GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
031683,000002: ## Copyright: Public domain.
031684,000003: ## Filename: P40-P47.agc
031685,000004: ## Purpose: A section of Luminary 1C, revision 131.
031686,000005: ## It is part of the source code for the Lunar Module's (LM)
031687,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
031688,000007: ## This file is intended to be a faithful transcription, except
031689,000008: ## that the code format has been changed to conform to the
031690,000009: ## requirements of the yaYUL assembler rather than the
031691,000010: ## original YUL assembler.
031692,000011: ## Reference: pp. 747-779
031693,000012: ## Contact: Ron Burkey <info@sandroid.org>.
031694,000013: ## Website: www.ibiblio.org/apollo
031695,000014: ## Mod history: 05/24/03 RSB. Began transcribing.
031696,000015: ## 2010-01-05 JL Fixed indentation of STADR instruction.
031697,000016: ## 2016-12-01 RSB There were a number of "modern" comments about hand-written
031698,000017: ## notations, which I had added back in 2003, but whiche never
031699,000018: ## got converted to ##-style. However, after having changed them
031700,000019: ## to ##-style, they no longer worked properly after being rendered
031701,000020: ## to html, so they had to be considerably reworked to fix that.
031702,000021: ## 2017-01-06 RSB Page numbers now agree with those on the
031703,000022: ## original harcopy, as opposed to the PDF page
031704,000023: ## numbers in 1701.pdf.
031705,000024: ## 2017-02-25 RSB Proofed comment text using octopus/ProoferComments.
031706,000025: ## 2017-02-28 RSB Fixed lingering typos.
031707,000026: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
031708,000027: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
031709,000028: ## side-by-side diff of Luminary 69/99/116/131/210.
031710,000029: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
031711,000030: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
031712,000031: ## Zerlina 56 (it was unreferenced so caused no errors).
031713,000032: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031714,000033:
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Page 747 |
031716,000035: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031717,000036: # MOD 03 BY PETER ADLER MARCH 3, 1967
031718,000037: # CALLED VIA JOB FROM V37E
031719,000038:
031720,000039: # FUNCTIONAL DESCRIPTION
031721,000040: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031722,000041: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2003. |
031724,000043: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031725,000044: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031726,000045: # PGNCS CONTROLLED DPS MANEUVER.
031727,000046: # 5) IN POSTBURN -- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031728,000047: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031729,000048: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031730,000049: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031731,000050:
031732,000051: # SUBROUTINES USED
031733,000052: # R02 IMU STATUS CHECK
031734,000053: # S40.1 COMPUTATION OF THRUST DIRECTION
031735,000054: # S40.13 LENGTH OF BURN
031736,000055: # S40.2,3 PREFERRED IMU ORIENATTION
031737,000056: # S40.8 X PRODUCT STEERING
031738,000057: # S40.9 LAMBERT VTOGAIN
031739,000058: # R60LEM ATTITUDE MANEUVER
031740,000059: # LEMPREC EXTRAPOLATE STATE VECTOR
031741,000060: # PREREAD AVERAGE G, SERVICER
031742,000061: # ALLCOAST DAP COASTING INITIALIZATION
031743,000062: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031744,000063: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031745,000064: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031746,000065: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031747,000066:
031748,000067: # RESTARTS VIA GROUP 4
031749,000068:
031750,000069: # DISPLAYS
031751,000070: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
031752,000071: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031753,000072: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031754,000073: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031755,000074: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031756,000075: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031757,000076: # V05N09 POSSIBLE ALARMS
031758,000077: # V50N07 PLEASE SELECT P00
031759,000078:
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Page 748 |
031761,000080: # VIA R30
031762,000081:
031763,000082: # V06N44 HAPO, PERI, TFF
031764,000083: # V06N35 TIME TO PERIGEE, HMS
031765,000084:
031766,000085: # ALARM OR ABORT EXIT MODES
031767,000086: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031768,000087: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031769,000088:
031770,000089: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031771,000090: # TIG BY 45 SECS.
031772,000091:
031773,000092: # ERASABLE INITIALIZATION
031774,000093:
031775,000094: # DEBRIS
031776,000095:
031777,000096: # OUTPUT
031778,000097: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031779,000098: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031780,000099: # = 0 FOR AIMPT (LAMBERT) COMP
031781,000100:
031782,000101: 27,2246 COUNT* $$/P40
031783,000102: 27,2246 E7,1455 EBANK= WHICH
031784,000103:
031785,000104: 36,3153 BANK 36
031786,000105: 36,2000 SETLOC P40S
031787,000106: 36,2000 BANK
031788,000107:
031789,000108: 36,3153 05353 P40LM TC PHASCHNG
031790,000109: 36,3154 04024 OCT 04024
031791,000110:
031792,000111: 36,3155 33137 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031793,000112: 36,3156 55455 TS WHICH
031794,000113:
031795,000114: 36,3157 30106 CA FLGWRD10
031796,000115: 36,3160 74737 MASK APSFLBIT
031797,000116: 36,3161 10000 CCS A
031798,000117: 36,3162 13125 TCF P40ALM
031799,000118: 36,3163 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031800,000119: 36,3164 11233 CADR R02BOTH
031801,000120:
031802,000121: 36,3165 40111 CS DAPBOOLS # INITIALIZE DVMON
031803,000122: 36,3166 74737 MASK CSMDOCKD
031804,000123: 36,3167 10000 CCS A
031805,000124: 36,3170 32022 CAF THRESH1
031806,000125: 36,3171 62023 AD THRESH3
031807,000126: 36,3172 55250 TS DVTHRUSH
031808,000127: 36,3173 34751 CAF FOUR
031809,000128: 36,3174 55515 TS DVCNTR
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Page 749 |
031811,000130: 36,3175 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031812,000131: 36,3176 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031813,000132: 36,3177 34001 FDPS
031814,000133: 36,3200 02663 NOTHROTL
031815,000134: 36,3201 03735 STORE F
031816,000135: 36,3202 77735 SLOAD
031817,000136: 36,3203 26002 DPSVEX
031818,000137: 36,3204 70476 P40IN DCOMP SR1
031819,000138: 36,3205 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031820,000139: 36,3206 56246 S40.1 # COMPUTES UT AND VGTIG
031821,000140: 36,3207 77624 CALL
031822,000141: 36,3210 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031823,000142: 36,3211 77776 EXIT
031824,000143:
031825,000144: 36,3212 00004 INHINT
031826,000145: 36,3213 04674 TC IBNKCALL
031827,000146: 36,3214 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031828,000147:
031829,000148: 36,3215 03217 TC P40SXT4
031830,000149:
031831,000150: # ***********************
031832,000151:
031833,000152: 36,3216 12130 TCF BURNBABY
031834,000153:
031835,000154: # ***********************
031836,000155:
031837,000156: 36,3217 00006 P40SXT4 EXTEND
031838,000157: 36,3220 23141 QXCH P40/RET
031839,000158: 36,3221 00003 P41MANU RELINT
031840,000159:
031841,000160: 36,3222 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031842,000161: 36,3223 00124 ADRES 3AXISFLG
031843,000162:
031844,000163: 36,3224 04616 TC BANKCALL
031845,000164: 36,3225 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031846,000165: 36,3226 01141 TC P40/RET
031847,000166:
031848,000167: 36,3227 E7,1462 EBANK= TRKMKCNT
031849,000168: 36,3227 30005 POSTBURN CA Z
031850,000169: 36,3230 55162 TS DISPDEX
031851,000170: 36,3231 00006 EXTEND
031852,000171: 36,3232 32060 DCA ACADN85
031853,000172: 36,3233 53252 DXCH AVEGEXIT
031854,000173: 36,3234 33764 CAF V16N40
031855,000174: 36,3235 04616 TC BANKCALL
031856,000175: 36,3236 20636 CADR GOFLASHR
031857,000176: 36,3237 03262 TC TERM40
031858,000177: 36,3240 13245 TCF TIGNOW
031859,000178: 36,3241 03227 TC POSTBURN
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Page 750 |
031861,000180: 36,3242 05353 P40PHS1 TC PHASCHNG
031862,000181: 36,3243 00014 OCT 00014
031863,000182: 36,3244 15155 TCF ENDOFJOB
031864,000183:
031865,000184: 36,3245 00004 TIGNOW INHINT
031866,000185: 36,3246 04674 TC IBNKCALL
031867,000186: 36,3247 40154 CADR ZATTEROR
031868,000187: 36,3250 04674 TC IBNKCALL
031869,000188: 36,3251 40141 CADR SETMINDB
031870,000189: 36,3252 00003 RELINT
031871,000190: 36,3253 33765 CAF V16N85B
031872,000191: 36,3254 04616 TC BANKCALL
031873,000192: 36,3255 20463 CADR REFLASHR
031874,000193: 36,3256 03262 TC TERM40
031875,000194: 36,3257 13262 TCF TERM40
031876,000195: 36,3260 03253 TC -5
031877,000196:
031878,000197: 36,3261 13242 TCF P40PHS1
031879,000198:
031880,000199: 36,3262 00006 TERM40 EXTEND
031881,000200: 36,3263 32110 DCA SERVCADR
031882,000201: 36,3264 53252 DXCH AVEGEXIT
031883,000202: 36,3265 34755 CAF ZERO
031884,000203: 36,3266 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
031885,000204: 36,3267 30005 CA Z
031886,000205: 36,3270 55162 TS DISPDEX
031887,000206: 36,3271 00004 INHINT
031888,000207: 36,3272 04674 TC IBNKCALL
031889,000208: 36,3273 40115 CADR RESTORDB
031890,000209: 36,3274 00003 RELINT
031891,000210: 36,3275 06001 TC GOTOPOOH
031892,000211:
031893,000212: 36,3276 E7,1455 EBANK= WHICH
031894,000213: 36,3276 COUNT* $$/P41
031895,000214: 36,3276 33140 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
031896,000215: 36,3277 55455 TS WHICH
031897,000216:
031898,000217: 36,3300 04616 TC BANKCALL
031899,000218: 36,3301 11233 CADR R02BOTH
031900,000219:
031901,000220: 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. |
031904,000223: 36,3303 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
031905,000224: 36,3304 00700 NJETSFLG
031906,000225: 36,3305 75311 P41FJET1
031907,000226: 36,3306 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
031908,000227:
031909,000228: 36,3307 37735 P41FJET STCALL F
031910,000229: 36,3310 75314 P41IN
031911,000230: 36,3311 77745 P41FJET1 DLOAD
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Page 751 |
031913,000232: 36,3312 34021 FRCS2
031914,000233: 36,3313 03735 STORE F
031915,000234:
031916,000235: 36,3314 77624 P41IN CALL
031917,000236: 36,3315 56246 S40.1 # BOTH
031918,000237: 36,3316 77624 P41NORM CALL
031919,000238: 36,3317 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
031920,000239: 36,3320 77776 EXIT # SET PFRATFLG.
031921,000240:
031922,000241: 36,3321 00004 INHINT
031923,000242: 36,3322 04674 TC IBNKCALL
031924,000243: 36,3323 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
031925,000244: 36,3324 04674 TC IBNKCALL
031926,000245: 36,3325 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
031927,000246: 36,3326 03217 TC P40SXT4
031928,000247:
031929,000248: 36,3327 06042 TC INTPRET
031930,000249: 36,3330 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
031931,000250: 36,3331 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
031932,000251: 36,3332 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
031933,000252: 36,3333 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
031934,000253: 36,3334 77776 EXIT
031935,000254:
031936,000255: 36,3335 33765 CAF V16N85B
031937,000256: 36,3336 04616 TC BANKCALL
031938,000257: 36,3337 20447 CADR GODSPRET
031939,000258:
031940,000259: 36,3340 35017 CAF PRIO5
031941,000260: 36,3341 55162 TS DISPDEX # FOR SAFETY ONLY
031942,000261: 36,3342 05105 TC FINDVAC
031943,000262: 36,3343 E7,1700 EBANK= VGPREV
031944,000263: 36,3343 03365 74067 2CADR DYNMDISP
031945,000264:
031946,000265: 36,3345 05327 TC 2PHSCHNG
031947,000266: 36,3346 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
031948,000267: 36,3347 04024 OCT 04024 # GROUP 4 RESTARTS HERE
031949,000268:
031950,000269: # ***********************
031951,000270:
031952,000271: 36,3350 12137 TCF B*RNB*B*
031953,000272:
031954,000273: # ***********************
031955,000274:
031956,000275: 36,3351 34777 BLNKWAIT CAF 1SEC
031957,000276: 36,3352 04616 TC BANKCALL
031958,000277: 36,3353 01736 CADR DELAYJOB
031959,000278:
031960,000279: 36,3354 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
031961,000280: 36,3355 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
031962,000281:
031963,000282: # ***********************
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Page 752 |
031965,000284:
031966,000285: 36,3356 00006 EXTEND
031967,000286: 36,3357 13351 BZF BLNKWAIT
031968,000287:
031969,000288: 36,3360 33765 CAF V16N85B
031970,000289: 36,3361 04616 TC BANKCALL
031971,000290: 36,3362 20447 CADR GODSPRET
031972,000291:
031973,000292: 36,3363 35017 CAF PRIO5
031974,000293: 36,3364 05146 TC PRIOCHNG
031975,000294:
031976,000295: 36,3365 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
031977,000296: 36,3366 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
031978,000297: 36,3367 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
031979,000298: 36,3370 06042 TC INTPRET
031980,000299: 36,3371 45175 VLOAD CALL
031981,000300: 36,3372 03701 VGPREV
031982,000301: 36,3373 57267 S41.1
031983,000302: 36,3374 03502 STORE VGBODY
031984,000303: 36,3375 77776 EXIT
031985,000304: 36,3376 34777 CAF 1SEC
031986,000305: 36,3377 04616 TC BANKCALL
031987,000306: 36,3400 01736 CADR DELAYJOB
031988,000307: 36,3401 13365 TCF DYNMDISP
031989,000308:
031990,000309: 36,3402 06042 CALCN85 TC INTPRET
031991,000310: 36,3403 77624 CALL
031992,000311: 36,3404 75615 UPDATEVG
031993,000312: 36,3405 45175 VLOAD CALL
031994,000313: 36,3406 03701 VGPREV
031995,000314: 36,3407 57267 S41.1
031996,000315: 36,3410 03502 STORE VGBODY
031997,000316: 36,3411 77776 EXIT
031998,000317: 36,3412 04635 TC POSTJUMP
031999,000318: 36,3413 65746 CADR SERVEXIT
032000,000319:
032001,000320: 36,3414 COUNT* $$/P42
032002,000321: 36,3414 E7,1455 EBANK= WHICH
032003,000322:
032004,000323: 36,3414 05353 P42LM TC PHASCHNG
032005,000324: 36,3415 04024 OCT 04024
032006,000325:
032007,000326: 36,3416 33141 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032008,000327: 36,3417 55455 TS WHICH
032009,000328:
032010,000329: 36,3420 40106 CS FLGWRD10
032011,000330: 36,3421 74737 MASK APSFLBIT
032012,000331: 36,3422 10000 CCS A
032013,000332: 36,3423 03125 TC P40ALM
032014,000333: 36,3424 04616 P42STAGE TC BANKCALL
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Page 753 |
032016,000335: 36,3425 11233 CADR R02BOTH
032017,000336: 36,3426 36000 CAF THRESH2 # INITIALIZE DVMON
032018,000337: 36,3427 55250 TS DVTHRUSH
032019,000338: 36,3430 34751 CAF FOUR
032020,000339: 36,3431 55515 TS DVCNTR
032021,000340:
032022,000341: 36,3432 06042 TC INTPRET
032023,000342: 36,3433 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032024,000343: 36,3434 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032025,000344: 36,3435 34007 FAPS
032026,000345: 36,3436 03735 STORE F
032027,000346: 36,3437 52135 SLOAD GOTO
032028,000347: 36,3440 26001 APSVEX
032029,000348: 36,3441 75204 P40IN
032030,000349:
032031,000350: 36,3442 E7,1455 EBANK= WHICH
032032,000351:
032033,000352: 36,3442 COUNT* $$/P47
032034,000353: 36,3442 04616 P47LM TC BANKCALL
032035,000354: 36,3443 11233 CADR R02BOTH
032036,000355: 36,3444 06042 TC INTPRET
032037,000356: 36,3445 77624 CALRB
032038,000357: 36,3446 27547 MIDTOAV2
032039,000358:
032040,000359: 36,3447 30155 CA MPAC +1
032041,000360: 36,3450 05173 TC TWIDDLE
032042,000361: 36,3451 03453 ADRES STARTP47
032043,000362:
032044,000363: 36,3452 15155 TCF ENDOFJOB
032045,000364:
032046,000365: 36,3453 05353 STARTP47 TC PHASCHNG
032047,000366: 36,3454 05014 OCT 05014
032048,000367: 36,3455 77777 OCT 77777
032049,000368:
032050,000369: 36,3456 00006 EXTEND
032051,000370: 36,3457 33770 DCA ACADN83
032052,000371: 36,3460 53252 DXCH AVEGEXIT
032053,000372: 36,3461 34736 CAF PRIO20
032054,000373: 36,3462 05105 TC FINDVAC
032055,000374: 36,3463 E7,1622 EBANK= DELVIMU
032056,000375: 36,3463 03517 74067 2CADR P47BODY
032057,000376:
032058,000377: 36,3465 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032059,000378: # SEE TIG-30 IN BURNBABY.
032060,000379:
032061,000380: 36,3466 06042 CALCN83 TC INTPRET
032062,000381: 36,3467 53375 VLOAD VAD
032063,000382: 36,3470 03502 DELVCTL
032064,000383: 36,3471 03527 DELVREF
032065,000384: 36,3472 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
|
|
Page 754 |
032067,000386: 36,3473 77624 CALL
032068,000387: 36,3474 57267 S41.1
032069,000388: 36,3475 03623 STORE DELVIMU
032070,000389: 36,3476 77776 EXIT
032071,000390: 36,3477 05353 TC PHASCHNG
032072,000391: 36,3500 10035 OCT 10035 # REREADAC AND HERE
032073,000392:
032074,000393: 36,3501 06042 TC INTPRET
032075,000394: 36,3502 77775 VLOAD
032076,000395: 36,3503 03656 DELVSIN
032077,000396: 36,3504 03502 STORE DELVCTL
032078,000397: 36,3505 77776 EXIT
032079,000398:
032080,000399: 36,3506 04635 TC POSTJUMP
032081,000400: 36,3507 65746 CADR SERVEXIT
032082,000401:
032083,000402: 36,3510 33766 P47BOD CAF V1683
032084,000403: 36,3511 04616 TC BANKCALL
032085,000404: 36,3512 20636 CADR GOFLASHR
032086,000405: 36,3513 06001 TC GOTOPOOH
032087,000406: 36,3514 06001 TC GOTOPOOH
032088,000407:
032089,000408: 36,3515 13517 TCF P47BODY
032090,000409:
032091,000410: 36,3516 13242 TCF P40PHS1
032092,000411:
032093,000412: 36,3517 06042 P47BODY TC INTPRET
032094,000413: 36,3520 77775 VLOAD
032095,000414: 36,3521 06524 HI6ZEROS
032096,000415: 36,3522 03623 STORE DELVIMU
032097,000416: 36,3523 03502 STORE DELVCTL
032098,000417: 36,3524 77776 EXIT
032099,000418: 36,3525 03510 TC P47BOD
032100,000419:
032101,000420: 36,3526 COUNT* $$/P40
032102,000421: 36,3526 31517 IMPLBURN CA TGO +1
032103,000422: 36,3527 03741 TC GETDT
032104,000423: 36,3530 05173 TC TWIDDLE
032105,000424: 36,3531 03546 ADRES ENGOFTSK
032106,000425: 36,3532 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032107,000426: 36,3533 00153 ADRES IGNFLAG
032108,000427: 36,3534 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032109,000428: 36,3535 00154 ADRES ASTNFLAG
032110,000429: 36,3536 05516 TC DOWNFLAG # TURN OFF IMPULSW
032111,000430: 36,3537 00044 ADRES IMPULSW
032112,000431: 36,3540 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032113,000432: 36,3541 40114 OCT 40114
032114,000433:
032115,000434: 36,3542 05221 TC FIXDELAY # WAIT HALF A SECOND
032116,000435: 36,3543 00062 DEC 50 B-14
|
|
Page 755 |
032118,000437: 36,3544 02657 TC NOULLAGE # TURN OFF ULLAGE
032119,000438:
032120,000439: 36,3545 05261 TC TASKOVER
032121,000440:
032122,000441: 36,3546 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032123,000442: 36,3547 75551 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032124,000443: 36,3550 05261 TC TASKOVER
032125,000444:
032126,000445: 36,3551 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032127,000446: 36,3552 05105 TC FINDVAC
032128,000447: 36,3553 E7,1462 EBANK= TRKMKCNT
032129,000448: 36,3553 03227 74067 2CADR POSTBURN
032130,000449:
032131,000450: 36,3555 34753 ENGINOF2 CAF BIT1
032132,000451: 36,3556 05203 TC WAITLIST
032133,000452: 36,3557 E6,1422 EBANK= OMEGAQ
032134,000453: 36,3557 03612 74066 2CADR COASTSET
032135,000454:
032136,000455: 36,3561 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032137,000456: 36,3562 74745 MASK IDLEFBIT
032138,000457: 36,3563 26103 ADS FLAGWRD7
032139,000458:
032140,000459: 36,3564 02657 TC NOULLAGE
032141,000460:
032142,000461: 36,3565 00006 ENGINOF4 EXTEND
032143,000462: 36,3566 30025 DCA TIME2
032144,000463: 36,3567 53342 DXCH TEVENT
032145,000464:
032146,000465: 36,3570 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032147,000466: 36,3571 70101 MASK FLAGWRD5
032148,000467: 36,3572 54101 TS FLAGWRD5
032149,000468: 36,3573 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032150,000469: 36,3574 00006 EXTEND # SUBROUTINE.
032151,000470: 36,3575 02011 RAND DSALMOUT
032152,000471: 36,3576 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032153,000472: 36,3577 00006 EXTEND
032154,000473: 36,3600 01011 WRITE DSALMOUT
032155,000474:
032156,000475: 36,3601 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032157,000476: 36,3602 74736 MASK USEQRJTS
032158,000477: 36,3603 26111 ADS DAPBOOLS
032159,000478:
032160,000479: 36,3604 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032161,000480: 36,3605 54055 TS THRUST # IS TURNED OFF.
032162,000481: 36,3606 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032163,000482: 36,3607 00006 EXTEND # ENGINE IS DISARMED.
032164,000483: 36,3610 05014 WOR CHAN14
032165,000484:
032166,000485: 36,3611 04707 TC ISWRETRN
|
|
Page 756 |
032168,000487: 36,3612 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032169,000488: 36,3613 40205 CADR ALLCOAST
032170,000489: 36,3614 05261 TC TASKOVER
032171,000490:
032172,000491: 36,3615 E6,1422 EBANK= OMEGAQ
032173,000492: 36,3615 45020 UPDATEVG STQ CALL
032174,000493: 36,3616 03665 QTEMP1
032175,000494: 36,3617 56447 S40.8 # X-PRODUCT STEERING
032176,000495: 36,3620 43014 BON BON
032177,000496: 36,3621 01307 XDELVFLG
032178,000497: 36,3622 03665 QTEMP1
032179,000498: 36,3623 03705 NORMSW
032180,000499: 36,3624 75637 180SETUP
032181,000500: 36,3625 45345 DLOAD DSU
032182,000501: 36,3626 01234 PIPTIME
032183,000502: 36,3627 03763 TIGSAVE
032184,000503: 36,3630 50025 DSU BMN
032185,000504: 36,3631 03432 TNEWA
032186,000505: 36,3632 75662 GETRANS
032187,000506: 36,3633 43345 DLOAD DAD
032188,000507: 36,3634 03763 TIGSAVE
032189,000508: 36,3635 03432 TNEWA
032190,000509: 36,3636 03765 STORE TIGSAVEP
032191,000510: 36,3637 77776 180SETUP EXIT
032192,000511: 36,3640 10754 CCS PHASE2
032193,000512: 36,3641 13667 TCF NO.9
032194,000513: 36,3642 34737 CAF PRIO10
032195,000514: 36,3643 00004 INHINT
032196,000515: 36,3644 05105 TC FINDVAC
032197,000516: 36,3645 E7,1706 EBANK= VG
032198,000517: 36,3645 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032199,000518:
032200,000519: 36,3647 05327 TC 2PHSCHNG
032201,000520: 36,3650 00172 OCT 00172 # 2.17SPOT FOR S40.9
032202,000521: 36,3651 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032203,000522:
032204,000523: 36,3652 06042 ENDSTEER TC INTPRET
032205,000524: 36,3653 77745 DLOAD
032206,000525: 36,3654 03765 TIGSAVEP
032207,000526: 36,3655 27763 STOVL TIGSAVE
032208,000527: 36,3656 01220 RN
032209,000528: 36,3657 26323 STOVL RINIT
032210,000529: 36,3660 01226 VN
032211,000530: 36,3661 02331 STORE VINIT
032212,000531: 36,3662 45345 GETRANS DLOAD DSU
032213,000532: 36,3663 03631 TPASS4
032214,000533: 36,3664 01234 PIPTIME
032215,000534: 36,3665 37452 STCALL DELLT4
032216,000535: 36,3666 03665 QTEMP1
032217,000536:
|
|
Page 757 |
032219,000538: 36,3667 06042 NO.9 TC INTPRET
032220,000539: 36,3670 77650 GOTO
032221,000540: 36,3671 03665 QTEMP1
032222,000541: 36,3672 06042 STEERING TC INTPRET
032223,000542:
032224,000543: 36,3673 77624 CALL
032225,000544: 36,3674 75615 UPDATEVG
032226,000545: 36,3675 77776 EXIT
032227,000546:
032228,000547: 36,3676 E7,1515 EBANK= DVCNTR
032229,000548: 36,3676 00004 NSTEER INHINT
032230,000549: 36,3677 35016 CA EBANK7
032231,000550: 36,3700 54003 TS EBANK
032232,000551: 36,3701 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032233,000552: 36,3702 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032234,000553: 36,3703 10000 CCS A # STEERING IS ALMOST DONE.
032235,000554:
032236,000555: 36,3704 13711 TCF +5 # IMPULSW = 0 EXIT
032237,000556: 36,3705 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032238,000557: 36,3706 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032239,000558: 36,3707 10000 CCS A
032240,000559: 36,3710 13713 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032241,000560: 36,3711 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032242,000561: 36,3712 65746 CADR SERVEXIT
032243,000562:
032244,000563: 36,3713 04674 TC IBNKCALL
032245,000564: 36,3714 40166 CADR STOPRATE
032246,000565:
032247,000566: 36,3715 05516 TC DOWNFLAG # TURN OFF IMPULSW
032248,000567: 36,3716 00044 ADRES IMPULSW
032249,000568:
032250,000569: 36,3717 05504 TC UPFLAG
032251,000570: 36,3720 00161 ADRES IDLEFLAG # TURN OFF DVMON
032252,000571:
032253,000572: 36,3721 00004 INHINT
032254,000573: 36,3722 00006 EXTEND
032255,000574: 36,3723 31442 DCA TIG
032256,000575: 36,3724 52155 DXCH MPAC
032257,000576: 36,3725 00006 EXTEND
032258,000577: 36,3726 40025 DCS TIME2
032259,000578: 36,3727 20155 DAS MPAC
032260,000579: 36,3730 07262 TC TPAGREE
032261,000580: 36,3731 30155 CAE MPAC +1
032262,000581: 36,3732 03741 TC GETDT
032263,000582: 36,3733 05173 TC TWIDDLE
032264,000583: 36,3734 03546 ADRES ENGOFTSK
032265,000584: 36,3735 05327 TC 2PHSCHNG
032266,000585: 36,3736 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032267,000586: 36,3737 00035 OCT 00035 # SERVICER -- REREADAC
|
|
Page 758 |
032269,000588: 36,3740 15155 TCF ENDOFJOB
032270,000589:
032271,000590: 36,3741 10000 GETDT CCS A
032272,000591: 36,3742 13745 TCF +3
032273,000592: 36,3743 13745 TCF +2
032274,000593: 36,3744 34755 CAF ZERO
032275,000594: 36,3745 64753 AD ONE
032276,000595: 36,3746 56001 XCH L
032277,000596: 36,3747 34755 CAF ZERO
032278,000597: 36,3750 53517 DXCH TGO
032279,000598: 36,3751 31517 CA TGO +1
032280,000599: 36,3752 00002 TC Q
032281,000600:
032282,000601: # ************************************************************************
032283,000602:
032284,000603: 36,3753 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032285,000604: 36,3754 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032286,000605: 36,3755 00000 05670 SEC30DP 2DEC 3000 B-28
032287,000606: 36,3757 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032288,000607: 36,3760 10624 SEC45 DEC 4500 B-14
032289,000608: 36,3761 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032290,000609: 36,3762 00764 5SEC DEC 500 B-14
032291,000610: 36,3763 05050 26SECS DEC 2600 B-14
032292,000611: 36,3764 04050 V16N40 VN 1640
032293,000612: 36,3765 04125 V16N85B VN 1685
032294,000613: 36,3766 04123 V1683 VN 1683
032295,000614: 36,3767 4777 SEC01 = 1SEC
032296,000615: 36,3767 36,2057 ACADN85 = P41TABLE +2
032297,000616:
032298,000617: 36,3767 E7,1622 EBANK= DELVIMU
032299,000618: 36,3767 03466 74067 ACADN83 2CADR CALCN83
032300,000619:
032301,000620: # *************************************************
|
|
Page 759 |
032303,000622: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
032304,000623: # MOD N02 LOG SECTION P40-P47
032305,000624: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032306,000625:
032307,000626: # FUNCTIONAL DESCRIPTION
032308,000627: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032309,000628: # VECTOR(VGTIG).
032310,000629:
032311,000630: # CALLING SEQUENCE
032312,000631: # L CALL
032313,000632: # L+1 S40.1
032314,000633:
032315,000634: # NORMAL EXIT MODE
032316,000635: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032317,000636: # ERROR RETURN IF NOSOFLAG =1
032318,000637:
032319,000638: # SUBROUTINES CALLED
032320,000639: # LEMPREC
032321,000640: # INITVEL
032322,000641: # CALCGRAV
032323,000642: # MIDGIM
032324,000643:
032325,000644: # ALARM OR ABORT EXIT MODES
032326,000645: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032327,000646:
032328,000647: # ERASABLE INITIALIZATION REQUIRED
032329,000648: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032330,000649: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032331,000650: # F THRUST FOR ENGINE USED
032332,000651: # IF DELTA-V MANEUVER
032333,000652: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032334,000653: # INERTIAL COORDS. OF ACTIVE VEHICLE
032335,000654: # AT TIME OF IGNITION VECTOR B7 M/CS
032336,000655: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032337,000656: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032338,000657: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032339,000658: # IF AIMPT STEER
032340,000659: # TIG TIME OF IGNITION DP B28 CS
032341,000660: # RTARG POSITION TARGET TIME VECTOR B29 M
032342,000661: # CSTEER C FOR STEER LAW DP B2
032343,000662: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032344,000663:
032345,000664: # OUTPUT
032346,000665: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032347,000666: # VGTIG INITIAL VALUE OF VELOCITY
032348,000667: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032349,000668: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032350,000669: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032351,000670: # -GDT FOR S40.13 VECT B7 M/CS
032352,000671: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032353,000672: # POSITION AT TIME OF IGNITION
032354,000673:
032355,000674: # DEBRIS QTEMP1
032356,000675: # MPAC, QPRET
032357,000676: # PUSHLIST
032358,000677:
032359,000678: 14,2347 BANK 14
032360,000679: 27,2000 SETLOC P40S1
032361,000680: 27,2000 BANK
|
|
Page 760 |
032363,000682: 27,2246 COUNT* $$/S40.1
032364,000683: 27,2246 71220 S40.1 STQ DLOAD
032365,000684: 27,2247 03632 QTEMP
032366,000685: 27,2250 03442 TIG
032367,000686: 27,2251 03763 STORE TIGSAVE
032368,000687: 27,2252 77614 DELVTEST BOFF
032369,000688: 27,2253 01347 XDELVFLG
032370,000689: 27,2254 56336 S40.1B
032371,000690: 27,2255 77201 CALCTHET SETPD VLOAD
032372,000691: 27,2256 00001 0
032373,000692: 27,2257 03650 VTIG
032374,000693: 27,2260 02331 STORE VINIT
032375,000694: 27,2261 53435 VXV UNIT
032376,000695: 27,2262 03642 RTIG
032377,000696: 27,2263 27673 STOVL UT # UP IN UT
032378,000697: 27,2264 03642 RTIG
032379,000698: 27,2265 02323 STORE RINIT
032380,000699: 27,2266 65236 VSQ PDDL
032381,000700: 27,2267 00045 36D
032382,000701: 27,2270 56205 DMP DDV
032383,000702: 27,2271 16412 THETACON
032384,000703: 27,2272 41205 DMP DMP
032385,000704: 27,2273 03664 DELVSAB
032386,000705: 27,2274 01244 WEIGHT/G
032387,000706: 27,2275 77671 DDV
032388,000707: 27,2276 03735 F
032389,000708: 27,2277 24017 STOVL 14D
032390,000709: 27,2300 03656 DELVSIN
032391,000710:
032392,000711: 27,2301 74241 DOT VXSC
032393,000712: 27,2302 03673 UT
032394,000713: 27,2303 03673 UT
032395,000714: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032396,000715: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032397,000716: 27,2306 03656 DELVSIN
032398,000717: 27,2307 00017 14D
032399,000718: 27,2310 63356 SIN PDVL
032400,000719: 27,2311 00007 6D
032401,000720: 27,2312 53435 VXV UNIT
032402,000721: 27,2313 03673 UT
032403,000722: 27,2314 45561 VXSC STADR
032404,000723: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032405,000724: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032406,000725: 27,2317 00017 14D
032407,000726: 27,2320 74346 COS VXSC
032408,000727: 27,2321 74255 VAD VXSC
032409,000728: 27,2322 03701 VGTIG
032410,000729: 27,2323 00045 36D
032411,000730: 27,2324 53352 VSL2 VAD
032412,000731: 27,2325 77626 STADR
|
|
Page 761 |
032414,000733: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032415,000734:
032416,000735: 27,2327 77656 UNIT
032417,000736: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032418,000737: 27,2331 03701 VGTIG
032419,000738: 27,2332 45006 PUSH CALL
032420,000739: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032421,000740: 27,2334 77650 GOTO
032422,000741: 27,2335 03632 QTEMP
032423,000742: 27,2336 77745 S40.1B DLOAD
032424,000743: 27,2337 03442 TIG
032425,000744: 27,2340 00041 STORE TDEC1
032426,000745: 27,2341 77621 BDSU
032427,000746: 27,2342 03631 TPASS4
032428,000747: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032429,000748: 27,2344 27056 LEMPREC
032430,000749: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032431,000750: 27,2346 00001 RATT
032432,000751: 27,2347 00001 0
032433,000752: 27,2350 03642 STORE RTIG
032434,000753: 27,2351 02323 STORE RINIT
032435,000754: 27,2352 77656 UNIT
032436,000755: 27,2353 27537 STOVL UNIT/R/
032437,000756: 27,2354 00007 VATT
032438,000757: 27,2355 03650 STORE VTIG
032439,000758: 27,2356 02331 STORE VINIT
032440,000759: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032441,000760: 27,2360 06524 ZEROVECS
032442,000761: 27,2361 16406 EPS1
032443,000762: 27,2362 43214 BOFF DAD
032444,000763: 27,2363 03745 NORMSW
032445,000764: 27,2364 56366 SMALLEPS
032446,000765: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032447,000766: 27,2366 66006 SMALLEPS PUSH SXA,1
032448,000767: 27,2367 02776 RTX1
032449,000768: 27,2370 45134 SXA,2 CALL
032450,000769: 27,2371 02777 RTX2
032451,000770: 27,2372 22000 INITVEL
032452,000771: 27,2373 41575 VLOAD PUSH
032453,000772: 27,2374 02366 DELVEET3 # VGTIG = VR-VN.
032454,000773: 27,2375 03701 STORE VGTIG
032455,000774: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032456,000775: 27,2377 17673 STODL UT
032457,000776: 27,2400 00045 36D
032458,000777: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032459,000778: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032460,000779: 27,2403 77650 GOTO
032461,000780: 27,2404 03632 QTEMP
032462,000781:
032463,000782: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
|
|
Page 762 |
032465,000784: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032466,000785: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032467,000786:
|
|
Page 763 |
032469,000788: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032470,000789: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032471,000790: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032472,000791: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032473,000792: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032474,000793:
032475,000794: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032476,000795: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032477,000796: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032478,000797: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032479,000798: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032480,000799:
032481,000800: # CALLING SEQUENCE:
032482,000801: # L CALL INTERPRETIVE CALL.
032483,000802: # L +1 S40.2,3
032484,000803: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032485,000804:
032486,000805: # SUBROUTINES CALLED: NONE.
032487,000806:
032488,000807: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032489,000808:
032490,000809: # ALARM/ABORT MODES: NONE.
032491,000810:
032492,000811: # INPUT:
032493,000812: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032494,000813: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032495,000814: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032496,000815:
032497,000816: # OUTPUT:
032498,000817: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
032499,000818: # :YSCREF: IN REFERENCE COORDINATES
032500,000819: # :ZSCREF: (PREFERRED IMU ORIENTATION).
032501,000820: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032502,000821: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032503,000822: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032504,000823:
032505,000824: # DEBRIS: NONE.
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|
Page 764 |
032507,000826:
032508,000827: 27,2413 COUNT* $$/S40.2
032509,000828: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032510,000829: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032511,000830: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032512,000831: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032513,000832: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032514,000833: 27,2420 06522 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032515,000834: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032516,000835:
032517,000836: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032518,000837: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032519,000838: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032520,000839: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032521,000840: 27,2426 46125 PDDL BHIZ
032522,000841: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032523,000842: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032524,000843: 27,2431 45575 STORY VLOAD STADR
032525,000844: 27,2432 74162 STORE YSCREF
032526,000845: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
032527,000846: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032528,000847: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032529,000848: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032530,000849:
032531,000850: 27,2437 43414 SET RVQ
032532,000851: 27,2440 01073 PFRATFLG
032533,000852: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032534,000853: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032535,000854: 27,2443 03650 VTIG
032536,000855: 27,2444 41456 UNIT PUSH
032537,000856: 27,2445 77650 GOTO
032538,000857: 27,2446 56431 STORY
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|
Page 765 |
032540,000859: # SUBROUTINE S40.8
032541,000860: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032542,000861:
032543,000862: # DESCRIPTION
032544,000863: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032545,000864: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032546,000865: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032547,000866:
032548,000867: # CALLING SEQUENCE
032549,000868: # L-1 CALL
032550,000869: # L S40.8
032551,000870: # L+1 INTERPRETIVE RETURN
032552,000871:
032553,000872: # ALARM
032554,000873: # IF VG.DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032555,000874: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032556,000875:
032557,000876: # INPUT AND INITIALIZATION
032558,000877: # VGPREV REFERENCE 2(7) M/CS
032559,000878: # DELVREF REFERENCE 2(7) M/CS
032560,000879: # BDT REFERENCE 2(7) M/CS
032561,000880: # TDECAY TAIL-OFF TIME 2(28) CS
032562,000881: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032563,000882: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032564,000883: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032565,000884:
032566,000885: # NOTE: VGTIG EQUALS VGPREV
032567,000886:
032568,000887: # OUTPUT
032569,000888: # STEERSW SEE INPUT
032570,000889: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032571,000890: # TGO TIME TO CUT-OFF 2(28) CS
032572,000891: # SEE FINDCDUW FOR STEERING OUTPUTS.
032573,000892:
032574,000893: # SUBROUTINE CALLED
032575,000894: # FINDCDUW
032576,000895:
032577,000896: # DEBRIS
032578,000897: # MPACS, PUSHLIST
032579,000898:
032580,000899: 27,2447 COUNT* $$/S40.8
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|
Page 766 |
032582,000901: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032583,000902: 27,2450 01347 XDELVFLG
032584,000903: 27,2451 56731 RASTEER1
032585,000904: 27,2452 52375 VLOAD VSU
032586,000905: 27,2453 03701 VGPREV
032587,000906: 27,2454 03527 DELVREF
032588,000907: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032589,000908: 27,2456 76521 MXV VSL1
032590,000909: 27,2457 01734 REFSMMAT
032591,000910: 27,2460 03253 STORE UNFC/2
032592,000911: 27,2461 51575 BDTOK VLOAD ABVAL
032593,000912: 27,2462 03707 VG
032594,000913: 27,2463 03664 STORE VGDISP
032595,000914: 27,2464 77201 TGOCALC SETPD VLOAD
032596,000915: 27,2465 00001 0
032597,000916: 27,2466 03707 VG
032598,000917: 27,2467 27701 STOVL VGPREV
032599,000918: 27,2470 03527 DELVREF
032600,000919: 27,2471 57414 BOFF VCOMP
032601,000920: 27,2472 01344 STEERSW
032602,000921: 27,2473 00052 QPRET
032603,000922: 27,2474 77656 UNIT
032604,000923: 27,2475 41441 DOT PUSH
032605,000924: 27,2476 03707 VG
032606,000925: 27,2477 56244 BPL DDV
032607,000926: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032608,000927: 27,2501 03743 VEX
032609,000928: 27,2502 41215 DAD DMP
032610,000929: 27,2503 06522 DPHALF
032611,000930: 27,2504 56261 SR DDV
032612,000931: 27,2505 20613 10D
032613,000932: 27,2506 00045 36D
032614,000933: 27,2507 43205 DMP DAD
032615,000934: 27,2510 16535 -FOURDT
032616,000935: 27,2511 03741 TDECAY
032617,000936: 27,2512 03517 STORE TGO
032618,000937: 27,2513 77615 DAD
032619,000938: 27,2514 01234 PIPTIME
032620,000939: 27,2515 17442 STODL TIG
032621,000940: 27,2516 03517 TGO
032622,000941: 27,2517 51025 DSU BPL
032623,000942: 27,2520 16537 FOURSECS # 400 CS
032624,000943: 27,2521 61100 FINDCDUW -2
032625,000944: 27,2522 43014 SET CLRGO
032626,000945: 27,2523 01066 IMPULSW
032627,000946: 27,2524 01224 STEERSW
032628,000947: 27,2525 00052 QPRET
032629,000948:
032630,000949: 27,2526 77776 ALARMIT EXIT
032631,000950:
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|
Page 767 |
032633,000952: 27,2527 05567 TC ALARM
032634,000953: 27,2530 01407 OCT 01407
032635,000954: 27,2531 06042 TC INTPRET
032636,000955: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032637,000956: 27,2533 61100 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032638,000957:
032639,000958: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032640,000959: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032641,000960: 27,2540 E7,1742 2VEXHUST = VEX
032642,000961:
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|
Page 768 |
032644,000963: # NAME S40.13 - TIMEBURN
032645,000964:
032646,000965: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032647,000966: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032648,000967: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032649,000968: # BURN
032650,000969: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032651,000970: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032652,000971: # SIGNAL
032653,000972:
032654,000973: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032655,000974:
032656,000975: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032657,000976: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032658,000977: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032659,000978: # AND ALSO FOR RCS ENGINE
032660,000979: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032661,000980: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032662,000981: # REQUIRE MODIFICATION FOR SATURN BURNS.
032663,000982: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032664,000983: # =0 DPS
032665,000984: # =1 APS
032666,000985:
032667,000986: # OUTPUT IMPULSW ZERO FOR STEERING
032668,000987: # ONE FOR ATTITUDE HOLD
032669,000988: # NOTHROTL ZERO FOR THROTTLING
032670,000989: # ONE TO INHIBIT THROTTLING
032671,000990: # TGO TIME TO BURN IN CS
032672,000991: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032673,000992: # FORCE
032674,000993:
032675,000994: 27,2540 E7,1516 EBANK= TGO
032676,000995: 27,2540 COUNT* $$/40.13
032677,000996: 27,2540 06042 S40.13 TC INTPRET
032678,000997: 27,2541 43001 SETPD CLEAR
032679,000998: 27,2542 00001 00D
032680,000999: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032681,001000: 27,2544 51575 VLOAD ABVAL
032682,001001: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032683,001002: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032684,001003: 27,2547 21006 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032685,001004: 27,2550 34021 FRCS2
032686,001005: 27,2551 72471 DDV SL1 # SCALE
032687,001006: 27,2552 01244 WEIGHT/G
032688,001007: 27,2553 41421 BDSU PUSH
032689,001008: 27,2554 43014 BOFF SET
032690,001009: 27,2555 05342 APSFLAG
032691,001010: 27,2556 56626 S40.13D # FOR DPS ENGINE
032692,001011: 27,2557 02463 NOTHROTL
032693,001012: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
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|
In the following line in the original program listing, +24 is crossed out and +23 written in by hand.—RSB 2003 |
032696,001015: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032697,001016: 27,2562 01244 WEIGHT/G
032698,001017: 27,2563 50021 BDSU BMN
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|
Page 769 |
032700,001019: 27,2564 00001 00D
032701,001020: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032702,001021: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032703,001022: 27,2567 03737 MDOT
032704,001023:
032705,001024: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032706,001025: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032707,001026: # REQUIRE ADJUSTMENT
032708,001027:
032709,001028: 27,2570 16700 3.5SEC # 350 CS AT +14
032710,001029: 27,2571 65221 BDSU PDDL
032711,001030: 27,2572 01244 WEIGHT/G
032712,001031: 27,2573 03735 F
032713,001032: 27,2574 60405 DMP SR2 # SCALE
032714,001033: 27,2575 16702 5SECS
032715,001034: 27,2576 41471 DDV PUSH # 04D = TEMP2
032716,001035: 27,2577 51021 BDSU BPL
032717,001036: 27,2600 00003 02D
032718,001037: 27,2601 56626 S40.13D
032719,001038: 27,2602 55345 DLOAD BDDV
032720,001039: 27,2603 43205 DMP DAD
032721,001040: 27,2604 16702 5SECS
032722,001041: 27,2605 16676 1SEC2D # 100 CS AT +14
032723,001042: 27,2606 77650 GOTO
032724,001043: 27,2607 56616 S40.132
032725,001044: 27,2610 41345 S40.131 DLOAD DMP
032726,001045: 27,2611 01244 WEIGHT/G
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|
In the following line in the original program listing, PUSH is hand-circled.—RSB 2003 |
032729,001048: 27,2612 41542 SR1 PUSH
032730,001049: 27,2613 56215 DAD DDV
032731,001050: 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 |
032736,001055: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032737,001056: 27,2616 77414 S40.132 SET EXIT
032738,001057: 27,2617 01066 IMPULSW
032739,001058: 27,2620 07262 S40.132* TC TPAGREE
032740,001059: 27,2621 30154 CA MPAC
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|
In the following line in the original program listing, TS TGO +1 is hand-written in the comment area.—RSB 2003 |
032743,001062: 27,2622 56001 XCH L
032744,001063: 27,2623 34755 CA ZERO
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|
In the original program listing, TS TGO is hand-written, seemingly between CA ZERO and DXCH TGO.—RSB 2003. |
032747,001066: 27,2624 53517 DXCH TGO
032748,001067: 27,2625 12650 TCF S40.134
032749,001068:
032750,001069: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032751,001070: 27,2627 00001 00D
032752,001071: 27,2630 01244 WEIGHT/G
032753,001072: 27,2631 43006 PUSH BON
032754,001073: 27,2632 05302 APSFLAG
032755,001074: 27,2633 56671 APSTGO
032756,001075: 27,2634 43071 DDV CLEAR
032757,001076: 27,2635 16007 S40.136
032758,001077: 27,2636 02663 NOTHROTL
032759,001078: 27,2637 41400 BOV PUSH
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|
Page 770 |
032761,001080: 27,2640 56653 S40.130V
032762,001081: 27,2641 51025 S40.137 DSU BPL
032763,001082: 27,2642 16704 6SEC # 600.0 CS AT +14
032764,001083: 27,2643 56661 S40.138
032765,001084: 27,2644 52015 DAD GOTO
032766,001085: 27,2645 16704 6SEC
032767,001086: 27,2646 56616 S40.132
032768,001087: 27,2647 77776 S40.133 EXIT
032769,001088: 27,2650 05353 S40.134 TC PHASCHNG
032770,001089: 27,2651 00003 OCT 00003
032771,001090: 27,2652 05155 TC ENDOFJOB
032772,001091: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032773,001092: 27,2654 77671 DDV
032774,001093: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032775,001094: 27,2656 03517 STORE TGO
032776,001095: 27,2657 77776 EXIT
032777,001096: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032778,001097:
032779,001098: 27,2661 51025 S40.138 DSU BPL
032780,001099: 27,2662 16706 89SECS
032781,001100: 27,2663 56666 STORETGO
032782,001101: 27,2664 77614 SET
032783,001102: 27,2665 02463 NOTHROTL
032784,001103: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032785,001104: 27,2667 77776 EXIT
032786,001105: 27,2670 12620 TCF S40.132*
032787,001106:
032788,001107: 27,2671 62471 APSTGO DDV SL2
032789,001108: 27,2672 34007 FAPS
032790,001109: 27,2673 77650 GOTO
032791,001110: 27,2674 56667 STORETGO +1
032792,001111: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032793,001112: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032794,001113: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032795,001114: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032796,001115: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032797,001116:
032798,001117: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032799,001118: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032800,001119: # COMPUTATION CYCLES (4 SECONDS).
032801,001120: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032802,001121: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032803,001122: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032804,001123:
032805,001124: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032806,001125:
032807,001126: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032808,001127: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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Page 771 |
032810,001129: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032811,001130: # METERS/CS AT +7.
032812,001131: # TIG - TIME OF IGNITION IN CS AT +28.
032813,001132: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032814,001133: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032815,001134: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032816,001135: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032817,001136: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032818,001137: # METERS/CS AT +7.
032819,001138:
032820,001139: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032821,001140: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032822,001141: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032823,001142: # BDT - B VECTOR IN METERS/CS AT +7.
032824,001143:
032825,001144: # SUBROUTINES USED - INITVEL
032826,001145:
032827,001146: 27,2707 E7,1700 EBANK= VGPREV
032828,001147: 27,2707 COUNT* $$/S40.9
032829,001148: 27,2707 06042 S40.9 TC INTPRET
032830,001149: 27,2710 77601 SETPD
032831,001150: 27,2711 00001 00D
032832,001151: 27,2712 71214 SET DLOAD
032833,001152: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032834,001153: 27,2714 06524 HI6ZEROS
032835,001154: 27,2715 77725 PDDL
032836,001155: 27,2716 16406 EPS1
032837,001156: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032838,001157: 27,2720 03745 NORMSW
032839,001158: 27,2721 56723 EPSSMALL
032840,001159: 27,2722 16410 EPS2
032841,001160: 27,2723 45006 EPSSMALL PUSH CALL
032842,001161: 27,2724 22002 HAVEGUES
032843,001162: 27,2725 77776 ENDS40.9 EXIT
032844,001163: 27,2726 05353 TC PHASCHNG
032845,001164: 27,2727 00002 OCT 2
032846,001165: 27,2730 15155 TCF ENDOFJOB
032847,001166:
032848,001167: 27,2731 51575 RASTEER1 VLOAD ABVAL
032849,001168: 27,2732 01220 RN
032850,001169: 27,2733 53744 LXC,2 SL*
032851,001170: 27,2734 02777 RTX2
032852,001171: 27,2735 57576 0,2
032853,001172: 27,2736 27715 STOVL RMAG
032854,001173: 27,2737 03444 RTARG
032855,001174: 27,2740 47051 VSU RTB
032856,001175: 27,2741 01220 RN
032857,001176: 27,2742 21725 NORMUNX1
032858,001177: 27,2743 17656 STODL IC
032859,001178: 27,2744 00045 36D # C(36D) = ABVAL(C)
032860,001179: 27,2745 53674 XAD,2 SL*
032861,001180: 27,2746 00046 X1
|
|
Page 772 |
032863,001182: 27,2747 57576 0,2
032864,001183: 27,2750 00037 STORE 30D
032865,001184: 27,2751 41301 NORM DMP
032866,001185: 27,2752 00050 X2
032867,001186: 27,2753 03715 RMAG
032868,001187: 27,2754 57101 NORM XAD,2
032869,001188: 27,2755 00047 X1
032870,001189: 27,2756 00046 X1
032871,001190: 27,2757 77734 SXA,2
032872,001191: 27,2760 03766 MUSCALE
032873,001192: 27,2761 17725 STODL R1C # 2(+58 -X)
032874,001193: 27,2762 00037 30D
032875,001194: 27,2763 65342 SR1 PDDL
032876,001195: 27,2764 03715 RMAG
032877,001196: 27,2765 65342 SR1 PDDL
032878,001197: 27,2766 03723 RTMAG
032879,001198: 27,2767 43342 SR1 DAD
032880,001199: 27,2770 45415 DAD STADR
032881,001200: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
032882,001201: 27,2772 41225 DSU DMP
032883,001202: 27,2773 00037 30D
032884,001203: 27,2774 03721 MU/A
032885,001204: 27,2775 77621 BDSU
032886,001205: 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.
|
032898,001217: 27,2777 45325 PDDL DSU
032899,001218: 27,3000 03733 SS
|
|
(S-R) is written in by hand. |
032901,001220: 27,3001 03715 RMAG
032902,001221: 27,3002 70501 NORM SR1
032903,001222: 27,3003 00047 X1
|
|
(S - R) μ (S - C)
2 ------- ( μ - --------- )
R C 2 a
|
032909,001228: 27,3004 41271 DDV DMP
032910,001229: 27,3005 03725 R1C
032911,001230: 27,3006 53664 XSU,2 SL*
032912,001231: 27,3007 00046 X1
032913,001232: 27,3010 57575 1,2
032914,001233: 27,3011 77754 LXA,2
032915,001234: 27,3012 03766 MUSCALE
|
|
2 (S - R) μ (S - C)
SQRT ( --------- (μ - --------- ) )
R C 2 a
|
032921,001240: 27,3013 75366 SQRT SIGN
|
|
(GEOMSGN = SGNA) or perhaps (GEOMSGN = SGN1) |
032923,001242: 27,3014 02673 GEOMSGN
032924,001243: 27,3015 00041 STORE 32D # + OR - A
|
|
2 (S - R) μ (S - C)
A = SGNA (SQRT ( --------- (μ - ---------) ) )
R C 2 a
|
032930,001249: 27,3016 41345 DLOAD DMP
032931,001250: 27,3017 03733 SS
032932,001251: 27,3020 03721 MU/A
|
|
μ S
μ - ___
2 a
|
032938,001257: 27,3021 77621 BDSU
032939,001258: 27,3022 03717 MUASTEER
032940,001259: 27,3023 45325 PDDL DSU
032941,001260: 27,3024 03733 SS
032942,001261: 27,3025 03723 RTMAG
032943,001262: 27,3026 70501 NORM SR1
032944,001263: 27,3027 00047 X1
|
|
2 (S - R T) μ S
----------- ( μ - --- )
R C 2 a
|
032950,001269: 27,3030 41271 DDV DMP
032951,001270:
|
|
Page 773 |
032953,001272: 27,3031 03725 R1C
032954,001273: 27,3032 53664 XSU,2 SL*
032955,001274: 27,3033 00046 X1
032956,001275: 27,3034 57575 1,2
032957,001276: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
032958,001277: 27,3036 03733 SS
032959,001278: 27,3037 56225 DSU DDV
032960,001279: 27,3040 00037 30D
032961,001280: 27,3041 03733 SS
032962,001281: 27,3042 41566 SQRT PUSH
|
|
ASIN ( SQRT (S-C)/S ) ) |
032964,001283: 27,3043 67542 SR1 ASIN
032965,001284: 27,3044 65205 DMP PDDL
032966,001285: 27,3045 17216 2PI+3
032967,001286: 27,3046 56325 PDDL DDV
032968,001287: 27,3047 00037 30D
032969,001288: 27,3050 03733 SS
|
|
SQRT (C/S) SQRT ( (S-C)/S ) = |
032971,001290: 27,3051 77600 BOV
032972,001291: 27,3052 57053 +1
|
|
SQRT(C/S) SQRT((S-C)/S) = (1/S) SQRT(C(S-C)) |
032974,001293: 27,3053 41366 SQRT DMP
032975,001294: 27,3054 44242 SR3 BDSU
|
|
SGNA( ARCSIN( SQRT((S-C)/S) ) - (1/S) SQRT(C(S-C)) ) |
032977,001296: 27,3055 65365 SIGN PDDL
032978,001297: 27,3056 02673 GEOMSGN
032979,001298: 27,3057 17216 2PI+3
|
|
(C/S) (PI/2 - SGNA( empty, aligned with the contents of SGNA above ) ) |
032981,001300: 27,3060 45302 SR2 DSU
032982,001301: 27,3061 65205 DMP PDDL
032983,001302: 27,3062 03733 SS
032984,001303: 27,3063 03733 SS
|
|
S SQRT(S) = SQRT(S3) |
032986,001305: 27,3064 75442 SR3 SQRT
032987,001306: 27,3065 77605 DMP
032988,001307: 27,3066 52525 PDDL SL3
032989,001308: 27,3067 03717 MUASTEER
|
|
3
S
SQRT(---)
2 μ
TMIN ENERGY
|
032997,001316: 27,3070 55366 SQRT BDDV
032998,001317: 27,3071 43225 DSU DAD
032999,001318: 27,3072 03631 TPASS4
033000,001319: 27,3073 01234 PIPTIME
|
|
(tM - t2 ) |
033002,001321: 27,3074 14037 STODL 30D
033003,001322: 27,3075 77765 SIGN
033004,001323: 27,3076 00037 30D # B WITH SIGN
033005,001324: 27,3077 00037 STORE 30D
033006,001325: 27,3100 77214 BON VLOAD
033007,001326: 27,3101 03705 NORMSW
033008,001327: 27,3102 57123 180MESS
033009,001328: 27,3103 03656 IC
033010,001329: 27,3104 53451 VSU UNIT
033011,001330: 27,3105 03537 UNIT/R/
|
|
UNCM |
033013,001332: 27,3106 63361 VXSC PDVL
|
|
B UNCM |
033015,001334: 27,3107 00037 30D
033016,001335: 27,3110 03656 IC
033017,001336: 27,3111 53455 VAD UNIT
|
|
VNCP |
033019,001338: 27,3112 03537 UNIT/R/
|
|
Page 774 |
033021,001340:
|
|
A UNCP |
033023,001342: 27,3113 53361 GETVRVG1 VXSC VAD
033024,001343: 27,3114 00041 32D
033025,001344: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033026,001345: 27,3116 02777 RTX2
033027,001346: 27,3117 57177 0 -1,2
033028,001347: 27,3120 02337 STORE VIPRIME
033029,001348: 27,3121 77650 GOTO
033030,001349: 27,3122 57166 ASTREND -2
033031,001350: 27,3123 50375 180MESS VLOAD DOT
033032,001351: 27,3124 03656 IC
033033,001352: 27,3125 03537 UNIT/R/
033034,001353: 27,3126 77240 BMN VLOAD
033035,001354: 27,3127 57146 NEGPROD
033036,001355: 27,3130 03656 IC
033037,001356: 27,3131 63362 VSR1 PDVL
033038,001357: 27,3132 03537 UNIT/R/
033039,001358: 27,3133 53362 VSR1 VAD
033040,001359: 27,3134 77656 UNIT
033041,001360: 27,3135 57406 PUSH VCOMP # FOR A
033042,001361: 27,3136 75235 VXV SIGN
033043,001362: 27,3137 02674 UN
033044,001363: 27,3140 02673 GEOMSGN
033045,001364: 27,3141 74256 UNIT VXSC
033046,001365: 27,3142 00037 30D
033047,001366: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033048,001367: 27,3144 77650 GOTO
033049,001368: 27,3145 57113 GETVRVG1
033050,001369: 27,3146 74575 NEGPROD VLOAD VSR1
033051,001370: 27,3147 03537 UNIT/R/
033052,001371: 27,3150 74515 PDVL VSR1
033053,001372: 27,3151 03656 IC
033054,001373: 27,3152 53451 VSU UNIT
033055,001374: 27,3153 77606 PUSH
033056,001375: 27,3154 75235 VXV SIGN
033057,001376: 27,3155 02674 UN # FOR B
033058,001377: 27,3156 02673 GEOMSGN
033059,001378: 27,3157 74256 UNIT VXSC
033060,001379: 27,3160 00041 32D
033061,001380: 27,3161 77715 PDVL
033062,001381: 27,3162 53361 VXSC VAD
033063,001382: 27,3163 00037 30D
033064,001383: 27,3164 77650 GOTO
033065,001384: 27,3165 57115 GETVRVG2
033066,001385: 27,3166 77651 VSU
033067,001386: 27,3167 03553 VN1
033068,001387: 27,3170 02366 ASTREND STORE DELVEET3
033069,001388: 27,3171 53135 FIRSTTME SLOAD BZE
033070,001389: 27,3172 03000 RTX2
033071,001390: 27,3173 57177 GETGOBL
033072,001391: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
|
|
Page 775 |
033074,001393: 27,3175 02366 DELVEET3
033075,001394: 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. |
033078,001397: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033079,001398: 27,3200 01220 RN
033080,001399: 27,3201 45345 DLOAD DSU
033081,001400: 27,3202 01234 PIPTIME # 2
033082,001401: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033083,001402: 27,3204 56205 DMP DDV # OBL
033084,001403: 27,3205 16023 EARTHMU
033085,001404: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033086,001405: 27,3207 53361 VXSC VAD
033087,001406: 27,3210 03521 UNITGOBL
033088,001407: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033089,001408: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033090,001409: 27,3213 77650 GOTO
033091,001410: 27,3214 56455 VGAIN*
033092,001411:
033093,001412: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033094,001413:
|
|
Page 776 |
033096,001415: # TRIMGIMB (FORMERLY S40.6)
033097,001416: # MOD 0 24 FEB 67 PETER ADLER
033098,001417:
033099,001418: # FUNCTION:
033100,001419: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033101,001420: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033102,001421: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033103,001422:
033104,001423: # CALLING SEQUENCE:
033105,001424: # VIA WAITLIST FROM R03
033106,001425:
033107,001426: # INPUT:
033108,001427: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033109,001428: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033110,001429:
033111,001430: # SUBROUTINES USED:
033112,001431: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033113,001432:
033114,001433: 27,3217 COUNT* $$/S40.6
033115,001434: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033116,001435:
033117,001436: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033118,001437: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033119,001438:
033120,001439: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033121,001440: 27,3222 00006 EXTEND
033122,001441: 27,3223 03012 WAND CHAN12
033123,001442: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033124,001443: 27,3225 00006 EXTEND
033125,001444: 27,3226 05012 WOR CHAN12
033126,001445: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033127,001446: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033128,001447: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033129,001448: 27,3232 00006 EXTEND
033130,001449: 27,3233 03012 WAND CHAN12
033131,001450: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033132,001451: 27,3235 00006 EXTEND
033133,001452: 27,3236 05012 WOR CHAN12
033134,001453: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033135,001454: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033136,001455: 27,3241 03260 ADRES PITCHOFF
033137,001456:
033138,001457: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033139,001458: 27,3243 05224 TC VARDELAY # UNTIL THEN
033140,001459: 27,3244 44740 CS BIT12
033141,001460: 27,3245 00006 EXTEND
033142,001461: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033143,001462: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033144,001463: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033145,001464: 27,3251 00006 EXTEND
033146,001465: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033147,001466: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033148,001467: 27,3254 05072 TC NOVAC
033149,001468: 27,3255 E7,1471 EBANK= WHOCARES
|
|
Page 777 |
033151,001470: 27,3255 02325 02067 2CADR TRIMDONE
033152,001471:
033153,001472: 27,3257 05261 TC TASKOVER
033154,001473: 27,3260 44742 PITCHOFF CS BIT10
033155,001474: 27,3261 00006 EXTEND
033156,001475: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033157,001476: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033158,001477: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033159,001478: 27,3265 00137 ADRES GMBDRVSW
033160,001479: 27,3266 05261 TC TASKOVER
033161,001480:
|
|
Page 778 |
033163,001482: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033164,001483: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033165,001484:
033166,001485: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033167,001486:
033168,001487: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033169,001488: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033170,001489: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033171,001490: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033172,001491: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033173,001492: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033174,001493: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033175,001494: # CALLER WITH C(MPAC) = VELOCITY(LM).
033176,001495:
033177,001496: # CALLING SEQUENCE:
033178,001497: # L VLOAD CALL
033179,001498: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033180,001499: # L +2 S41.1
033181,001500: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033182,001501:
033183,001502: # SUBROUTINES CALLED:
033184,001503: # 1. CDUTRIG,
033185,001504: # WHICH CALLS CDULOGIC.
033186,001505: # 2. *SMNB*
033187,001506:
033188,001507: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033189,001508:
033190,001509: # ALARM/ABORT MODES: NONE.
033191,001510:
033192,001511: # RESTART PROTECTION: NONE.
033193,001512:
|
|
Page 779 |
033195,001514: # INPUT:
033196,001515: # 1. REFSMMAT.
033197,001516: # 2. CDUX, CDUY, CDUZ.
033198,001517: # 3. VELOCITY (REF) IN MPAC.
033199,001518:
033200,001519: # OUTPUT:
033201,001520: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033202,001521: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033203,001522: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033204,001523: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033205,001524:
033206,001525: # DEBRIS: NONE.
033207,001526:
033208,001527: # CHECKOUT STATUS: CODED.
033209,001528:
033210,001529: 27,3267 COUNT* $$/S41.1
033211,001530: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033212,001531: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033213,001532: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033214,001533: 27,3272 47650 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033215,001534: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc