000129: 36,3171 62023 AD THRESH3
031978,000130: 36,3172 55250 TS DVTHRUSH
031979,000131: 36,3173 34751 CAF FOUR
031980,000132: 36,3174 55515 TS DVCNTR
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Page 749
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031982,000134: 36,3175 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031983,000135: 36,3176 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031984,000136: 36,3177 34001 FDPS
031985,000137: 36,3200 02663 NOTHROTL
031986,000138: 36,3201 03735 STORE F
031987,000139: 36,3202 77735 SLOAD
031988,000140: 36,3203 26002 DPSVEX
031989,000141: 36,3204 70476 P40IN DCOMP SR1
031990,000142: 36,3205 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031991,000143: 36,3206 56246 S40.1 # COMPUTES UT AND VGTIG
031992,000144: 36,3207 77624 CALL
031993,000145: 36,3210 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031994,000146: 36,3211 77776 EXIT
031995,000147:
031996,000148: 36,3212 00004 INHINT
031997,000149: 36,3213 04674 TC IBNKCALL
031998,000150: 36,3214 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031999,000151:
032000,000152: 36,3215 03217 TC P40SXT4
032001,000153:
032002,000154: # ***********************
032003,000155:
032004,000156: 36,3216 12130 TCF BURNBABY
032005,000157:
032006,000158: # ***********************
032007,000159:
032008,000160: 36,3217 00006 P40SXT4 EXTEND
032009,000161: 36,3220 23141 QXCH P40/RET
032010,000162: 36,3221 00003 P41MANU RELINT
032011,000163:
032012,000164: 36,3222 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032013,000165: 36,3223 00124 ADRES 3AXISFLG
032014,000166:
032015,000167: 36,3224 04616 TC BANKCALL
032016,000168: 36,3225 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032017,000169: 36,3226 01141 TC P40/RET
032018,000170:
032019,000171: 36,3227 E7,1462 EBANK= TRKMKCNT
032020,000172: 36,3227 30005 POSTBURN CA Z
032021,000173: 36,3230 55162 TS DISPDEX
032022,000174: 36,3231 00006 EXTEND
032023,000175: 36,3232 32060 DCA ACADN85
032024,000176: 36,3233 53252 DXCH AVEGEXIT
032025,000177: 36,3234 33764 CAF V16N40
032026,000178: 36,3235 04616 TC BANKCALL
032027,000179: 36,3236 20636 CADR GOFLASHR
032028,000180: 36,3237 03262 TC TERM40
032029,000181: 36,3240 13245 TCF TIGNOW
032030,000182: 36,3241 03227 TC POSTBURN
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Page 750
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032032,000184: 36,3242 05353 P40PHS1 TC PHASCHNG
032033,000185: 36,3243 00014 OCT 00014
032034,000186: 36,3244 15155 TCF ENDOFJOB
032035,000187:
032036,000188: 36,3245 00004 TIGNOW INHINT
032037,000189: 36,3246 04674 TC IBNKCALL
032038,000190: 36,3247 40154 CADR ZATTEROR
032039,000191: 36,3250 04674 TC IBNKCALL
032040,000192: 36,3251 40141 CADR SETMINDB
032041,000193: 36,3252 00003 RELINT
032042,000194: 36,3253 33765 CAF V16N85B
032043,000195: 36,3254 04616 TC BANKCALL
032044,000196: 36,3255 20463 CADR REFLASHR
032045,000197: 36,3256 03262 TC TERM40
032046,000198: 36,3257 13262 TCF TERM40
032047,000199: 36,3260 03253 TC -5
032048,000200:
032049,000201: 36,3261 13242 TCF P40PHS1
032050,000202:
032051,000203: 36,3262 00006 TERM40 EXTEND
032052,000204: 36,3263 32110 DCA SERVCADR
032053,000205: 36,3264 53252 DXCH AVEGEXIT
032054,000206: 36,3265 34755 CAF ZERO
032055,000207: 36,3266 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032056,000208: 36,3267 30005 CA Z
032057,000209: 36,3270 55162 TS DISPDEX
032058,000210: 36,3271 00004 INHINT
032059,000211: 36,3272 04674 TC IBNKCALL
032060,000212: 36,3273 40115 CADR RESTORDB
032061,000213: 36,3274 00003 RELINT
032062,000214: 36,3275 06001 TC GOTOPOOH
032063,000215:
032064,000216: 36,3276 E7,1455 EBANK= WHICH
032065,000217: 36,3276 COUNT* $$/P41
032066,000218: 36,3276 33140 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032067,000219: 36,3277 55455 TS WHICH
032068,000220:
032069,000221: 36,3300 04616 TC BANKCALL
032070,000222: 36,3301 11233 CADR R02BOTH
032071,000223:
032072,000224: 36,3302 06042 TC INTPRET # BOTH LM
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In the original program listing, the following line has a hand-written notation in the
label field which may read "PPPIN".—RSB 2017.
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032075,000227: 36,3303 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032076,000228: 36,3304 00700 NJETSFLG
032077,000229: 36,3305 75311 P41FJET1
032078,000230: 36,3306 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032079,000231:
032080,000232: 36,3307 37735 P41FJET STCALL F
032081,000233: 36,3310 75314 P41IN
032082,000234: 36,3311 77745 P41FJET1 DLOAD
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Page 751
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032084,000236: 36,3312 34021 FRCS2
032085,000237: 36,3313 03735 STORE F
032086,000238:
032087,000239: 36,3314 77624 P41IN CALL
032088,000240: 36,3315 56246 S40.1 # BOTH
032089,000241: 36,3316 77624 P41NORM CALL
032090,000242: 36,3317 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032091,000243: 36,3320 77776 EXIT # SET PFRATFLG.
032092,000244:
032093,000245: 36,3321 00004 INHINT
032094,000246: 36,3322 04674 TC IBNKCALL
032095,000247: 36,3323 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032096,000248: 36,3324 04674 TC IBNKCALL
032097,000249: 36,3325 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032098,000250: 36,3326 03217 TC P40SXT4
032099,000251:
032100,000252: 36,3327 06042 TC INTPRET
032101,000253: 36,3330 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032102,000254: 36,3331 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032103,000255: 36,3332 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032104,000256: 36,3333 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032105,000257: 36,3334 77776 EXIT
032106,000258:
032107,000259: 36,3335 33765 CAF V16N85B
032108,000260: 36,3336 04616 TC BANKCALL
032109,000261: 36,3337 20447 CADR GODSPRET
032110,000262:
032111,000263: 36,3340 35017 CAF PRIO5
032112,000264: 36,3341 55162 TS DISPDEX # FOR SAFETY ONLY
032113,000265: 36,3342 05105 TC FINDVAC
032114,000266: 36,3343 E7,1700 EBANK= VGPREV
032115,000267: 36,3343 03365 74067 2CADR DYNMDISP
032116,000268:
032117,000269: 36,3345 05327 TC 2PHSCHNG
032118,000270: 36,3346 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032119,000271: 36,3347 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032120,000272:
032121,000273: # ***********************
032122,000274:
032123,000275: 36,3350 12137 TCF B*RNB*B*
032124,000276:
032125,000277: # ***********************
032126,000278:
032127,000279: 36,3351 34777 BLNKWAIT CAF 1SEC
032128,000280: 36,3352 04616 TC BANKCALL
032129,000281: 36,3353 01736 CADR DELAYJOB
032130,000282:
032131,000283: 36,3354 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032132,000284: 36,3355 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032133,000285:
032134,000286: # ***********************
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Page 752
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032136,000288:
032137,000289: 36,3356 00006 EXTEND
032138,000290: 36,3357 13351 BZF BLNKWAIT
032139,000291:
032140,000292: 36,3360 33765 CAF V16N85B
032141,000293: 36,3361 04616 TC BANKCALL
032142,000294: 36,3362 20447 CADR GODSPRET
032143,000295:
032144,000296: 36,3363 35017 CAF PRIO5
032145,000297: 36,3364 05146 TC PRIOCHNG
032146,000298:
032147,000299: 36,3365 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032148,000300: 36,3366 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032149,000301: 36,3367 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032150,000302: 36,3370 06042 TC INTPRET
032151,000303: 36,3371 45175 VLOAD CALL
032152,000304: 36,3372 03701 VGPREV
032153,000305: 36,3373 57267 S41.1
032154,000306: 36,3374 03502 STORE VGBODY
032155,000307: 36,3375 77776 EXIT
032156,000308: 36,3376 34777 CAF 1SEC
032157,000309: 36,3377 04616 TC BANKCALL
032158,000310: 36,3400 01736 CADR DELAYJOB
032159,000311: 36,3401 13365 TCF DYNMDISP
032160,000312:
032161,000313: 36,3402 06042 CALCN85 TC INTPRET
032162,000314: 36,3403 77624 CALL
032163,000315: 36,3404 75615 UPDATEVG
032164,000316: 36,3405 45175 VLOAD CALL
032165,000317: 36,3406 03701 VGPREV
032166,000318: 36,3407 57267 S41.1
032167,000319: 36,3410 03502 STORE VGBODY
032168,000320: 36,3411 77776 EXIT
032169,000321: 36,3412 04635 TC POSTJUMP
032170,000322: 36,3413 65746 CADR SERVEXIT
032171,000323:
032172,000324: 36,3414 COUNT* $$/P42
032173,000325: 36,3414 E7,1455 EBANK= WHICH
032174,000326:
032175,000327: 36,3414 05353 P42LM TC PHASCHNG
032176,000328: 36,3415 04024 OCT 04024
032177,000329:
032178,000330: 36,3416 33141 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032179,000331: 36,3417 55455 TS WHICH
032180,000332:
032181,000333: 36,3420 40106 CS FLGWRD10
032182,000334: 36,3421 74737 MASK APSFLBIT
032183,000335: 36,3422 10000 CCS A
032184,000336: 36,3423 03125 TC P40ALM
032185,000337: 36,3424 04616 P42STAGE TC BANKCALL
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Page 753
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032187,000339: 36,3425 11233 CADR R02BOTH
032188,000340: 36,3426 36000 CAF THRESH2 # INITIALIZE DVMON
032189,000341: 36,3427 55250 TS DVTHRUSH
032190,000342: 36,3430 34751 CAF FOUR
032191,000343: 36,3431 55515 TS DVCNTR
032192,000344:
032193,000345: 36,3432 06042 TC INTPRET
032194,000346: 36,3433 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032195,000347: 36,3434 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032196,000348: 36,3435 34007 FAPS
032197,000349: 36,3436 03735 STORE F
032198,000350: 36,3437 52135 SLOAD GOTO
032199,000351: 36,3440 26001 APSVEX
032200,000352: 36,3441 75204 P40IN
032201,000353:
032202,000354: 36,3442 E7,1455 EBANK= WHICH
032203,000355:
032204,000356: 36,3442 COUNT* $$/P47
032205,000357: 36,3442 04616 P47LM TC BANKCALL
032206,000358: 36,3443 11233 CADR R02BOTH
032207,000359: 36,3444 06042 TC INTPRET
032208,000360: 36,3445 77624 CALRB
032209,000361: 36,3446 27547 MIDTOAV2
032210,000362:
032211,000363: 36,3447 30155 CA MPAC +1
032212,000364: 36,3450 05173 TC TWIDDLE
032213,000365: 36,3451 03453 ADRES STARTP47
032214,000366:
032215,000367: 36,3452 15155 TCF ENDOFJOB
032216,000368:
032217,000369: 36,3453 05353 STARTP47 TC PHASCHNG
032218,000370: 36,3454 05014 OCT 05014
032219,000371: 36,3455 77777 OCT 77777
032220,000372:
032221,000373: 36,3456 00006 EXTEND
032222,000374: 36,3457 33770 DCA ACADN83
032223,000375: 36,3460 53252 DXCH AVEGEXIT
032224,000376: 36,3461 34736 CAF PRIO20
032225,000377: 36,3462 05105 TC FINDVAC
032226,000378: 36,3463 E7,1622 EBANK= DELVIMU
032227,000379: 36,3463 03517 74067 2CADR P47BODY
032228,000380:
032229,000381: 36,3465 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032230,000382: # SEE TIG-30 IN BURNBABY.
032231,000383:
032232,000384: 36,3466 06042 CALCN83 TC INTPRET
032233,000385: 36,3467 53375 VLOAD VAD
032234,000386: 36,3470 03502 DELVCTL
032235,000387: 36,3471 03527 DELVREF
032236,000388: 36,3472 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 754
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032238,000390: 36,3473 77624 CALL
032239,000391: 36,3474 57267 S41.1
032240,000392: 36,3475 03623 STORE DELVIMU
032241,000393: 36,3476 77776 EXIT
032242,000394: 36,3477 05353 TC PHASCHNG
032243,000395: 36,3500 10035 OCT 10035 # REREADAC AND HERE
032244,000396:
032245,000397: 36,3501 06042 TC INTPRET
032246,000398: 36,3502 77775 VLOAD
032247,000399: 36,3503 03656 DELVSIN
032248,000400: 36,3504 03502 STORE DELVCTL
032249,000401: 36,3505 77776 EXIT
032250,000402:
032251,000403: 36,3506 04635 TC POSTJUMP
032252,000404: 36,3507 65746 CADR SERVEXIT
032253,000405:
032254,000406: 36,3510 33766 P47BOD CAF V1683
032255,000407: 36,3511 04616 TC BANKCALL
032256,000408: 36,3512 20636 CADR GOFLASHR
032257,000409: 36,3513 06001 TC GOTOPOOH
032258,000410: 36,3514 06001 TC GOTOPOOH
032259,000411:
032260,000412: 36,3515 13517 TCF P47BODY
032261,000413:
032262,000414: 36,3516 13242 TCF P40PHS1
032263,000415:
032264,000416: 36,3517 06042 P47BODY TC INTPRET
032265,000417: 36,3520 77775 VLOAD
032266,000418: 36,3521 06524 HI6ZEROS
032267,000419: 36,3522 03623 STORE DELVIMU
032268,000420: 36,3523 03502 STORE DELVCTL
032269,000421: 36,3524 77776 EXIT
032270,000422: 36,3525 03510 TC P47BOD
032271,000423:
032272,000424: 36,3526 COUNT* $$/P40
032273,000425: 36,3526 31517 IMPLBURN CA TGO +1
032274,000426: 36,3527 03741 TC GETDT
032275,000427: 36,3530 05173 TC TWIDDLE
032276,000428: 36,3531 03546 ADRES ENGOFTSK
032277,000429: 36,3532 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032278,000430: 36,3533 00153 ADRES IGNFLAG
032279,000431: 36,3534 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032280,000432: 36,3535 00154 ADRES ASTNFLAG
032281,000433: 36,3536 05516 TC DOWNFLAG # TURN OFF IMPULSW
032282,000434: 36,3537 00044 ADRES IMPULSW
032283,000435: 36,3540 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032284,000436: 36,3541 40114 OCT 40114
032285,000437:
032286,000438: 36,3542 05221 TC FIXDELAY # WAIT HALF A SECOND
032287,000439: 36,3543 00062 DEC 50 B-14
|
|
Page 755
|
032289,000441: 36,3544 02657 TC NOULLAGE # TURN OFF ULLAGE
032290,000442:
032291,000443: 36,3545 05261 TC TASKOVER
032292,000444:
032293,000445: 36,3546 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032294,000446: 36,3547 75551 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032295,000447: 36,3550 05261 TC TASKOVER
032296,000448:
032297,000449: 36,3551 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032298,000450: 36,3552 05105 TC FINDVAC
032299,000451: 36,3553 E7,1462 EBANK= TRKMKCNT
032300,000452: 36,3553 03227 74067 2CADR POSTBURN
032301,000453:
032302,000454: 36,3555 34753 ENGINOF2 CAF BIT1
032303,000455: 36,3556 05203 TC WAITLIST
032304,000456: 36,3557 E6,1422 EBANK= OMEGAQ
032305,000457: 36,3557 03612 74066 2CADR COASTSET
032306,000458:
032307,000459: 36,3561 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032308,000460: 36,3562 74745 MASK IDLEFBIT
032309,000461: 36,3563 26103 ADS FLAGWRD7
032310,000462:
032311,000463: 36,3564 02657 TC NOULLAGE
032312,000464:
032313,000465: 36,3565 00006 ENGINOF4 EXTEND
032314,000466: 36,3566 30025 DCA TIME2
032315,000467: 36,3567 53342 DXCH TEVENT
032316,000468:
032317,000469: 36,3570 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032318,000470: 36,3571 70101 MASK FLAGWRD5
032319,000471: 36,3572 54101 TS FLAGWRD5
032320,000472: 36,3573 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032321,000473: 36,3574 00006 EXTEND # SUBROUTINE.
032322,000474: 36,3575 02011 RAND DSALMOUT
032323,000475: 36,3576 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032324,000476: 36,3577 00006 EXTEND
032325,000477: 36,3600 01011 WRITE DSALMOUT
032326,000478:
032327,000479: 36,3601 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032328,000480: 36,3602 74736 MASK USEQRJTS
032329,000481: 36,3603 26111 ADS DAPBOOLS
032330,000482:
032331,000483: 36,3604 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032332,000484: 36,3605 54055 TS THRUST # IS TURNED OFF.
032333,000485: 36,3606 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032334,000486: 36,3607 00006 EXTEND # ENGINE IS DISARMED.
032335,000487: 36,3610 05014 WOR CHAN14
032336,000488:
032337,000489: 36,3611 04707 TC ISWRETRN
|
|
Page 756
|
032339,000491: 36,3612 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032340,000492: 36,3613 40205 CADR ALLCOAST
032341,000493: 36,3614 05261 TC TASKOVER
032342,000494:
032343,000495: 36,3615 E6,1422 EBANK= OMEGAQ
032344,000496: 36,3615 45020 UPDATEVG STQ CALL
032345,000497: 36,3616 03665 QTEMP1
032346,000498: 36,3617 56447 S40.8 # X-PRODUCT STEERING
032347,000499: 36,3620 43014 BON BON
032348,000500: 36,3621 01307 XDELVFLG
032349,000501: 36,3622 03665 QTEMP1
032350,000502: 36,3623 03705 NORMSW
032351,000503: 36,3624 75637 180SETUP
032352,000504: 36,3625 45345 DLOAD DSU
032353,000505: 36,3626 01234 PIPTIME
032354,000506: 36,3627 03763 TIGSAVE
032355,000507: 36,3630 50025 DSU BMN
032356,000508: 36,3631 03432 TNEWA
032357,000509: 36,3632 75662 GETRANS
032358,000510: 36,3633 43345 DLOAD DAD
032359,000511: 36,3634 03763 TIGSAVE
032360,000512: 36,3635 03432 TNEWA
032361,000513: 36,3636 03765 STORE TIGSAVEP
032362,000514: 36,3637 77776 180SETUP EXIT
032363,000515: 36,3640 10754 CCS PHASE2
032364,000516: 36,3641 13667 TCF NO.9
032365,000517: 36,3642 34737 CAF PRIO10
032366,000518: 36,3643 00004 INHINT
032367,000519: 36,3644 05105 TC FINDVAC
032368,000520: 36,3645 E7,1706 EBANK= VG
032369,000521: 36,3645 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032370,000522:
032371,000523: 36,3647 05327 TC 2PHSCHNG
032372,000524: 36,3650 00172 OCT 00172 # 2.17SPOT FOR S40.9
032373,000525: 36,3651 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032374,000526:
032375,000527: 36,3652 06042 ENDSTEER TC INTPRET
032376,000528: 36,3653 77745 DLOAD
032377,000529: 36,3654 03765 TIGSAVEP
032378,000530: 36,3655 27763 STOVL TIGSAVE
032379,000531: 36,3656 01220 RN
032380,000532: 36,3657 26323 STOVL RINIT
032381,000533: 36,3660 01226 VN
032382,000534: 36,3661 02331 STORE VINIT
032383,000535: 36,3662 45345 GETRANS DLOAD DSU
032384,000536: 36,3663 03631 TPASS4
032385,000537: 36,3664 01234 PIPTIME
032386,000538: 36,3665 37452 STCALL DELLT4
032387,000539: 36,3666 03665 QTEMP1
032388,000540:
|
|
Page 757
|
032390,000542: 36,3667 06042 NO.9 TC INTPRET
032391,000543: 36,3670 77650 GOTO
032392,000544: 36,3671 03665 QTEMP1
032393,000545: 36,3672 06042 STEERING TC INTPRET
032394,000546:
032395,000547: 36,3673 77624 CALL
032396,000548: 36,3674 75615 UPDATEVG
032397,000549: 36,3675 77776 EXIT
032398,000550:
032399,000551: 36,3676 E7,1515 EBANK= DVCNTR
032400,000552: 36,3676 00004 NSTEER INHINT
032401,000553: 36,3677 35016 CA EBANK7
032402,000554: 36,3700 54003 TS EBANK
032403,000555: 36,3701 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032404,000556: 36,3702 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032405,000557: 36,3703 10000 CCS A # STEERING IS ALMOST DONE.
032406,000558:
032407,000559: 36,3704 13711 TCF +5 # IMPULSW = 0 EXIT
032408,000560: 36,3705 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032409,000561: 36,3706 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032410,000562: 36,3707 10000 CCS A
032411,000563: 36,3710 13713 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032412,000564: 36,3711 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032413,000565: 36,3712 65746 CADR SERVEXIT
032414,000566:
032415,000567: 36,3713 04674 TC IBNKCALL
032416,000568: 36,3714 40166 CADR STOPRATE
032417,000569:
032418,000570: 36,3715 05516 TC DOWNFLAG # TURN OFF IMPULSW
032419,000571: 36,3716 00044 ADRES IMPULSW
032420,000572:
032421,000573: 36,3717 05504 TC UPFLAG
032422,000574: 36,3720 00161 ADRES IDLEFLAG # TURN OFF DVMON
032423,000575:
032424,000576: 36,3721 00004 INHINT
032425,000577: 36,3722 00006 EXTEND
032426,000578: 36,3723 31442 DCA TIG
032427,000579: 36,3724 52155 DXCH MPAC
032428,000580: 36,3725 00006 EXTEND
032429,000581: 36,3726 40025 DCS TIME2
032430,000582: 36,3727 20155 DAS MPAC
032431,000583: 36,3730 07262 TC TPAGREE
032432,000584: 36,3731 30155 CAE MPAC +1
032433,000585: 36,3732 03741 TC GETDT
032434,000586: 36,3733 05173 TC TWIDDLE
032435,000587: 36,3734 03546 ADRES ENGOFTSK
032436,000588: 36,3735 05327 TC 2PHSCHNG
032437,000589: 36,3736 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032438,000590: 36,3737 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 758
|
032440,000592: 36,3740 15155 TCF ENDOFJOB
032441,000593:
032442,000594: 36,3741 10000 GETDT CCS A
032443,000595: 36,3742 13745 TCF +3
032444,000596: 36,3743 13745 TCF +2
032445,000597: 36,3744 34755 CAF ZERO
032446,000598: 36,3745 64753 AD ONE
032447,000599: 36,3746 56001 XCH L
032448,000600: 36,3747 34755 CAF ZERO
032449,000601: 36,3750 53517 DXCH TGO
032450,000602: 36,3751 31517 CA TGO +1
032451,000603: 36,3752 00002 TC Q
032452,000604:
032453,000605: # ************************************************************************
032454,000606:
032455,000607: 36,3753 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032456,000608: 36,3754 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032457,000609: 36,3755 00000 05670 SEC30DP 2DEC 3000 B-28
032458,000610: 36,3757 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032459,000611: 36,3760 10624 SEC45 DEC 4500 B-14
032460,000612: 36,3761 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032461,000613: 36,3762 00764 5SEC DEC 500 B-14
032462,000614: 36,3763 05050 26SECS DEC 2600 B-14
032463,000615: 36,3764 04050 V16N40 VN 1640
032464,000616: 36,3765 04125 V16N85B VN 1685
032465,000617: 36,3766 04123 V1683 VN 1683
032466,000618: 36,3767 4777 SEC01 = 1SEC
032467,000619: 36,3767 36,2057 ACADN85 = P41TABLE +2
032468,000620:
032469,000621: 36,3767 E7,1622 EBANK= DELVIMU
032470,000622: 36,3767 03466 74067 ACADN83 2CADR CALCN83
032471,000623:
032472,000624: # *************************************************
|
|
Page 759
|
032474,000626: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
032475,000627: # MOD N02 LOG SECTION P40-P47
032476,000628: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032477,000629:
032478,000630: # FUNCTIONAL DESCRIPTION
032479,000631: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032480,000632: # VECTOR(VGTIG).
032481,000633:
032482,000634: # CALLING SEQUENCE
032483,000635: # L CALL
032484,000636: # L+1 S40.1
032485,000637:
032486,000638: # NORMAL EXIT MODE
032487,000639: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032488,000640: # ERROR RETURN IF NOSOFLAG =1
032489,000641:
032490,000642: # SUBROUTINES CALLED
032491,000643: # LEMPREC
032492,000644: # INITVEL
032493,000645: # CALCGRAV
032494,000646: # MIDGIM
032495,000647:
032496,000648: # ALARM OR ABORT EXIT MODES
032497,000649: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032498,000650:
032499,000651: # ERASABLE INITIALIZATION REQUIRED
032500,000652: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032501,000653: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032502,000654: # F THRUST FOR ENGINE USED
032503,000655: # IF DELTA-V MANEUVER
032504,000656: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032505,000657: # INERTIAL COORDS. OF ACTIVE VEHICLE
032506,000658: # AT TIME OF IGNITION VECTOR B7 M/CS
032507,000659: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032508,000660: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032509,000661: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032510,000662: # IF AIMPT STEER
032511,000663: # TIG TIME OF IGNITION DP B28 CS
032512,000664: # RTARG POSITION TARGET TIME VECTOR B29 M
032513,000665: # CSTEER C FOR STEER LAW DP B2
032514,000666: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032515,000667:
032516,000668: # OUTPUT
032517,000669: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032518,000670: # VGTIG INITIAL VALUE OF VELOCITY
032519,000671: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032520,000672: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032521,000673: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032522,000674: # -GDT FOR S40.13 VECT B7 M/CS
032523,000675: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032524,000676: # POSITION AT TIME OF IGNITION
032525,000677:
032526,000678: # DEBRIS QTEMP1
032527,000679: # MPAC, QPRET
032528,000680: # PUSHLIST
032529,000681:
032530,000682: 14,2347 BANK 14
032531,000683: 27,2000 SETLOC P40S1
032532,000684: 27,2000 BANK
|
|
Page 760
|
032534,000686: 27,2246 COUNT* $$/S40.1
032535,000687: 27,2246 71220 S40.1 STQ DLOAD
032536,000688: 27,2247 03632 QTEMP
032537,000689: 27,2250 03442 TIG
032538,000690: 27,2251 03763 STORE TIGSAVE
032539,000691: 27,2252 77614 DELVTEST BOFF
032540,000692: 27,2253 01347 XDELVFLG
032541,000693: 27,2254 56336 S40.1B
032542,000694: 27,2255 77201 CALCTHET SETPD VLOAD
032543,000695: 27,2256 00001 0
032544,000696: 27,2257 03650 VTIG
032545,000697: 27,2260 02331 STORE VINIT
032546,000698: 27,2261 53435 VXV UNIT
032547,000699: 27,2262 03642 RTIG
032548,000700: 27,2263 27673 STOVL UT # UP IN UT
032549,000701: 27,2264 03642 RTIG
032550,000702: 27,2265 02323 STORE RINIT
032551,000703: 27,2266 65236 VSQ PDDL
032552,000704: 27,2267 00045 36D
032553,000705: 27,2270 56205 DMP DDV
032554,000706: 27,2271 16412 THETACON
032555,000707: 27,2272 41205 DMP DMP
032556,000708: 27,2273 03664 DELVSAB
032557,000709: 27,2274 01244 WEIGHT/G
032558,000710: 27,2275 77671 DDV
032559,000711: 27,2276 03735 F
032560,000712: 27,2277 24017 STOVL 14D
032561,000713: 27,2300 03656 DELVSIN
032562,000714:
032563,000715: 27,2301 74241 DOT VXSC
032564,000716: 27,2302 03673 UT
032565,000717: 27,2303 03673 UT
032566,000718: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032567,000719: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032568,000720: 27,2306 03656 DELVSIN
032569,000721: 27,2307 00017 14D
032570,000722: 27,2310 63356 SIN PDVL
032571,000723: 27,2311 00007 6D
032572,000724: 27,2312 53435 VXV UNIT
032573,000725: 27,2313 03673 UT
032574,000726: 27,2314 45561 VXSC STADR
032575,000727: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032576,000728: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032577,000729: 27,2317 00017 14D
032578,000730: 27,2320 74346 COS VXSC
032579,000731: 27,2321 74255 VAD VXSC
032580,000732: 27,2322 03701 VGTIG
032581,000733: 27,2323 00045 36D
032582,000734: 27,2324 53352 VSL2 VAD
032583,000735: 27,2325 77626 STADR
|
|
Page 761
|
032585,000737: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032586,000738:
032587,000739: 27,2327 77656 UNIT
032588,000740: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032589,000741: 27,2331 03701 VGTIG
032590,000742: 27,2332 45006 PUSH CALL
032591,000743: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032592,000744: 27,2334 77650 GOTO
032593,000745: 27,2335 03632 QTEMP
032594,000746: 27,2336 77745 S40.1B DLOAD
032595,000747: 27,2337 03442 TIG
032596,000748: 27,2340 00041 STORE TDEC1
032597,000749: 27,2341 77621 BDSU
032598,000750: 27,2342 03631 TPASS4
032599,000751: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032600,000752: 27,2344 27056 LEMPREC
032601,000753: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032602,000754: 27,2346 00001 RATT
032603,000755: 27,2347 00001 0
032604,000756: 27,2350 03642 STORE RTIG
032605,000757: 27,2351 02323 STORE RINIT
032606,000758: 27,2352 77656 UNIT
032607,000759: 27,2353 27537 STOVL UNIT/R/
032608,000760: 27,2354 00007 VATT
032609,000761: 27,2355 03650 STORE VTIG
032610,000762: 27,2356 02331 STORE VINIT
032611,000763: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032612,000764: 27,2360 06524 ZEROVECS
032613,000765: 27,2361 16406 EPS1
032614,000766: 27,2362 43214 BOFF DAD
032615,000767: 27,2363 03745 NORMSW
032616,000768: 27,2364 56366 SMALLEPS
032617,000769: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032618,000770: 27,2366 66006 SMALLEPS PUSH SXA,1
032619,000771: 27,2367 02776 RTX1
032620,000772: 27,2370 45134 SXA,2 CALL
032621,000773: 27,2371 02777 RTX2
032622,000774: 27,2372 22000 INITVEL
032623,000775: 27,2373 41575 VLOAD PUSH
032624,000776: 27,2374 02366 DELVEET3 # VGTIG = VR-VN.
032625,000777: 27,2375 03701 STORE VGTIG
032626,000778: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032627,000779: 27,2377 17673 STODL UT
032628,000780: 27,2400 00045 36D
032629,000781: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032630,000782: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032631,000783: 27,2403 77650 GOTO
032632,000784: 27,2404 03632 QTEMP
032633,000785:
032634,000786: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
|
|
Page 762
|
032636,000788: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032637,000789: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032638,000790:
|
|
Page 763
|
032640,000792: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032641,000793: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032642,000794: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032643,000795: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032644,000796: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032645,000797:
032646,000798: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032647,000799: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032648,000800: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032649,000801: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032650,000802: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032651,000803:
032652,000804: # CALLING SEQUENCE:
032653,000805: # L CALL INTERPRETIVE CALL.
032654,000806: # L +1 S40.2,3
032655,000807: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032656,000808:
032657,000809: # SUBROUTINES CALLED: NONE.
032658,000810:
032659,000811: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032660,000812:
032661,000813: # ALARM/ABORT MODES: NONE.
032662,000814:
032663,000815: # INPUT:
032664,000816: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032665,000817: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032666,000818: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032667,000819:
032668,000820: # OUTPUT:
032669,000821: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032670,000822: # :YSCREF: IN REFERENCE COORDINATES
032671,000823: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032672,000824: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032673,000825: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032674,000826: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032675,000827:
032676,000828: # DEBRIS: NONE.
|
|
Page 764
|
032678,000830:
032679,000831: 27,2413 COUNT* $$/S40.2
032680,000832: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032681,000833: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032682,000834: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032683,000835: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032684,000836: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032685,000837: 27,2420 06522 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032686,000838: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032687,000839:
032688,000840: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032689,000841: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032690,000842: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032691,000843: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032692,000844: 27,2426 46125 PDDL BHIZ
032693,000845: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032694,000846: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032695,000847: 27,2431 45575 STORY VLOAD STADR
032696,000848: 27,2432 74162 STORE YSCREF
032697,000849: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
032698,000850: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032699,000851: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032700,000852: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032701,000853:
032702,000854: 27,2437 43414 SET RVQ
032703,000855: 27,2440 01073 PFRATFLG
032704,000856: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032705,000857: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032706,000858: 27,2443 03650 VTIG
032707,000859: 27,2444 41456 UNIT PUSH
032708,000860: 27,2445 77650 GOTO
032709,000861: 27,2446 56431 STORY
|
|
Page 765
|
032711,000863: # SUBROUTINE S40.8
032712,000864: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032713,000865:
032714,000866: # DESCRIPTION
032715,000867: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032716,000868: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032717,000869: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032718,000870:
032719,000871: # CALLING SEQUENCE
032720,000872: # L-1 CALL
032721,000873: # L S40.8
032722,000874: # L+1 INTERPRETIVE RETURN
032723,000875:
032724,000876: # ALARM
032725,000877: # IF VG.DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032726,000878: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032727,000879:
032728,000880: # INPUT AND INITIALIZATION
032729,000881: # VGPREV REFERENCE 2(7) M/CS
032730,000882: # DELVREF REFERENCE 2(7) M/CS
032731,000883: # BDT REFERENCE 2(7) M/CS
032732,000884: # TDECAY TAIL-OFF TIME 2(28) CS
032733,000885: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032734,000886: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032735,000887: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032736,000888:
032737,000889: # NOTE: VGTIG EQUALS VGPREV
032738,000890:
032739,000891: # OUTPUT
032740,000892: # STEERSW SEE INPUT
032741,000893: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032742,000894: # TGO TIME TO CUT-OFF 2(28) CS
032743,000895: # SEE FINDCDUW FOR STEERING OUTPUTS.
032744,000896:
032745,000897: # SUBROUTINE CALLED
032746,000898: # FINDCDUW
032747,000899:
032748,000900: # DEBRIS
032749,000901: # MPACS, PUSHLIST
032750,000902:
032751,000903: 27,2447 COUNT* $$/S40.8
|
|
Page 766
|
032753,000905: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032754,000906: 27,2450 01347 XDELVFLG
032755,000907: 27,2451 56731 RASTEER1
032756,000908: 27,2452 52375 VLOAD VSU
032757,000909: 27,2453 03701 VGPREV
032758,000910: 27,2454 03527 DELVREF
032759,000911: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032760,000912: 27,2456 76521 MXV VSL1
032761,000913: 27,2457 01734 REFSMMAT
032762,000914: 27,2460 03253 STORE UNFC/2
032763,000915: 27,2461 51575 BDTOK VLOAD ABVAL
032764,000916: 27,2462 03707 VG
032765,000917: 27,2463 03664 STORE VGDISP
032766,000918: 27,2464 77201 TGOCALC SETPD VLOAD
032767,000919: 27,2465 00001 0
032768,000920: 27,2466 03707 VG
032769,000921: 27,2467 27701 STOVL VGPREV
032770,000922: 27,2470 03527 DELVREF
032771,000923: 27,2471 57414 BOFF VCOMP
032772,000924: 27,2472 01344 STEERSW
032773,000925: 27,2473 00052 QPRET
032774,000926: 27,2474 77656 UNIT
032775,000927: 27,2475 41441 DOT PUSH
032776,000928: 27,2476 03707 VG
032777,000929: 27,2477 56244 BPL DDV
032778,000930: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032779,000931: 27,2501 03743 VEX
032780,000932: 27,2502 41215 DAD DMP
032781,000933: 27,2503 06522 DPHALF
032782,000934: 27,2504 56261 SR DDV
032783,000935: 27,2505 20613 10D
032784,000936: 27,2506 00045 36D
032785,000937: 27,2507 43205 DMP DAD
032786,000938: 27,2510 16535 -FOURDT
032787,000939: 27,2511 03741 TDECAY
032788,000940: 27,2512 03517 STORE TGO
032789,000941: 27,2513 77615 DAD
032790,000942: 27,2514 01234 PIPTIME
032791,000943: 27,2515 17442 STODL TIG
032792,000944: 27,2516 03517 TGO
032793,000945: 27,2517 51025 DSU BPL
032794,000946: 27,2520 16537 FOURSECS # 400 CS
032795,000947: 27,2521 61100 FINDCDUW -2
032796,000948: 27,2522 43014 SET CLRGO
032797,000949: 27,2523 01066 IMPULSW
032798,000950: 27,2524 01224 STEERSW
032799,000951: 27,2525 00052 QPRET
032800,000952:
032801,000953: 27,2526 77776 ALARMIT EXIT
032802,000954:
|
|
Page 767
|
032804,000956: 27,2527 05567 TC ALARM
032805,000957: 27,2530 01407 OCT 01407
032806,000958: 27,2531 06042 TC INTPRET
032807,000959: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032808,000960: 27,2533 61100 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032809,000961:
032810,000962: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032811,000963: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032812,000964: 27,2540 E7,1742 2VEXHUST = VEX
032813,000965:
|
|
Page 768
|
032815,000967: # NAME S40.13 - TIMEBURN
032816,000968:
032817,000969: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032818,000970: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032819,000971: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032820,000972: # BURN
032821,000973: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032822,000974: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032823,000975: # SIGNAL
032824,000976:
032825,000977: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032826,000978:
032827,000979: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032828,000980: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032829,000981: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032830,000982: # AND ALSO FOR RCS ENGINE
032831,000983: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032832,000984: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032833,000985: # REQUIRE MODIFICATION FOR SATURN BURNS.
032834,000986: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032835,000987: # =0 DPS
032836,000988: # =1 APS
032837,000989:
032838,000990: # OUTPUT IMPULSW ZERO FOR STEERING
032839,000991: # ONE FOR ATTITUDE HOLD
032840,000992: # NOTHROTL ZERO FOR THROTTLING
032841,000993: # ONE TO INHIBIT THROTTLING
032842,000994: # TGO TIME TO BURN IN CS
032843,000995: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032844,000996: # FORCE
032845,000997:
032846,000998: 27,2540 E7,1516 EBANK= TGO
032847,000999: 27,2540 COUNT* $$/40.13
032848,001000: 27,2540 06042 S40.13 TC INTPRET
032849,001001: 27,2541 43001 SETPD CLEAR
032850,001002: 27,2542 00001 00D
032851,001003: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032852,001004: 27,2544 51575 VLOAD ABVAL
032853,001005: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032854,001006: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032855,001007: 27,2547 21006 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032856,001008: 27,2550 34021 FRCS2
032857,001009: 27,2551 72471 DDV SL1 # SCALE
032858,001010: 27,2552 01244 WEIGHT/G
032859,001011: 27,2553 41421 BDSU PUSH
032860,001012: 27,2554 43014 BOFF SET
032861,001013: 27,2555 05342 APSFLAG
032862,001014: 27,2556 56626 S40.13D # FOR DPS ENGINE
032863,001015: 27,2557 02463 NOTHROTL
032864,001016: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
|
|
In the following line in the original program listing, +24 is crossed
out and +23 written in by hand.—RSB 2003
|
032867,001019: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032868,001020: 27,2562 01244 WEIGHT/G
032869,001021: 27,2563 50021 BDSU BMN
|
|
Page 769
|
032871,001023: 27,2564 00001 00D
032872,001024: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032873,001025: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032874,001026: 27,2567 03737 MDOT
032875,001027:
032876,001028: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032877,001029: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032878,001030: # REQUIRE ADJUSTMENT
032879,001031:
032880,001032: 27,2570 16700 3.5SEC # 350 CS AT +14
032881,001033: 27,2571 65221 BDSU PDDL
032882,001034: 27,2572 01244 WEIGHT/G
032883,001035: 27,2573 03735 F
032884,001036: 27,2574 60405 DMP SR2 # SCALE
032885,001037: 27,2575 16702 5SECS
032886,001038: 27,2576 41471 DDV PUSH # 04D = TEMP2
032887,001039: 27,2577 51021 BDSU BPL
032888,001040: 27,2600 00003 02D
032889,001041: 27,2601 56626 S40.13D
032890,001042: 27,2602 55345 DLOAD BDDV
032891,001043: 27,2603 43205 DMP DAD
032892,001044: 27,2604 16702 5SECS
032893,001045: 27,2605 16676 1SEC2D # 100 CS AT +14
032894,001046: 27,2606 77650 GOTO
032895,001047: 27,2607 56616 S40.132
032896,001048: 27,2610 41345 S40.131 DLOAD DMP
032897,001049: 27,2611 01244 WEIGHT/G
|
|
In the following line in the original program listing, PUSH is
hand-circled.—RSB 2003
|
032900,001052: 27,2612 41542 SR1 PUSH
032901,001053: 27,2613 56215 DAD DDV
032902,001054: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
|
|
In the original printout, "CS" is scribbled out in the following line.
In Luminary 210, the comment has been corrected to
"KG-M/CS/CS AT +10 (SAME VALUE AS FAPS)", which is consistent
with the correction.—RSB 2017
|
032907,001059: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032908,001060: 27,2616 77414 S40.132 SET EXIT
032909,001061: 27,2617 01066 IMPULSW
032910,001062: 27,2620 07262 S40.132* TC TPAGREE
032911,001063: 27,2621 30154 CA MPAC
|
|
In the following line in the original program listing,
TS TGO +1 is hand-written in the comment area.—RSB 2003
|
032914,001066: 27,2622 56001 XCH L
032915,001067: 27,2623 34755 CA ZERO
|
|
In the original program listing, TS TGO is hand-written,
seemingly between CA ZERO and DXCH TGO.—RSB 2003.
|
032918,001070: 27,2624 53517 DXCH TGO
032919,001071: 27,2625 12650 TCF S40.134
032920,001072:
032921,001073: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032922,001074: 27,2627 00001 00D
032923,001075: 27,2630 01244 WEIGHT/G
032924,001076: 27,2631 43006 PUSH BON
032925,001077: 27,2632 05302 APSFLAG
032926,001078: 27,2633 56671 APSTGO
032927,001079: 27,2634 43071 DDV CLEAR
032928,001080: 27,2635 16007 S40.136
032929,001081: 27,2636 02663 NOTHROTL
032930,001082: 27,2637 41400 BOV PUSH
|
|
Page 770
|
032932,001084: 27,2640 56653 S40.130V
032933,001085: 27,2641 51025 S40.137 DSU BPL
032934,001086: 27,2642 16704 6SEC # 600.0 CS AT +14
032935,001087: 27,2643 56661 S40.138
032936,001088: 27,2644 52015 DAD GOTO
032937,001089: 27,2645 16704 6SEC
032938,001090: 27,2646 56616 S40.132
032939,001091: 27,2647 77776 S40.133 EXIT
032940,001092: 27,2650 05353 S40.134 TC PHASCHNG
032941,001093: 27,2651 00003 OCT 00003
032942,001094: 27,2652 05155 TC ENDOFJOB
032943,001095: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032944,001096: 27,2654 77671 DDV
032945,001097: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032946,001098: 27,2656 03517 STORE TGO
032947,001099: 27,2657 77776 EXIT
032948,001100: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032949,001101:
032950,001102: 27,2661 51025 S40.138 DSU BPL
032951,001103: 27,2662 16706 89SECS
032952,001104: 27,2663 56666 STORETGO
032953,001105: 27,2664 77614 SET
032954,001106: 27,2665 02463 NOTHROTL
032955,001107: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032956,001108: 27,2667 77776 EXIT
032957,001109: 27,2670 12620 TCF S40.132*
032958,001110:
032959,001111: 27,2671 62471 APSTGO DDV SL2
032960,001112: 27,2672 34007 FAPS
032961,001113: 27,2673 77650 GOTO
032962,001114: 27,2674 56667 STORETGO +1
032963,001115: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032964,001116: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032965,001117: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032966,001118: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032967,001119: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032968,001120:
032969,001121: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032970,001122: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032971,001123: # COMPUTATION CYCLES (4 SECONDS).
032972,001124: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032973,001125: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032974,001126: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032975,001127:
032976,001128: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032977,001129:
032978,001130: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032979,001131: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
|
|
Page 771
|
032981,001133: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032982,001134: # METERS/CS AT +7.
032983,001135: # TIG - TIME OF IGNITION IN CS AT +28.
032984,001136: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032985,001137: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032986,001138: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032987,001139: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032988,001140: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032989,001141: # METERS/CS AT +7.
032990,001142:
032991,001143: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032992,001144: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032993,001145: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032994,001146: # BDT - B VECTOR IN METERS/CS AT +7.
032995,001147:
032996,001148: # SUBROUTINES USED - INITVEL
032997,001149:
032998,001150: 27,2707 E7,1700 EBANK= VGPREV
032999,001151: 27,2707 COUNT* $$/S40.9
033000,001152: 27,2707 06042 S40.9 TC INTPRET
033001,001153: 27,2710 77601 SETPD
033002,001154: 27,2711 00001 00D
033003,001155: 27,2712 71214 SET DLOAD
033004,001156: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033005,001157: 27,2714 06524 HI6ZEROS
033006,001158: 27,2715 77725 PDDL
033007,001159: 27,2716 16406 EPS1
033008,001160: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033009,001161: 27,2720 03745 NORMSW
033010,001162: 27,2721 56723 EPSSMALL
033011,001163: 27,2722 16410 EPS2
033012,001164: 27,2723 45006 EPSSMALL PUSH CALL
033013,001165: 27,2724 22002 HAVEGUES
033014,001166: 27,2725 77776 ENDS40.9 EXIT
033015,001167: 27,2726 05353 TC PHASCHNG
033016,001168: 27,2727 00002 OCT 2
033017,001169: 27,2730 15155 TCF ENDOFJOB
033018,001170:
033019,001171: 27,2731 51575 RASTEER1 VLOAD ABVAL
033020,001172: 27,2732 01220 RN
033021,001173: 27,2733 53744 LXC,2 SL*
033022,001174: 27,2734 02777 RTX2
033023,001175: 27,2735 57576 0,2
033024,001176: 27,2736 27715 STOVL RMAG
033025,001177: 27,2737 03444 RTARG
033026,001178: 27,2740 47051 VSU RTB
033027,001179: 27,2741 01220 RN
033028,001180: 27,2742 21725 NORMUNX1
033029,001181: 27,2743 17656 STODL IC
033030,001182: 27,2744 00045 36D # C(36D) = ABVAL(C)
033031,001183: 27,2745 53674 XAD,2 SL*
033032,001184: 27,2746 00046 X1
|
|
Page 772
|
033034,001186: 27,2747 57576 0,2
033035,001187: 27,2750 00037 STORE 30D
033036,001188: 27,2751 41301 NORM DMP
033037,001189: 27,2752 00050 X2
033038,001190: 27,2753 03715 RMAG
033039,001191: 27,2754 57101 NORM XAD,2
033040,001192: 27,2755 00047 X1
033041,001193: 27,2756 00046 X1
033042,001194: 27,2757 77734 SXA,2
033043,001195: 27,2760 03766 MUSCALE
033044,001196: 27,2761 17725 STODL R1C # 2(+58 -X)
033045,001197: 27,2762 00037 30D
033046,001198: 27,2763 65342 SR1 PDDL
033047,001199: 27,2764 03715 RMAG
033048,001200: 27,2765 65342 SR1 PDDL
033049,001201: 27,2766 03723 RTMAG
033050,001202: 27,2767 43342 SR1 DAD
033051,001203: 27,2770 45415 DAD STADR
033052,001204: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033053,001205: 27,2772 41225 DSU DMP
033054,001206: 27,2773 00037 30D
033055,001207: 27,2774 03721 MU/A
033056,001208: 27,2775 77621 BDSU
033057,001209: 27,2776 03717 MUASTEER
|
|
In the original program listing, the following line has a hand-written
comment as follows
(S - C) μ
( μ - --------- )
2 a
Other similar handwritten comments are included below without further apology.—RSB 2003.
(RSB 2016.) If you refer to the equivalent log section for Luminary 210, you'll see that the
code code has remained the same but that actual program comments similar to these hand-written
comments have appeared.
|
033069,001221: 27,2777 45325 PDDL DSU
033070,001222: 27,3000 03733 SS
|
|
(S-R) is written in by hand.
|
033072,001224: 27,3001 03715 RMAG
033073,001225: 27,3002 70501 NORM SR1
033074,001226: 27,3003 00047 X1
|
|
(S - R) μ (S - C)
2 ------- ( μ - --------- )
R C 2 a
|
033080,001232: 27,3004 41271 DDV DMP
033081,001233: 27,3005 03725 R1C
033082,001234: 27,3006 53664 XSU,2 SL*
033083,001235: 27,3007 00046 X1
033084,001236: 27,3010 57575 1,2
033085,001237: 27,3011 77754 LXA,2
033086,001238: 27,3012 03766 MUSCALE
|
|
2 (S - R) μ (S - C)
SQRT ( --------- (μ - --------- ) )
R C 2 a
|
033092,001244: 27,3013 75366 SQRT SIGN
|
|
(GEOMSGN = SGNA) or perhaps (GEOMSGN = SGN1)
|
033094,001246: 27,3014 02673 GEOMSGN
033095,001247: 27,3015 00041 STORE 32D # + OR - A
|
|
2 (S - R) μ (S - C)
A = SGNA (SQRT ( --------- (μ - ---------) ) )
R C 2 a
|
033101,001253: 27,3016 41345 DLOAD DMP
033102,001254: 27,3017 03733 SS
033103,001255: 27,3020 03721 MU/A
|
|
μ S
μ - ___
2 a
|
033109,001261: 27,3021 77621 BDSU
033110,001262: 27,3022 03717 MUASTEER
033111,001263: 27,3023 45325 PDDL DSU
033112,001264: 27,3024 03733 SS
033113,001265: 27,3025 03723 RTMAG
033114,001266: 27,3026 70501 NORM SR1
033115,001267: 27,3027 00047 X1
|
|
2 (S - R T) μ S
----------- ( μ - --- )
R C 2 a
|
033121,001273: 27,3030 41271 DDV DMP
033122,001274:
|
|
Page 773
|
033124,001276: 27,3031 03725 R1C
033125,001277: 27,3032 53664 XSU,2 SL*
033126,001278: 27,3033 00046 X1
033127,001279: 27,3034 57575 1,2
033128,001280: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033129,001281: 27,3036 03733 SS
033130,001282: 27,3037 56225 DSU DDV
033131,001283: 27,3040 00037 30D
033132,001284: 27,3041 03733 SS
033133,001285: 27,3042 41566 SQRT PUSH
|
|
ASIN ( SQRT (S-C)/S ) )
|
033135,001287: 27,3043 67542 SR1 ASIN
033136,001288: 27,3044 65205 DMP PDDL
033137,001289: 27,3045 17216 2PI+3
033138,001290: 27,3046 56325 PDDL DDV
033139,001291: 27,3047 00037 30D
033140,001292: 27,3050 03733 SS
|
|
SQRT (C/S) SQRT ( (S-C)/S ) =
|
033142,001294: 27,3051 77600 BOV
033143,001295: 27,3052 57053 +1
|
|
SQRT(C/S) SQRT((S-C)/S) = (1/S) SQRT(C(S-C))
|
033145,001297: 27,3053 41366 SQRT DMP
033146,001298: 27,3054 44242 SR3 BDSU
|
|
SGNA( ARCSIN( SQRT((S-C)/S) ) - (1/S) SQRT(C(S-C)) )
|
033148,001300: 27,3055 65365 SIGN PDDL
033149,001301: 27,3056 02673 GEOMSGN
033150,001302: 27,3057 17216 2PI+3
|
|
(C/S) (PI/2 - SGNA( empty, aligned with the contents of SGNA above ) )
|
033152,001304: 27,3060 45302 SR2 DSU
033153,001305: 27,3061 65205 DMP PDDL
033154,001306: 27,3062 03733 SS
033155,001307: 27,3063 03733 SS
|
|
S SQRT(S) = SQRT(S3)
|
033157,001309: 27,3064 75442 SR3 SQRT
033158,001310: 27,3065 77605 DMP
033159,001311: 27,3066 52525 PDDL SL3
033160,001312: 27,3067 03717 MUASTEER
|
|
3
S
SQRT(---)
2 μ
TMIN ENERGY
|
033168,001320: 27,3070 55366 SQRT BDDV
033169,001321: 27,3071 43225 DSU DAD
033170,001322: 27,3072 03631 TPASS4
033171,001323: 27,3073 01234 PIPTIME
|
|
(tM - t2 )
|
033173,001325: 27,3074 14037 STODL 30D
033174,001326: 27,3075 77765 SIGN
033175,001327: 27,3076 00037 30D # B WITH SIGN
033176,001328: 27,3077 00037 STORE 30D
033177,001329: 27,3100 77214 BON VLOAD
033178,001330: 27,3101 03705 NORMSW
033179,001331: 27,3102 57123 180MESS
033180,001332: 27,3103 03656 IC
033181,001333: 27,3104 53451 VSU UNIT
033182,001334: 27,3105 03537 UNIT/R/
|
|
UNCM
|
033184,001336: 27,3106 63361 VXSC PDVL
|
|
B UNCM
|
033186,001338: 27,3107 00037 30D
033187,001339: 27,3110 03656 IC
033188,001340: 27,3111 53455 VAD UNIT
|
|
VNCP
|
033190,001342: 27,3112 03537 UNIT/R/
|
|
Page 774
|
033192,001344:
|
|
A UNCP
|
033194,001346: 27,3113 53361 GETVRVG1 VXSC VAD
033195,001347: 27,3114 00041 32D
033196,001348: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033197,001349: 27,3116 02777 RTX2
033198,001350: 27,3117 57177 0 -1,2
033199,001351: 27,3120 02337 STORE VIPRIME
033200,001352: 27,3121 77650 GOTO
033201,001353: 27,3122 57166 ASTREND -2
033202,001354: 27,3123 50375 180MESS VLOAD DOT
033203,001355: 27,3124 03656 IC
033204,001356: 27,3125 03537 UNIT/R/
033205,001357: 27,3126 77240 BMN VLOAD
033206,001358: 27,3127 57146 NEGPROD
033207,001359: 27,3130 03656 IC
033208,001360: 27,3131 63362 VSR1 PDVL
033209,001361: 27,3132 03537 UNIT/R/
033210,001362: 27,3133 53362 VSR1 VAD
033211,001363: 27,3134 77656 UNIT
033212,001364: 27,3135 57406 PUSH VCOMP # FOR A
033213,001365: 27,3136 75235 VXV SIGN
033214,001366: 27,3137 02674 UN
033215,001367: 27,3140 02673 GEOMSGN
033216,001368: 27,3141 74256 UNIT VXSC
033217,001369: 27,3142 00037 30D
033218,001370: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033219,001371: 27,3144 77650 GOTO
033220,001372: 27,3145 57113 GETVRVG1
033221,001373: 27,3146 74575 NEGPROD VLOAD VSR1
033222,001374: 27,3147 03537 UNIT/R/
033223,001375: 27,3150 74515 PDVL VSR1
033224,001376: 27,3151 03656 IC
033225,001377: 27,3152 53451 VSU UNIT
033226,001378: 27,3153 77606 PUSH
033227,001379: 27,3154 75235 VXV SIGN
033228,001380: 27,3155 02674 UN # FOR B
033229,001381: 27,3156 02673 GEOMSGN
033230,001382: 27,3157 74256 UNIT VXSC
033231,001383: 27,3160 00041 32D
033232,001384: 27,3161 77715 PDVL
033233,001385: 27,3162 53361 VXSC VAD
033234,001386: 27,3163 00037 30D
033235,001387: 27,3164 77650 GOTO
033236,001388: 27,3165 57115 GETVRVG2
033237,001389: 27,3166 77651 VSU
033238,001390: 27,3167 03553 VN1
033239,001391: 27,3170 02366 ASTREND STORE DELVEET3
033240,001392: 27,3171 53135 FIRSTTME SLOAD BZE
033241,001393: 27,3172 03000 RTX2
033242,001394: 27,3173 57177 GETGOBL
033243,001395: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
|
|
Page 775
|
033245,001397: 27,3175 02366 DELVEET3
033246,001398: 27,3176 57212 NOGOBL
|
|
In the original program listing, VLOAD UNIT RN below is circled, and connected to the
comment after 34D ("34D = /RN/ etc.") with an arrow.—RSB 2003.
|
033249,001401: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033250,001402: 27,3200 01220 RN
033251,001403: 27,3201 45345 DLOAD DSU
033252,001404: 27,3202 01234 PIPTIME # 2
033253,001405: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033254,001406: 27,3204 56205 DMP DDV # OBL
033255,001407: 27,3205 16023 EARTHMU
033256,001408: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033257,001409: 27,3207 53361 VXSC VAD
033258,001410: 27,3210 03521 UNITGOBL
033259,001411: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033260,001412: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033261,001413: 27,3213 77650 GOTO
033262,001414: 27,3214 56455 VGAIN*
033263,001415:
033264,001416: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033265,001417:
|
|
Page 776
|
033267,001419: # TRIMGIMB (FORMERLY S40.6)
033268,001420: # MOD 0 24 FEB 67 PETER ADLER
033269,001421:
033270,001422: # FUNCTION:
033271,001423: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033272,001424: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033273,001425: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033274,001426:
033275,001427: # CALLING SEQUENCE:
033276,001428: # VIA WAITLIST FROM R03
033277,001429:
033278,001430: # INPUT:
033279,001431: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033280,001432: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033281,001433:
033282,001434: # SUBROUTINES USED:
033283,001435: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033284,001436:
033285,001437: 27,3217 COUNT* $$/S40.6
033286,001438: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033287,001439:
033288,001440: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033289,001441: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033290,001442:
033291,001443: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033292,001444: 27,3222 00006 EXTEND
033293,001445: 27,3223 03012 WAND CHAN12
033294,001446: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033295,001447: 27,3225 00006 EXTEND
033296,001448: 27,3226 05012 WOR CHAN12
033297,001449: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033298,001450: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033299,001451: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033300,001452: 27,3232 00006 EXTEND
033301,001453: 27,3233 03012 WAND CHAN12
033302,001454: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033303,001455: 27,3235 00006 EXTEND
033304,001456: 27,3236 05012 WOR CHAN12
033305,001457: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033306,001458: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033307,001459: 27,3241 03260 ADRES PITCHOFF
033308,001460:
033309,001461: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033310,001462: 27,3243 05224 TC VARDELAY # UNTIL THEN
033311,001463: 27,3244 44740 CS BIT12
033312,001464: 27,3245 00006 EXTEND
033313,001465: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033314,001466: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033315,001467: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033316,001468: 27,3251 00006 EXTEND
033317,001469: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033318,001470: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033319,001471: 27,3254 05072 TC NOVAC
033320,001472: 27,3255 E7,1471 EBANK= WHOCARES
|
|
Page 777
|
033322,001474: 27,3255 02325 02067 2CADR TRIMDONE
033323,001475:
033324,001476: 27,3257 05261 TC TASKOVER
033325,001477: 27,3260 44742 PITCHOFF CS BIT10
033326,001478: 27,3261 00006 EXTEND
033327,001479: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033328,001480: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033329,001481: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033330,001482: 27,3265 00137 ADRES GMBDRVSW
033331,001483: 27,3266 05261 TC TASKOVER
033332,001484:
|
|
Page 778
|
033334,001486: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033335,001487: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033336,001488:
033337,001489: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033338,001490:
033339,001491: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033340,001492: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033341,001493: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033342,001494: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033343,001495: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033344,001496: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033345,001497: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033346,001498: # CALLER WITH C(MPAC) = VELOCITY(LM).
033347,001499:
033348,001500: # CALLING SEQUENCE:
033349,001501: # L VLOAD CALL
033350,001502: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033351,001503: # L +2 S41.1
033352,001504: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033353,001505:
033354,001506: # SUBROUTINES CALLED:
033355,001507: # 1. CDUTRIG,
033356,001508: # WHICH CALLS CDULOGIC.
033357,001509: # 2. *SMNB*
033358,001510:
033359,001511: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033360,001512:
033361,001513: # ALARM/ABORT MODES: NONE.
033362,001514:
033363,001515: # RESTART PROTECTION: NONE.
033364,001516:
|
|
Page 779
|
033366,001518: # INPUT:
033367,001519: # 1. REFSMMAT.
033368,001520: # 2. CDUX, CDUY, CDUZ.
033369,001521: # 3. VELOCITY (REF) IN MPAC.
033370,001522:
033371,001523: # OUTPUT:
033372,001524: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033373,001525: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033374,001526: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033375,001527: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033376,001528:
033377,001529: # DEBRIS: NONE.
033378,001530:
033379,001531: # CHECKOUT STATUS: CODED.
033380,001532:
033381,001533: 27,3267 COUNT* $$/S41.1
033382,001534: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033383,001535: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033384,001536: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033385,001537: 27,3272 47650 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033386,001538: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc