Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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031938,000002: ## Copyright: Public domain.
031939,000003: ## Filename: P40-P47.agc
031940,000004: ## Purpose: A section of Luminary revision 163.
031941,000005: ## It is part of the reconstructed source code for the first
031942,000006: ## (unflown) release of the flight software for the Lunar
031943,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
031944,000008: ## The code has been recreated from a reconstructed copy of
031945,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
031946,000010: ## It has been adapted such that the resulting bugger words
031947,000011: ## exactly match those specified for Luminary 163 in NASA
031948,000012: ## drawing 2021152N, which gives relatively high confidence
031949,000013: ## that the reconstruction is correct.
031950,000014: ## Reference: pp. 738-770
031951,000015: ## Assembler: yaYUL
031952,000016: ## Contact: Ron Burkey <info@sandroid.org>.
031953,000017: ## Website: www.ibiblio.org/apollo/index.html
031954,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173. Removed S40RET tag
031955,000019: ## in UPDATEVG. Changed references to S40RET to
031956,000020: ## QPRET. Removed GOFIND tag in ALARMIT, changed
031957,000021: ## the CALL FINDCDUW -2 to GOTO, and removed the
031958,000022: ## GOTO S40RET. Moved ALARMIT back to bank 27.
031959,000023: ## Changed reference to GOFIND to FINDCDUW -2.
031960,000024: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031961,000025:
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Page 738
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031963,000027: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031964,000028: # MOD 03 BY PETER ADLER MARCH 3, 1967
031965,000029: # CALLED VIA JOB FROM V37E
031966,000030:
031967,000031: # FUNCTIONAL DESCRIPTION
031968,000032:
031969,000033: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031970,000034: # THRUSTING MANEUVER.
031971,000035:
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(There is no item #2 in the original program listing.)
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031973,000037:
031974,000038: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031975,000039:
031976,000040: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031977,000041: # PGNCS CONTROLLED DPS MANEUVER.
031978,000042:
031979,000043: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031980,000044: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031981,000045:
031982,000046: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031983,000047: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031984,000048:
031985,000049: # SUBROUTINES USED
031986,000050:
031987,000051: # R02 IMU STATUS CHECK
031988,000052: # S40.1 COMPUTATION OF THRUST DIRECTION
031989,000053: # S40.13 LENGTH OF BURN
031990,000054: # S40.2,3 PREFERRED IMU ORIENATTION
031991,000055: # S40.8 X PRODUCT STEERING
031992,000056: # S40.9 LAMBERT VTOGAIN
031993,000057: # R60LEM ATTITUDE MANEUVER
031994,000058: # LEMPREC EXTRAPOLATE STATE VECTOR
031995,000059: # PREREAD AVERAGE G, SERVICER
031996,000060: # ALLCOAST DAP COASTING INITIALIZATION
031997,000061: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
031998,000062: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031999,000063: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032000,000064: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032001,000065:
032002,000066: # RESTARTS VIA GROUP 4
032003,000067:
032004,000068: # DISPLAYS
032005,000069:
032006,000070: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032007,000071: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032008,000072: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032009,000073: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032010,000074: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032011,000075: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032012,000076: # V05N09 POSSIBLE ALARMS
032013,000077: # V50N07 PLEASE SELECT P00
032014,000078:
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Page 739
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032016,000080: # VIA R30
032017,000081:
032018,000082: # V06N44 HAPO, PERI, TFF
032019,000083: # V06N35 TIME TO PERIGEE, HMS
032020,000084:
032021,000085: # ALARM OR ABORT EXIT MODES
032022,000086:
032023,000087: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032024,000088: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032025,000089:
032026,000090: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032027,000091: # TIG BY 45 SECS.
032028,000092:
032029,000093: # ERASABLE INITIALIZATION
032030,000094: # DEBRIS
032031,000095: # OUTPUT
032032,000096:
032033,000097: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032034,000098: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032035,000099: # = 0 FOR AIMPT (LAMBERT) COMP
032036,000100:
032037,000101: 27,2246 COUNT* $$/P40
032038,000102: 27,2246 E7,1455 EBANK= WHICH
032039,000103:
032040,000104: 36,3154 BANK 36
032041,000105: 36,2000 SETLOC P40S
032042,000106: 36,2000 BANK
032043,000107:
032044,000108: 36,3154 05364 P40LM TC PHASCHNG
032045,000109: 36,3155 04024 OCT 04024
032046,000110:
032047,000111: 36,3156 33140 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032048,000112: 36,3157 55455 TS WHICH
032049,000113:
032050,000114: 36,3160 30106 CA FLGWRD10
032051,000115: 36,3161 74737 MASK APSFLBIT
032052,000116: 36,3162 10000 CCS A
032053,000117: 36,3163 13126 TCF P40ALM
032054,000118: 36,3164 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032055,000119: 36,3165 11241 CADR R02BOTH
032056,000120:
032057,000121: 36,3166 40111 CS DAPBOOLS # INITIALIZE DVMON
032058,000122: 36,3167 74737 MASK CSMDOCKD
032059,000123: 36,3170 10000 CCS A
032060,000124: 36,3171 32022 CAF THRESH1
032061,000125: 36,3172 62023 AD THRESH3
032062,000126: 36,3173 55250 TS DVTHRUSH
032063,000127: 36,3174 34751 CAF FOUR
032064,000128: 36,3175 55515 TS DVCNTR
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Page 740
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032066,000130: 36,3176 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032067,000131: 36,3177 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032068,000132: 36,3200 34001 FDPS
032069,000133: 36,3201 02663 NOTHROTL
032070,000134: 36,3202 03735 STORE F
032071,000135: 36,3203 77735 SLOAD
032072,000136: 36,3204 26002 DPSVEX
032073,000137: 36,3205 70476 P40IN DCOMP SR1
032074,000138: 36,3206 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032075,000139: 36,3207 56246 S40.1 # COMPUTES UT AND VGTIG
032076,000140: 36,3210 77624 CALL
032077,000141: 36,3211 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032078,000142: 36,3212 77776 EXIT
032079,000143:
032080,000144: 36,3213 00004 INHINT
032081,000145: 36,3214 04674 TC IBNKCALL
032082,000146: 36,3215 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032083,000147:
032084,000148: 36,3216 03220 TC P40SXT4
032085,000149:
032086,000150: # ***********************
032087,000151: 36,3217 12130 TCF BURNBABY
032088,000152: # ***********************
032089,000153:
032090,000154: 36,3220 00006 P40SXT4 EXTEND
032091,000155: 36,3221 23141 QXCH P40/RET
032092,000156: 36,3222 00003 P41MANU RELINT
032093,000157:
032094,000158: 36,3223 05527 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032095,000159: 36,3224 00124 ADRES 3AXISFLG
032096,000160:
032097,000161: 36,3225 04616 TC BANKCALL
032098,000162: 36,3226 54125 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032099,000163: 36,3227 01141 TC P40/RET
032100,000164:
032101,000165:
032102,000166: 36,3230 E7,1462 EBANK= TRKMKCNT
032103,000167: 36,3230 30005 POSTBURN CA Z
032104,000168: 36,3231 55162 TS DISPDEX
032105,000169: 36,3232 00006 EXTEND
032106,000170: 36,3233 32060 DCA ACADN85
032107,000171: 36,3234 53252 DXCH AVEGEXIT
032108,000172: 36,3235 33760 CAF V16N40
032109,000173: 36,3236 04616 TC BANKCALL
032110,000174: 36,3237 20636 CADR GOFLASHR
032111,000175: 36,3240 03263 TC TERM40
032112,000176: 36,3241 13246 TCF TIGNOW
032113,000177: 36,3242 03230 TC POSTBURN
032114,000178:
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Page 741
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032116,000180: 36,3243 05364 P40PHS1 TC PHASCHNG
032117,000181: 36,3244 00014 OCT 00014
032118,000182: 36,3245 15155 TCF ENDOFJOB
032119,000183:
032120,000184: 36,3246 00004 TIGNOW INHINT
032121,000185: 36,3247 04674 TC IBNKCALL
032122,000186: 36,3250 40154 CADR ZATTEROR
032123,000187: 36,3251 04674 TC IBNKCALL
032124,000188: 36,3252 40141 CADR SETMINDB
032125,000189: 36,3253 00003 RELINT
032126,000190: 36,3254 33761 CAF V16N85B
032127,000191: 36,3255 04616 TC BANKCALL
032128,000192: 36,3256 20463 CADR REFLASHR
032129,000193: 36,3257 03263 TC TERM40
032130,000194: 36,3260 13263 TCF TERM40
032131,000195: 36,3261 03254 TC -5
032132,000196:
032133,000197: 36,3262 13243 TCF P40PHS1
032134,000198:
032135,000199: 36,3263 00006 TERM40 EXTEND
032136,000200: 36,3264 32110 DCA SERVCADR
032137,000201: 36,3265 53252 DXCH AVEGEXIT
032138,000202: 36,3266 34755 CAF ZERO
032139,000203: 36,3267 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032140,000204: 36,3270 30005 CA Z
032141,000205: 36,3271 55162 TS DISPDEX
032142,000206: 36,3272 00004 INHINT
032143,000207: 36,3273 04674 TC IBNKCALL
032144,000208: 36,3274 40115 CADR RESTORDB
032145,000209: 36,3275 00003 RELINT
032146,000210: 36,3276 06001 TC GOTOPOOH
032147,000211:
032148,000212: 36,3277 E7,1455 EBANK= WHICH
032149,000213: 36,3277 COUNT* $$/P41
032150,000214: 36,3277 33141 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032151,000215: 36,3300 55455 TS WHICH
032152,000216:
032153,000217: 36,3301 04616 TC BANKCALL
032154,000218: 36,3302 11241 CADR R02BOTH
032155,000219:
032156,000220: 36,3303 34755 CA ZERO # ZERO DVTOTAL FOR NOUN 40 DISPLAY
032157,000221: 36,3304 55507 TS DVTOTAL
032158,000222: 36,3305 55510 TS DVTOTAL +1
032159,000223: 36,3306 35017 CAF PRIO5
032160,000224: 36,3307 55162 TS DISPDEX # FOR SAFETY
032161,000225: 36,3310 05105 TC FINDVAC
032162,000226: 36,3311 E7,1700 EBANK= VGPREV
032163,000227: 36,3311 03374 74067 2CADR DYNMDISP
032164,000228:
032165,000229: 36,3313 05340 TC 2PHSCHNG
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Page 742
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032167,000231: 36,3314 00116 OCT 00116 # GROUP 6 RESTART AT FKP5RST, PRIO 17
032168,000232: 36,3315 04024 OCT 04024 # GROUP 4 RESTART HERE, PRIO 13
032169,000233:
032170,000234: 36,3316 06042 TC INTPRET # BOTH LM
032171,000235: 36,3317 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032172,000236: 36,3320 00700 NJETSFLG
032173,000237: 36,3321 75325 P41FJET1
032174,000238: 36,3322 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032175,000239:
032176,000240: 36,3323 37735 P41FJET STCALL F
032177,000241: 36,3324 75330 P41IN
032178,000242:
032179,000243: 36,3325 77745 P41FJET1 DLOAD
032180,000244: 36,3326 34021 FRCS2
032181,000245: 36,3327 03735 STORE F
032182,000246:
032183,000247: 36,3330 77624 P41IN CALL
032184,000248: 36,3331 56246 S40.1 # BOTH
032185,000249: 36,3332 77624 P41NORM CALL
032186,000250: 36,3333 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032187,000251: 36,3334 77776 EXIT # SET PFRATFLG.
032188,000252:
032189,000253: 36,3335 00004 INHINT
032190,000254: 36,3336 04674 TC IBNKCALL
032191,000255: 36,3337 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032192,000256: 36,3340 04674 TC IBNKCALL
032193,000257: 36,3341 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032194,000258: 36,3342 03220 TC P40SXT4
032195,000259:
032196,000260: 36,3343 06042 TC INTPRET
032197,000261: 36,3344 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032198,000262: 36,3345 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032199,000263: 36,3346 57273 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032200,000264: 36,3347 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032201,000265: 36,3350 77776 EXIT
032202,000266:
032203,000267: 36,3351 33761 CAF V16N85B
032204,000268: 36,3352 04616 TC BANKCALL
032205,000269: 36,3353 20447 CADR GODSPRET
032206,000270:
032207,000271:
032208,000272: 36,3354 05340 TC 2PHSCHNG
032209,000273: 36,3355 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032210,000274: 36,3356 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032211,000275:
032212,000276: # ***********************
032213,000277: 36,3357 12137 TCF B*RNB*B*
032214,000278: # ***********************
032215,000279:
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Page 743
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032217,000281: 36,3360 34777 BLNKWAIT CAF 1SEC
032218,000282: 36,3361 04616 TC BANKCALL
032219,000283: 36,3362 01736 CADR DELAYJOB
032220,000284:
032221,000285: 36,3363 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032222,000286: 36,3364 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032223,000287: # ***********************
032224,000288:
032225,000289: 36,3365 00006 EXTEND
032226,000290: 36,3366 13360 BZF BLNKWAIT
032227,000291:
032228,000292: 36,3367 33761 CAF V16N85B
032229,000293: 36,3370 04616 TC BANKCALL
032230,000294: 36,3371 20447 CADR GODSPRET
032231,000295:
032232,000296: 36,3372 35017 FKP5RST CAF PRIO5
032233,000297: 36,3373 05146 TC PRIOCHNG
032234,000298:
032235,000299: 36,3374 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032236,000300: 36,3375 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032237,000301: 36,3376 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032238,000302: 36,3377 00006 EXTEND
032239,000303: 36,3400 41442 DCS TIG
032240,000304: 36,3401 53454 DXCH TTOGO # UPDATE TFI DISPLAY (NOUN 40)
032241,000305: 36,3402 00006 EXTEND
032242,000306: 36,3403 30025 DCA TIME2
032243,000307: 36,3404 21454 DAS TTOGO
032244,000308: 36,3405 06042 TC INTPRET
032245,000309: 36,3406 45175 VLOAD CALL
032246,000310: 36,3407 03701 VGPREV
032247,000311: 36,3410 57273 S41.1 # CONVERT VG FROM REF TO BODY
032248,000312: 36,3411 03502 STORE VGBODY
032249,000313: 36,3412 77776 EXIT
032250,000314: 36,3413 34777 CAF 1SEC
032251,000315: 36,3414 04616 TC BANKCALL
032252,000316: 36,3415 01736 CADR DELAYJOB
032253,000317: 36,3416 13374 TCF DYNMDISP # RECYCLE ONCE A SECOND
032254,000318:
032255,000319:
032256,000320: 36,3417 COUNT $$/P41
032257,000321: 32,2550 BANK 32
032258,000322: 32,2000 SETLOC P40S4
032259,000323: 32,2000 BANK
032260,000324:
032261,000325: 32,2550 06042 CALCN85 TC INTPRET
032262,000326: 32,2551 77624 CALL
032263,000327: 32,2552 75620 UPDATEVG
032264,000328: 32,2553 45175 VLOAD CALL
032265,000329: 32,2554 03701 VGPREV
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Page 744
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032267,000331: 32,2555 57273 S41.1
032268,000332: 32,2556 03502 STORE VGBODY
032269,000333: 32,2557 77776 EXIT
032270,000334: 32,2560 04635 TC POSTJUMP
032271,000335: 32,2561 65636 CADR SERVEXIT
032272,000336:
032273,000337: 36,3417 BANK 36
032274,000338: 36,2000 SETLOC P40S
032275,000339: 36,2000 BANK
032276,000340:
032277,000341: 36,3417 COUNT* $$/P42
032278,000342: 36,3417 E7,1455 EBANK= WHICH
032279,000343:
032280,000344: 36,3417 05364 P42LM TC PHASCHNG
032281,000345: 36,3420 04024 OCT 04024
032282,000346:
032283,000347: 36,3421 33142 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032284,000348: 36,3422 55455 TS WHICH
032285,000349:
032286,000350: 36,3423 40106 CS FLGWRD10
032287,000351: 36,3424 74737 MASK APSFLBIT
032288,000352: 36,3425 10000 CCS A
032289,000353: 36,3426 03126 TC P40ALM
032290,000354: 36,3427 04616 P42STAGE TC BANKCALL
032291,000355: 36,3430 11241 CADR R02BOTH
032292,000356: 36,3431 36000 CAF THRESH2 # INITIALIZE DVMON
032293,000357: 36,3432 55250 TS DVTHRUSH
032294,000358: 36,3433 34751 CAF FOUR
032295,000359: 36,3434 55515 TS DVCNTR
032296,000360:
032297,000361: 36,3435 06042 TC INTPRET
032298,000362: 36,3436 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032299,000363: 36,3437 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032300,000364: 36,3440 34007 FAPS
032301,000365: 36,3441 03735 STORE F
032302,000366: 36,3442 52135 SLOAD GOTO
032303,000367: 36,3443 26001 APSVEX
032304,000368: 36,3444 75205 P40IN
032305,000369:
032306,000370: 36,3445 E7,1455 EBANK= WHICH
032307,000371:
032308,000372: 36,3445 COUNT* $$/P47
032309,000373: 36,3445 04616 P47LM TC BANKCALL
032310,000374: 36,3446 11241 CADR R02BOTH
032311,000375: 36,3447 06042 TC INTPRET
032312,000376: 36,3450 77624 CALRB
032313,000377: 36,3451 27547 MIDTOAV2
032314,000378:
032315,000379: 36,3452 30155 CA MPAC +1
032316,000380: 36,3453 05204 TC TWIDDLE
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Page 745
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032318,000382: 36,3454 03456 ADRES STARTP47
032319,000383:
032320,000384: 36,3455 15155 TCF ENDOFJOB
032321,000385:
032322,000386: 36,3456 05364 STARTP47 TC PHASCHNG
032323,000387: 36,3457 05014 OCT 05014
032324,000388: 36,3460 77777 OCT 77777
032325,000389:
032326,000390: 36,3461 00006 EXTEND
032327,000391: 36,3462 33764 DCA ACADN83
032328,000392: 36,3463 53252 DXCH AVEGEXIT
032329,000393: 36,3464 34736 CAF PRIO20
032330,000394: 36,3465 05105 TC FINDVAC
032331,000395: 36,3466 E7,1622 EBANK= DELVIMU
032332,000396: 36,3466 03522 74067 2CADR P47BODY
032333,000397:
032334,000398: 36,3470 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032335,000399: # SEE TIG-30 IN BURNBABY.
032336,000400:
032337,000401: 36,3471 06042 CALCN83 TC INTPRET
032338,000402: 36,3472 53375 VLOAD VAD
032339,000403: 36,3473 03502 DELVCTL
032340,000404: 36,3474 03527 DELVREF
032341,000405: 36,3475 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
032342,000406: 36,3476 77624 CALL
032343,000407: 36,3477 57273 S41.1
032344,000408: 36,3500 03623 STORE DELVIMU
032345,000409: 36,3501 77776 EXIT
032346,000410: 36,3502 05364 TC PHASCHNG
032347,000411: 36,3503 10035 OCT 10035 # REREADAC AND HERE
032348,000412:
032349,000413: 36,3504 06042 TC INTPRET
032350,000414: 36,3505 77775 VLOAD
032351,000415: 36,3506 03656 DELVSIN
032352,000416: 36,3507 03502 STORE DELVCTL
032353,000417: 36,3510 77776 EXIT
032354,000418:
032355,000419: 36,3511 04635 TC POSTJUMP
032356,000420: 36,3512 65636 CADR SERVEXIT
032357,000421:
032358,000422: 36,3513 33762 P47BOD CAF V1683
032359,000423: 36,3514 04616 TC BANKCALL
032360,000424: 36,3515 20636 CADR GOFLASHR
032361,000425: 36,3516 06001 TC GOTOPOOH
032362,000426: 36,3517 06001 TC GOTOPOOH
032363,000427:
032364,000428: 36,3520 13522 TCF P47BODY
032365,000429:
032366,000430: 36,3521 13243 TCF P40PHS1
032367,000431:
032368,000432: 36,3522 06042 P47BODY TC INTPRET
032369,000433: 36,3523 77775 VLOAD
|
|
Page 746
|
032371,000435: 36,3524 06520 HI6ZEROS
032372,000436: 36,3525 03623 STORE DELVIMU
032373,000437: 36,3526 03502 STORE DELVCTL
032374,000438: 36,3527 77776 EXIT
032375,000439: 36,3530 03513 TC P47BOD
032376,000440:
032377,000441: 36,3531 COUNT* $$/P40
032378,000442: 36,3531 31517 IMPLBURN CA TGO +1
032379,000443: 36,3532 03744 TC GETDT
032380,000444: 36,3533 05204 TC TWIDDLE
032381,000445: 36,3534 03551 ADRES ENGOFTSK
032382,000446: 36,3535 05527 TC DOWNFLAG # TURN OFF IGNFLAG
032383,000447: 36,3536 00153 ADRES IGNFLAG
032384,000448: 36,3537 05527 TC DOWNFLAG # TURN OFF ASTNFLG
032385,000449: 36,3540 00154 ADRES ASTNFLAG
032386,000450: 36,3541 05527 TC DOWNFLAG # TURN OFF IMPULSW
032387,000451: 36,3542 00044 ADRES IMPULSW
032388,000452: 36,3543 05364 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032389,000453: 36,3544 40114 OCT 40114
032390,000454:
032391,000455: 36,3545 05232 TC FIXDELAY # WAIT HALF A SECOND
032392,000456: 36,3546 00062 DEC 50 B-14
032393,000457:
032394,000458: 36,3547 02660 TC NOULLAGE # TURN OFF ULLAGE
032395,000459:
032396,000460: 36,3550 05272 TC TASKOVER
032397,000461:
032398,000462: 36,3551 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032399,000463: 36,3552 75554 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032400,000464: 36,3553 05272 TC TASKOVER
032401,000465:
032402,000466: 36,3554 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032403,000467: 36,3555 05105 TC FINDVAC
032404,000468: 36,3556 E7,1462 EBANK= TRKMKCNT
032405,000469: 36,3556 03230 74067 2CADR POSTBURN
032406,000470:
032407,000471:
032408,000472: 36,3560 34753 ENGINOF2 CAF BIT1
032409,000473: 36,3561 05214 TC WAITLIST
032410,000474: 36,3562 E6,1422 EBANK= OMEGAQ
032411,000475: 36,3562 03615 74066 2CADR COASTSET
032412,000476:
032413,000477: 36,3564 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032414,000478: 36,3565 74745 MASK IDLEFBIT
032415,000479: 36,3566 26103 ADS FLAGWRD7
032416,000480:
032417,000481: 36,3567 02660 TC NOULLAGE
032418,000482:
032419,000483: 36,3570 00006 ENGINOF4 EXTEND
032420,000484: 36,3571 30025 DCA TIME2
|
|
Page 747
|
032422,000486: 36,3572 53342 DXCH TEVENT
032423,000487:
032424,000488: 36,3573 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032425,000489: 36,3574 70101 MASK FLAGWRD5
032426,000490: 36,3575 54101 TS FLAGWRD5
032427,000491: 36,3576 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032428,000492: 36,3577 00006 EXTEND # SUBROUTINE.
032429,000493: 36,3600 02011 RAND DSALMOUT
032430,000494: 36,3601 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032431,000495: 36,3602 00006 EXTEND
032432,000496: 36,3603 01011 WRITE DSALMOUT
032433,000497:
032434,000498: 36,3604 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032435,000499: 36,3605 74736 MASK USEQRJTS
032436,000500: 36,3606 26111 ADS DAPBOOLS
032437,000501:
032438,000502: 36,3607 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032439,000503: 36,3610 54055 TS THRUST # IS TURNED OFF.
032440,000504: 36,3611 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032441,000505: 36,3612 00006 EXTEND # ENGINE IS DISARMED.
032442,000506: 36,3613 05014 WOR CHAN14
032443,000507:
032444,000508: 36,3614 04707 TC ISWRETRN
032445,000509: 36,3615 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032446,000510: 36,3616 40205 CADR ALLCOAST
032447,000511: 36,3617 05272 TC TASKOVER
032448,000512:
032449,000513: 36,3620 E6,1422 EBANK= OMEGAQ
032450,000514: 36,3620 45020 UPDATEVG STQ CALL
032451,000515: 36,3621 03665 QTEMP1
032452,000516: 36,3622 56447 S40.8 # X-PRODUCT STEERING
032453,000517: 36,3623 43014 BON BON # WILL RETURN HERE FROM S40.8
032454,000518: 36,3624 01307 XDELVFLG
032455,000519: 36,3625 03665 QTEMP1
032456,000520: 36,3626 03705 NORMSW
032457,000521: 36,3627 75642 180SETUP
032458,000522: 36,3630 45345 DLOAD DSU
032459,000523: 36,3631 01234 PIPTIME
032460,000524: 36,3632 03763 TIGSAVE
032461,000525: 36,3633 50025 DSU BMN
032462,000526: 36,3634 03432 TNEWA
032463,000527: 36,3635 75665 GETRANS
032464,000528: 36,3636 43345 DLOAD DAD
032465,000529: 36,3637 03763 TIGSAVE
032466,000530: 36,3640 03432 TNEWA
032467,000531: 36,3641 03765 STORE TIGSAVEP
032468,000532: 36,3642 77776 180SETUP EXIT
032469,000533: 36,3643 10754 CCS PHASE2
032470,000534: 36,3644 13672 TCF NO.9
032471,000535: 36,3645 34737 CAF PRIO10
|
|
Page 748
|
032473,000537: 36,3646 00004 INHINT
032474,000538: 36,3647 05105 TC FINDVAC
032475,000539: 36,3650 E7,1706 EBANK= VG
032476,000540: 36,3650 02713 56067 2CADR S40.9 # LAMBERT VTOGAIN
032477,000541:
032478,000542: 36,3652 05340 TC 2PHSCHNG
032479,000543: 36,3653 00172 OCT 00172 # 2.17SPOT FOR S40.9
032480,000544: 36,3654 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032481,000545:
032482,000546: 36,3655 06042 ENDSTEER TC INTPRET
032483,000547: 36,3656 77745 DLOAD
032484,000548: 36,3657 03765 TIGSAVEP
032485,000549: 36,3660 27763 STOVL TIGSAVE
032486,000550: 36,3661 01220 RN
032487,000551: 36,3662 26323 STOVL RINIT
032488,000552: 36,3663 01226 VN
032489,000553: 36,3664 02331 STORE VINIT
032490,000554: 36,3665 45345 GETRANS DLOAD DSU
032491,000555: 36,3666 03631 TPASS4
032492,000556: 36,3667 01234 PIPTIME
032493,000557: 36,3670 37452 STCALL DELLT4
032494,000558: 36,3671 03665 QTEMP1
032495,000559:
032496,000560: 36,3672 06042 NO.9 TC INTPRET
032497,000561: 36,3673 77650 GOTO
032498,000562: 36,3674 03665 QTEMP1
032499,000563: 36,3675 06042 STEERING TC INTPRET
032500,000564:
032501,000565: 36,3676 77624 CALL
032502,000566: 36,3677 75620 UPDATEVG
032503,000567: 36,3700 77776 EXIT
032504,000568:
032505,000569: 36,3701 E7,1515 EBANK= DVCNTR
032506,000570: 36,3701 00004 NSTEER INHINT
032507,000571: 36,3702 35016 CA EBANK7
032508,000572: 36,3703 54003 TS EBANK
032509,000573: 36,3704 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032510,000574: 36,3705 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032511,000575: 36,3706 10000 CCS A # STEERING IS ALMOST DONE.
032512,000576:
032513,000577: 36,3707 13714 TCF +5 # IMPULSW = 0 EXIT
032514,000578: 36,3710 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032515,000579: 36,3711 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032516,000580: 36,3712 10000 CCS A
032517,000581: 36,3713 13716 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
032518,000582: 36,3714 04635 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
032519,000583: 36,3715 65636 CADR SERVEXIT
032520,000584:
032521,000585: 36,3716 04674 TC IBNKCALL
032522,000586: 36,3717 40166 CADR STOPRATE
032523,000587:
|
|
Page 749
|
032525,000589: 36,3720 05527 TC DOWNFLAG # TURN OFF IMPULSW
032526,000590: 36,3721 00044 ADRES IMPULSW
032527,000591:
032528,000592: 36,3722 05515 TC UPFLAG
032529,000593: 36,3723 00161 ADRES IDLEFLAG # TURN OFF DVMON
032530,000594:
032531,000595: 36,3724 00004 INHINT
032532,000596: 36,3725 00006 EXTEND
032533,000597: 36,3726 31442 DCA TIG
032534,000598: 36,3727 52155 DXCH MPAC
032535,000599: 36,3730 00006 EXTEND
032536,000600: 36,3731 40025 DCS TIME2
032537,000601: 36,3732 20155 DAS MPAC
032538,000602: 36,3733 07262 TC TPAGREE
032539,000603: 36,3734 30155 CAE MPAC +1
032540,000604: 36,3735 03744 TC GETDT
032541,000605: 36,3736 05204 TC TWIDDLE
032542,000606: 36,3737 03551 ADRES ENGOFTSK
032543,000607: 36,3740 05340 TC 2PHSCHNG
032544,000608: 36,3741 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032545,000609: 36,3742 00035 OCT 00035 # SERVICER--REREADAC
032546,000610: 36,3743 15155 TCF ENDOFJOB
032547,000611:
032548,000612: 36,3744 10000 GETDT CCS A
032549,000613: 36,3745 13750 TCF +3
032550,000614: 36,3746 13750 TCF +2
032551,000615: 36,3747 34755 CAF ZERO
032552,000616: 36,3750 64753 AD ONE
032553,000617: 36,3751 56001 XCH L
032554,000618: 36,3752 34755 CAF ZERO
032555,000619: 36,3753 53517 DXCH TGO
032556,000620: 36,3754 31517 CA TGO +1
032557,000621: 36,3755 00002 TC Q
032558,000622:
032559,000623:
032560,000624: # ************************************************************************
032561,000625:
032562,000626: 36,3756 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032563,000627: 36,3757 00764 5SEC DEC 500 B-14
032564,000628: 36,3760 04050 V16N40 VN 1640
032565,000629: 36,3761 04125 V16N85B VN 1685
032566,000630: 36,3762 04123 V1683 VN 1683
032567,000631: 36,3763 4777 SEC01 = 1SEC
032568,000632: 36,3763 36,2057 ACADN85 = P41TABLE +2
032569,000633:
032570,000634: 36,3763 E7,1622 EBANK= DELVIMU
032571,000635: 36,3763 03471 74067 ACADN83 2CADR CALCN83
032572,000636:
032573,000637: # *************************************************
032574,000638:
|
|
Page 750
|
032576,000640: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
032577,000641: # MOD N02 LOG SECTION P40-P47
032578,000642: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032579,000643: # FUNCTIONAL DESCRIPTION
032580,000644: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032581,000645: # VECTOR(VGTIG).
032582,000646: # CALLING SEQUENCE
032583,000647: # L CALL
032584,000648: # L+1 S40.1
032585,000649: # NORMAL EXIT MODE
032586,000650: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032587,000651: # ERROR RETURN IF NOSOFLAG =1
032588,000652: # SUBROUTINES CALLED
032589,000653: # LEMPREC
032590,000654: # INITVEL
032591,000655: # CALCGRAV
032592,000656: # MIDGIM
032593,000657: # ALARM OR ABORT EXIT MODES
032594,000658: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
032595,000659: # ERASABLE INITIALIZATION REQUIRED
032596,000660: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
032597,000661: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
032598,000662: # F THRUST FOR ENGINE USED
032599,000663: # IF DELTA-V MANEUVER
032600,000664: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032601,000665: # INERTIAL COORDS. OF ACTIVE VEHICLE
032602,000666: # AT TIME OF IGNITION VECTOR B7M/CS
032603,000667: # DELVSAB MAG. OF DELVSIN DP B7M/CS
032604,000668: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
032605,000669: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
032606,000670: # IF AIMPT STEER
032607,000671: # TIG TIME OF IGNITION DP B28CS
032608,000672: # RTARG POSITION TARGET TIME VECTOR B29M
032609,000673: # CSTEER C FOR STEER LAW DP B2
032610,000674: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
032611,000675: # OUTPUT
032612,000676: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
032613,000677: # VGTIG INITIAL VALUE OF VELOCITY
032614,000678: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
032615,000679: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
032616,000680: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032617,000681: # -GDT FOR S40.13 VECT B7M/CS
032618,000682: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
032619,000683: # POSITION AT TIME OF IGNITION
032620,000684: # DEBRIS QTEMP1
032621,000685: # MPAC, QPRET
032622,000686: # PUSHLIST
032623,000687: 14,2347 BANK 14
032624,000688: 27,2000 SETLOC P40S1
032625,000689: 27,2000 BANK
032626,000690:
|
|
Page 751
|
032628,000692: 27,2246 COUNT* $$/S40.1
032629,000693: 27,2246 71220 S40.1 STQ DLOAD
032630,000694: 27,2247 03632 QTEMP
032631,000695: 27,2250 03442 TIG
032632,000696: 27,2251 03763 STORE TIGSAVE
032633,000697: 27,2252 77614 DELVTEST BOFF
032634,000698: 27,2253 01347 XDELVFLG
032635,000699: 27,2254 56336 S40.1B
032636,000700: 27,2255 77201 CALCTHET SETPD VLOAD
032637,000701: 27,2256 00001 0
032638,000702: 27,2257 03650 VTIG
032639,000703: 27,2260 02331 STORE VINIT
032640,000704: 27,2261 53435 VXV UNIT
032641,000705: 27,2262 03642 RTIG
032642,000706: 27,2263 27673 STOVL UT # UP IN UT
032643,000707: 27,2264 03642 RTIG
032644,000708: 27,2265 02323 STORE RINIT
032645,000709: 27,2266 65236 VSQ PDDL
032646,000710: 27,2267 00045 36D
032647,000711: 27,2270 56205 DMP DDV
032648,000712: 27,2271 16412 THETACON
032649,000713: 27,2272 41205 DMP DMP
032650,000714: 27,2273 03664 DELVSAB
032651,000715: 27,2274 01244 WEIGHT/G
032652,000716: 27,2275 77671 DDV
032653,000717: 27,2276 03735 F
032654,000718: 27,2277 24017 STOVL 14D
032655,000719: 27,2300 03656 DELVSIN
032656,000720:
032657,000721: 27,2301 74241 DOT VXSC
032658,000722: 27,2302 03673 UT
032659,000723: 27,2303 03673 UT
032660,000724: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032661,000725: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032662,000726: 27,2306 03656 DELVSIN
032663,000727: 27,2307 00017 14D
032664,000728: 27,2310 63356 SIN PDVL
032665,000729: 27,2311 00007 6D
032666,000730: 27,2312 53435 VXV UNIT
032667,000731: 27,2313 03673 UT
032668,000732: 27,2314 45561 VXSC STADR
032669,000733: 27,2315 50076 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
032670,000734: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032671,000735: 27,2317 00017 14D
032672,000736: 27,2320 74346 COS VXSC
032673,000737: 27,2321 74255 VAD VXSC
032674,000738: 27,2322 03701 VGTIG
032675,000739: 27,2323 00045 36D
032676,000740: 27,2324 53352 VSL2 VAD
032677,000741: 27,2325 77626 STADR
|
|
Page 752
|
032679,000743: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7)M/CS
032680,000744:
032681,000745: 27,2327 77656 UNIT
032682,000746: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032683,000747: 27,2331 03701 VGTIG
032684,000748: 27,2332 45006 PUSH CALL
032685,000749: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032686,000750: 27,2334 77650 GOTO
032687,000751: 27,2335 03632 QTEMP
032688,000752: 27,2336 77745 S40.1B DLOAD
032689,000753: 27,2337 03442 TIG
032690,000754: 27,2340 00041 STORE TDEC1
032691,000755: 27,2341 77621 BDSU
032692,000756: 27,2342 03631 TPASS4
032693,000757: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032694,000758: 27,2344 27056 LEMPREC
032695,000759: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032696,000760: 27,2346 00001 RATT
032697,000761: 27,2347 00001 0
032698,000762: 27,2350 03642 STORE RTIG
032699,000763: 27,2351 02323 STORE RINIT
032700,000764: 27,2352 77656 UNIT
032701,000765: 27,2353 27537 STOVL UNIT/R/
032702,000766: 27,2354 00007 VATT
032703,000767: 27,2355 03650 STORE VTIG
032704,000768: 27,2356 02331 STORE VINIT
032705,000769: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032706,000770: 27,2360 06520 ZEROVECS
032707,000771: 27,2361 16406 EPS1
032708,000772: 27,2362 43214 BOFF DAD
032709,000773: 27,2363 03745 NORMSW
032710,000774: 27,2364 56366 SMALLEPS
032711,000775: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032712,000776: 27,2366 66006 SMALLEPS PUSH SXA,1
032713,000777: 27,2367 02776 RTX1
032714,000778: 27,2370 45134 SXA,2 CALL
032715,000779: 27,2371 02777 RTX2
032716,000780: 27,2372 22000 INITVEL
032717,000781: 27,2373 41575 VLOAD PUSH
032718,000782: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032719,000783: 27,2375 03701 STORE VGTIG
032720,000784: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032721,000785: 27,2377 17673 STODL UT
032722,000786: 27,2400 00045 36D
032723,000787: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
032724,000788: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032725,000789: 27,2403 77650 GOTO
032726,000790: 27,2404 03632 QTEMP
032727,000791:
032728,000792: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032729,000793:
|
|
Page 753
|
032731,000795: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032732,000796:
032733,000797: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032734,000798:
|
|
Page 754
|
032736,000800: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032737,000801:
032738,000802: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032739,000803:
032740,000804: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032741,000805:
032742,000806: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032743,000807:
032744,000808: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032745,000809:
032746,000810: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032747,000811: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032748,000812: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032749,000813: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032750,000814: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032751,000815:
032752,000816:
032753,000817: # CALLING SEQUENCE:
032754,000818: # L CALL INTERPRETIVE CALL.
032755,000819: # L +1 S40.2,3
032756,000820: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032757,000821:
032758,000822: # SUBROUTINES CALLED: NONE.
032759,000823:
032760,000824: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032761,000825:
032762,000826: # ALARM/ABORT MODES: NONE.
032763,000827:
032764,000828: # INPUT:
032765,000829:
032766,000830: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032767,000831: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032768,000832: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032769,000833:
032770,000834: # OUTPUT:
032771,000835:
032772,000836: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
032773,000837: # : YSCREF : IN REFERENCE COORDINATES
032774,000838: # : ZSCREF : (PREFERRED IMU ORIENTATION).
032775,000839: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032776,000840: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032777,000841: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032778,000842:
032779,000843: # DEBRIS: NONE.
032780,000844:
|
|
Page 755
|
032782,000846: 27,2413 COUNT* $$/S40.2
032783,000847: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032784,000848: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032785,000849: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032786,000850: 27,2416 01732 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032787,000851: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032788,000852: 27,2420 06516 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032789,000853: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032790,000854:
032791,000855: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032792,000856: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032793,000857: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032794,000858: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032795,000859: 27,2426 46125 PDDL BHIZ
032796,000860: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032797,000861: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032798,000862: 27,2431 45575 STORY VLOAD STADR
032799,000863: 27,2432 74162 STORE YSCREF
032800,000864: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
032801,000865: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032802,000866: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032803,000867: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032804,000868:
032805,000869: 27,2437 43414 SET RVQ
032806,000870: 27,2440 01073 PFRATFLG
032807,000871: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032808,000872: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032809,000873: 27,2443 03650 VTIG
032810,000874: 27,2444 41456 UNIT PUSH
032811,000875: 27,2445 77650 GOTO
032812,000876: 27,2446 56431 STORY
032813,000877:
|
|
Page 756
|
032815,000879: # SUBROUTINE S40.8
032816,000880:
032817,000881: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032818,000882:
032819,000883: # DESCRIPTION
032820,000884:
032821,000885: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032822,000886: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032823,000887: # "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE DAP.
032824,000888:
032825,000889: # CALLING SEQUENCE
032826,000890:
032827,000891: # L-1 CALL
032828,000892: # L S40.8
032829,000893: # L+1 INTERPRETIVE RETURN
032830,000894:
032831,000895: # ALARM
032832,000896:
032833,000897: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032834,000898: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032835,000899:
032836,000900: # INPUT AND INITIALIZATION
032837,000901:
032838,000902: # VGPREV REFERENCE 2(7) M/CS
032839,000903: # DELVREF REFERENCE 2(7) M/CS
032840,000904: # BDT REFERENCE 2(7) M/CS
032841,000905: # TDECAY TAIL-OFF TIME 2(28) CS
032842,000906: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032843,000907: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032844,000908: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032845,000909:
032846,000910: # NOTE: VGTIG EQUALS VGPREV
032847,000911:
032848,000912: # OUTPUT
032849,000913:
032850,000914: # STEERSW SEE INPUT
032851,000915: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032852,000916: # TGO TIME TO CUT-OFF 2(28) CS
032853,000917: # SEE FINDCDUW FOR STEERING OUTPUTS.
032854,000918:
032855,000919: # SUBROUTINE CALLED
032856,000920:
032857,000921: # FINDCDUW
032858,000922:
032859,000923: # DEBRIS
032860,000924:
032861,000925: # MPACS, PUSHLIST
032862,000926:
032863,000927: 27,2447 COUNT* $$/S40.8
|
|
Page 757
|
032865,000929: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032866,000930: 27,2450 01347 XDELVFLG
032867,000931: 27,2451 56735 RASTEER1
032868,000932: 27,2452 52375 VLOAD VSU
032869,000933: 27,2453 03701 VGPREV
032870,000934: 27,2454 03527 DELVREF
032871,000935: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
032872,000936: 27,2456 76521 MXV VSL1
032873,000937: 27,2457 01732 REFSMMAT
032874,000938: 27,2460 03253 STORE UNFC/2
032875,000939: 27,2461 51575 BDTOK VLOAD ABVAL
032876,000940: 27,2462 03707 VG
032877,000941: 27,2463 03664 STORE VGDISP
032878,000942: 27,2464 77776 EXIT
032879,000943: 27,2465 05364 TC PHASCHNG
032880,000944: 27,2466 10035 OCT 10035
032881,000945: 27,2467 06042 TC INTPRET
032882,000946: 27,2470 77201 TGOCALC SETPD VLOAD
032883,000947: 27,2471 00001 0
032884,000948: 27,2472 03707 VG
032885,000949: 27,2473 27701 STOVL VGPREV
032886,000950: 27,2474 03527 DELVREF
032887,000951: 27,2475 57414 BOFF VCOMP
032888,000952: 27,2476 01344 STEERSW
032889,000953: 27,2477 00052 QPRET
032890,000954: 27,2500 77656 UNIT
032891,000955: 27,2501 41441 DOT PUSH
032892,000956: 27,2502 03707 VG
032893,000957: 27,2503 56244 BPL DDV
032894,000958: 27,2504 56532 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032895,000959: 27,2505 03743 VEX
032896,000960: 27,2506 41215 DAD DMP
032897,000961: 27,2507 06516 DPHALF
032898,000962: 27,2510 56261 SR DDV
032899,000963: 27,2511 20613 10D
032900,000964: 27,2512 00045 36D
032901,000965: 27,2513 43205 DMP DAD
032902,000966: 27,2514 16541 -FOURDT
032903,000967: 27,2515 03741 TDECAY
032904,000968: 27,2516 03517 STORE TGO
032905,000969: 27,2517 77615 DAD
032906,000970: 27,2520 01234 PIPTIME
032907,000971: 27,2521 17442 STODL TIG
032908,000972: 27,2522 03517 TGO
032909,000973: 27,2523 51025 DSU BPL
032910,000974: 27,2524 16543 FOURSECS # 400 CS
032911,000975: 27,2525 61072 FINDCDUW -2
032912,000976: 27,2526 43014 SET CLRGO
032913,000977: 27,2527 01066 IMPULSW
032914,000978: 27,2530 01224 STEERSW
032915,000979: 27,2531 00052 QPRET
032916,000980:
|
|
Page 758
|
032918,000982: 27,2532 77776 ALARMIT EXIT
032919,000983: 27,2533 05600 TC ALARM
032920,000984: 27,2534 01407 OCT 01407
032921,000985: 27,2535 06042 TC INTPRET
032922,000986: 27,2536 77650 GOTO
032923,000987: 27,2537 61072 FINDCDUW -2
032924,000988:
032925,000989: 27,2540 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B (-18)
032926,000990:
032927,000991: 27,2542 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032928,000992:
032929,000993: 27,2544 E7,1742 2VEXHUST = VEX
032930,000994:
|
|
Page 759
|
032932,000996: # NAME S40.13 - TIMEBURN
032933,000997: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032934,000998: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032935,000999: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032936,001000: # BURN
032937,001001: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032938,001002: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032939,001003: # SIGNAL
032940,001004: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032941,001005: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032942,001006: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032943,001007: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032944,001008: # AND ALSO FOR RCS ENGINE
032945,001009: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032946,001010: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
032947,001011: # REQUIRE MODIFICATION FOR SATURN BURNS.
032948,001012: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032949,001013: # =0 DPS
032950,001014: # =1 APS
032951,001015: # OUTPUT IMPULSW ZERO FOR STEERING
032952,001016: # ONE FOR ATTITUDE HOLD
032953,001017: # NOTHROTL ZERO FOR THROTTLING
032954,001018: # ONE TO INHIBIT THROTTLING
032955,001019: # TGO TIME TO BURN IN CS
032956,001020: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032957,001021: # FORCE
032958,001022:
032959,001023: 27,2544 E7,1516 EBANK= TGO
032960,001024: 27,2544 COUNT* $$/40.13
032961,001025: 27,2544 06042 S40.13 TC INTPRET
032962,001026: 27,2545 43001 SETPD CLEAR
032963,001027: 27,2546 00001 00D
032964,001028: 27,2547 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032965,001029: 27,2550 51575 VLOAD ABVAL
032966,001030: 27,2551 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032967,001031: 27,2552 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032968,001032: 27,2553 21000 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032969,001033: 27,2554 34021 FRCS2
032970,001034: 27,2555 72471 DDV SL1 # SCALE
032971,001035: 27,2556 01244 WEIGHT/G
032972,001036: 27,2557 41421 BDSU PUSH
032973,001037: 27,2560 43014 BOFF SET
032974,001038: 27,2561 05342 APSFLAG
032975,001039: 27,2562 56632 S40.13D # FOR DPS ENGINE
032976,001040: 27,2563 02463 NOTHROTL
032977,001041: 27,2564 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032978,001042: 27,2565 16001 K1VAL # M.NEWTONS-CS AT +24
032979,001043: 27,2566 01244 WEIGHT/G
032980,001044: 27,2567 50021 BDSU BMN
|
|
Page 760
|
032982,001046: 27,2570 00001 00D
032983,001047: 27,2571 56614 S40.131 # TGO LESS THAN 100 CS
032984,001048: 27,2572 41325 PDDL DMP # 02D = TEMP1 AT +7
032985,001049: 27,2573 03737 MDOT
032986,001050:
032987,001051: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032988,001052: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
032989,001053: # REQUIRE ADJUSTMENT
032990,001054:
032991,001055: 27,2574 16704 3.5SEC # 350 CS AT +14
032992,001056: 27,2575 65221 BDSU PDDL
032993,001057: 27,2576 01244 WEIGHT/G
032994,001058: 27,2577 03735 F
032995,001059: 27,2600 60405 DMP SR2 # SCALE
032996,001060: 27,2601 16706 5SECS
032997,001061: 27,2602 41471 DDV PUSH # 04D = TEMP2
032998,001062: 27,2603 51021 BDSU BPL
032999,001063: 27,2604 00003 02D
033000,001064: 27,2605 56632 S40.13D
033001,001065: 27,2606 55345 DLOAD BDDV
033002,001066: 27,2607 43205 DMP DAD
033003,001067: 27,2610 16706 5SECS
033004,001068: 27,2611 16702 1SEC2D # 100 CS AT +14
033005,001069: 27,2612 77650 GOTO
033006,001070: 27,2613 56622 S40.132
033007,001071: 27,2614 41345 S40.131 DLOAD DMP
033008,001072: 27,2615 01244 WEIGHT/G
033009,001073: 27,2616 41542 SR1 PUSH
033010,001074: 27,2617 56215 DAD DDV
033011,001075: 27,2620 16003 K2VAL # M.NEWTON CS AT +24
033012,001076: 27,2621 16005 K3VAL # M.NEWTON CS AT +10
033013,001077: 27,2622 77414 S40.132 SET EXIT
033014,001078: 27,2623 01066 IMPULSW
033015,001079: 27,2624 07262 S40.132* TC TPAGREE
033016,001080: 27,2625 30154 CA MPAC
033017,001081: 27,2626 56001 XCH L
033018,001082: 27,2627 34755 CA ZERO
033019,001083: 27,2630 53517 DXCH TGO
033020,001084: 27,2631 12654 TCF S40.134
033021,001085:
033022,001086: 27,2632 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033023,001087: 27,2633 00001 00D
033024,001088: 27,2634 01244 WEIGHT/G
033025,001089: 27,2635 43006 PUSH BON
033026,001090: 27,2636 05302 APSFLAG
033027,001091: 27,2637 56675 APSTGO
033028,001092: 27,2640 43071 DDV CLEAR
033029,001093: 27,2641 16007 S40.136
033030,001094: 27,2642 02663 NOTHROTL
033031,001095: 27,2643 41400 BOV PUSH
|
|
Page 761
|
033033,001097: 27,2644 56657 S40.130V
033034,001098: 27,2645 51025 S40.137 DSU BPL
033035,001099: 27,2646 16710 6SEC # 600.0 CS AT +14
033036,001100: 27,2647 56665 S40.138
033037,001101: 27,2650 52015 DAD GOTO
033038,001102: 27,2651 16710 6SEC
033039,001103: 27,2652 56622 S40.132
033040,001104: 27,2653 77776 S40.133 EXIT
033041,001105: 27,2654 05364 S40.134 TC PHASCHNG
033042,001106: 27,2655 00003 OCT 00003
033043,001107: 27,2656 05155 TC ENDOFJOB
033044,001108: 27,2657 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033045,001109: 27,2660 77671 DDV
033046,001110: 27,2661 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033047,001111: 27,2662 03517 STORE TGO
033048,001112: 27,2663 77776 EXIT
033049,001113: 27,2664 12654 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033050,001114:
033051,001115: 27,2665 51025 S40.138 DSU BPL
033052,001116: 27,2666 16712 89SECS
033053,001117: 27,2667 56672 STORETGO
033054,001118: 27,2670 77614 SET
033055,001119: 27,2671 02463 NOTHROTL
033056,001120: 27,2672 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033057,001121: 27,2673 77776 EXIT
033058,001122: 27,2674 12624 TCF S40.132*
033059,001123:
033060,001124: 27,2675 62471 APSTGO DDV SL2
033061,001125: 27,2676 34007 FAPS
033062,001126: 27,2677 77650 GOTO
033063,001127: 27,2700 56673 STORETGO +1
033064,001128: 27,2701 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033065,001129:
033066,001130: 27,2703 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033067,001131:
033068,001132: 27,2705 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033069,001133:
033070,001134: 27,2707 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033071,001135:
033072,001136: 27,2711 21304 00000 89SECS 2DEC 8900.0 B-14
033073,001137:
033074,001138: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033075,001139: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033076,001140: # COMPUTATION CYCLES (4 SECONDS).
033077,001141: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033078,001142: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033079,001143: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033080,001144: # CALLING SEQ VIA FINDVAC AS NEW JOB.
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|
Page 762
|
033082,001146: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033083,001147: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
033084,001148: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033085,001149: # METERS/CS AT +7.
033086,001150: # TIG - TIME OF IGNITION IN CS AT +28.
033087,001151: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033088,001152: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033089,001153: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033090,001154: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033091,001155: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033092,001156: # METERS/CS AT +7.
033093,001157: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033094,001158: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033095,001159: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033096,001160: # BDT - B VECTOR IN METERS/CS AT +7.
033097,001161: # SUBROUTINES USED - INITVEL
033098,001162: 27,2713 E7,1700 EBANK= VGPREV
033099,001163: 27,2713 COUNT* $$/S40.9
033100,001164: 27,2713 06042 S40.9 TC INTPRET
033101,001165: 27,2714 77601 SETPD
033102,001166: 27,2715 00001 00D
033103,001167: 27,2716 71214 SET DLOAD
033104,001168: 27,2717 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033105,001169: 27,2720 06520 HI6ZEROS
033106,001170: 27,2721 77725 PDDL
033107,001171: 27,2722 16406 EPS1
033108,001172: 27,2723 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033109,001173: 27,2724 03745 NORMSW
033110,001174: 27,2725 56727 EPSSMALL
033111,001175: 27,2726 16410 EPS2
033112,001176: 27,2727 45006 EPSSMALL PUSH CALL
033113,001177: 27,2730 22002 HAVEGUES
033114,001178: 27,2731 77776 ENDS40.9 EXIT
033115,001179: 27,2732 05364 TC PHASCHNG
033116,001180: 27,2733 00002 OCT 2
033117,001181: 27,2734 15155 TCF ENDOFJOB
033118,001182:
033119,001183:
033120,001184: 27,2735 51575 RASTEER1 VLOAD ABVAL
033121,001185: 27,2736 01220 RN
033122,001186: 27,2737 53744 LXC,2 SL*
033123,001187: 27,2740 02777 RTX2
033124,001188: 27,2741 57576 0,2
033125,001189: 27,2742 27715 STOVL RMAG
033126,001190: 27,2743 03444 RTARG
033127,001191: 27,2744 47051 VSU RTB
033128,001192: 27,2745 01220 RN
033129,001193: 27,2746 21725 NORMUNX1
033130,001194: 27,2747 17656 STODL IC
033131,001195: 27,2750 00045 36D # C(36D) = ABVAL(C)
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|
Page 763
|
033133,001197: 27,2751 53674 XAD,2 SL*
033134,001198: 27,2752 00046 X1
033135,001199: 27,2753 57576 0,2
033136,001200: 27,2754 00037 STORE 30D
033137,001201: 27,2755 41301 NORM DMP
033138,001202: 27,2756 00050 X2
033139,001203: 27,2757 03715 RMAG
033140,001204: 27,2760 57101 NORM XAD,2
033141,001205: 27,2761 00047 X1
033142,001206: 27,2762 00046 X1
033143,001207: 27,2763 77734 SXA,2
033144,001208: 27,2764 03766 MUSCALE
033145,001209: 27,2765 17725 STODL R1C # 2(+58 -X)
033146,001210: 27,2766 00037 30D
033147,001211: 27,2767 65342 SR1 PDDL
033148,001212: 27,2770 03715 RMAG
033149,001213: 27,2771 65342 SR1 PDDL
033150,001214: 27,2772 03723 RTMAG
033151,001215: 27,2773 43342 SR1 DAD
033152,001216: 27,2774 45415 DAD STADR
033153,001217: 27,2775 74044 STORE SS # SS = (R1 + R2 +C )/2
033154,001218: 27,2776 41225 DSU DMP
033155,001219: 27,2777 00037 30D
033156,001220: 27,3000 03721 MU/A
033157,001221: 27,3001 77621 BDSU
033158,001222: 27,3002 03717 MUASTEER
033159,001223: 27,3003 45325 PDDL DSU
033160,001224: 27,3004 03733 SS
033161,001225: 27,3005 03715 RMAG
033162,001226: 27,3006 70501 NORM SR1
033163,001227: 27,3007 00047 X1
033164,001228: 27,3010 41271 DDV DMP
033165,001229: 27,3011 03725 R1C
033166,001230: 27,3012 53664 XSU,2 SL*
033167,001231: 27,3013 00046 X1
033168,001232: 27,3014 57575 1,2
033169,001233: 27,3015 77754 LXA,2
033170,001234: 27,3016 03766 MUSCALE
033171,001235: 27,3017 75366 SQRT SIGN
033172,001236: 27,3020 02673 GEOMSGN
033173,001237: 27,3021 00041 STORE 32D # + OR - A
033174,001238: 27,3022 41345 DLOAD DMP
033175,001239: 27,3023 03733 SS
033176,001240: 27,3024 03721 MU/A
033177,001241: 27,3025 77621 BDSU
033178,001242: 27,3026 03717 MUASTEER
033179,001243: 27,3027 45325 PDDL DSU
033180,001244: 27,3030 03733 SS
033181,001245: 27,3031 03723 RTMAG
033182,001246: 27,3032 70501 NORM SR1
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Page 764
|
033184,001248: 27,3033 00047 X1
033185,001249: 27,3034 41271 DDV DMP
033186,001250: 27,3035 03725 R1C
033187,001251: 27,3036 53664 XSU,2 SL*
033188,001252: 27,3037 00046 X1
033189,001253: 27,3040 57575 1,2
033190,001254: 27,3041 65366 SQRT PDDL # -B (NO SIGN)
033191,001255: 27,3042 03733 SS
033192,001256: 27,3043 56225 DSU DDV
033193,001257: 27,3044 00037 30D
033194,001258: 27,3045 03733 SS
033195,001259: 27,3046 41566 SQRT PUSH
033196,001260: 27,3047 67542 SR1 ASIN
033197,001261: 27,3050 65205 DMP PDDL
033198,001262: 27,3051 17222 2PI+3
033199,001263: 27,3052 56325 PDDL DDV
033200,001264: 27,3053 00037 30D
033201,001265: 27,3054 03733 SS
033202,001266: 27,3055 77600 BOV
033203,001267: 27,3056 57057 +1
033204,001268: 27,3057 41366 SQRT DMP
033205,001269: 27,3060 44242 SR3 BDSU
033206,001270: 27,3061 65365 SIGN PDDL
033207,001271: 27,3062 02673 GEOMSGN
033208,001272: 27,3063 17222 2PI+3
033209,001273: 27,3064 45302 SR2 DSU
033210,001274: 27,3065 65205 DMP PDDL
033211,001275: 27,3066 03733 SS
033212,001276: 27,3067 03733 SS
033213,001277: 27,3070 75442 SR3 SQRT
033214,001278: 27,3071 77605 DMP
033215,001279: 27,3072 52525 PDDL SL3
033216,001280: 27,3073 03717 MUASTEER
033217,001281: 27,3074 55366 SQRT BDDV
033218,001282: 27,3075 43225 DSU DAD
033219,001283: 27,3076 03631 TPASS4
033220,001284: 27,3077 01234 PIPTIME
033221,001285: 27,3100 14037 STODL 30D
033222,001286: 27,3101 77765 SIGN
033223,001287: 27,3102 00037 30D # B WITH SIGN
033224,001288: 27,3103 00037 STORE 30D
033225,001289: 27,3104 77214 BON VLOAD
033226,001290: 27,3105 03705 NORMSW
033227,001291: 27,3106 57127 180MESS
033228,001292: 27,3107 03656 IC
033229,001293: 27,3110 53451 VSU UNIT
033230,001294: 27,3111 03537 UNIT/R/
033231,001295: 27,3112 63361 VXSC PDVL
033232,001296: 27,3113 00037 30D
033233,001297: 27,3114 03656 IC
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|
Page 765
|
033235,001299: 27,3115 53455 VAD UNIT
033236,001300: 27,3116 03537 UNIT/R/
033237,001301: 27,3117 53361 GETVRVG1 VXSC VAD
033238,001302: 27,3120 00041 32D
033239,001303: 27,3121 53744 GETVRVG2 LXC,2 VSR*
033240,001304: 27,3122 02777 RTX2
033241,001305: 27,3123 57177 0 -1,2
033242,001306: 27,3124 02337 STORE VIPRIME
033243,001307: 27,3125 77650 GOTO
033244,001308: 27,3126 57172 ASTREND -2
033245,001309: 27,3127 50375 180MESS VLOAD DOT
033246,001310: 27,3130 03656 IC
033247,001311: 27,3131 03537 UNIT/R/
033248,001312: 27,3132 77240 BMN VLOAD
033249,001313: 27,3133 57152 NEGPROD
033250,001314: 27,3134 03656 IC
033251,001315: 27,3135 63362 VSR1 PDVL
033252,001316: 27,3136 03537 UNIT/R/
033253,001317: 27,3137 53362 VSR1 VAD
033254,001318: 27,3140 77656 UNIT
033255,001319: 27,3141 57406 PUSH VCOMP # FOR A
033256,001320: 27,3142 75235 VXV SIGN
033257,001321: 27,3143 02674 UN
033258,001322: 27,3144 02673 GEOMSGN
033259,001323: 27,3145 74256 UNIT VXSC
033260,001324: 27,3146 00037 30D
033261,001325: 27,3147 77715 PDVL # UNIT(IC-IR) +-B
033262,001326: 27,3150 77650 GOTO
033263,001327: 27,3151 57117 GETVRVG1
033264,001328: 27,3152 74575 NEGPROD VLOAD VSR1
033265,001329: 27,3153 03537 UNIT/R/
033266,001330: 27,3154 74515 PDVL VSR1
033267,001331: 27,3155 03656 IC
033268,001332: 27,3156 53451 VSU UNIT
033269,001333: 27,3157 77606 PUSH
033270,001334: 27,3160 75235 VXV SIGN
033271,001335: 27,3161 02674 UN # FOR B
033272,001336: 27,3162 02673 GEOMSGN
033273,001337: 27,3163 74256 UNIT VXSC
033274,001338: 27,3164 00041 32D
033275,001339: 27,3165 77715 PDVL
033276,001340: 27,3166 53361 VXSC VAD
033277,001341: 27,3167 00037 30D
033278,001342: 27,3170 77650 GOTO
033279,001343: 27,3171 57121 GETVRVG2
033280,001344: 27,3172 77651 VSU
033281,001345: 27,3173 03553 VN1
033282,001346: 27,3174 02366 ASTREND STORE DELVEET3
033283,001347: 27,3175 53135 FIRSTTME SLOAD BZE
033284,001348: 27,3176 03000 RTX2
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Page 766
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033286,001350: 27,3177 57203 GETGOBL
033287,001351: 27,3200 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
033288,001352: 27,3201 02366 DELVEET3
033289,001353: 27,3202 57216 NOGOBL
033290,001354: 27,3203 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033291,001355: 27,3204 01220 RN
033292,001356: 27,3205 45345 DLOAD DSU
033293,001357: 27,3206 01234 PIPTIME # 2
033294,001358: 27,3207 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
033295,001359: 27,3210 56205 DMP DDV # OBL
033296,001360: 27,3211 16023 EARTHMU
033297,001361: 27,3212 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033298,001362: 27,3213 53361 VXSC VAD
033299,001363: 27,3214 03521 UNITGOBL
033300,001364: 27,3215 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033301,001365: 27,3216 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033302,001366: 27,3217 77650 GOTO
033303,001367: 27,3220 56455 VGAIN*
033304,001368:
033305,001369:
033306,001370: 27,3221 31103 36652 2PI+3 2DEC 3.141592653 B-2
033307,001371:
033308,001372:
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Page 767
|
033310,001374: # TRIMGIMB (FORMERLY S40.6)
033311,001375: # MOD 0 24 FEB 67 PETER ADLER
033312,001376: # FUNCTION:
033313,001377: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033314,001378: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033315,001379: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033316,001380: # CALLING SEQUENCE:
033317,001381: # VIA WAITLIST FROM R03
033318,001382: # INPUT:
033319,001383: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033320,001384: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033321,001385: # SUBROUTINES USED:
033322,001386: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033323,001387:
033324,001388: 27,3223 COUNT* $$/S40.6
033325,001389: 27,3223 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033326,001390:
033327,001391: 27,3223 05527 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033328,001392: 27,3224 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033329,001393:
033330,001394: 27,3225 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033331,001395: 27,3226 00006 EXTEND
033332,001396: 27,3227 03012 WAND CHAN12
033333,001397: 27,3230 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033334,001398: 27,3231 00006 EXTEND
033335,001399: 27,3232 05012 WOR CHAN12
033336,001400: 27,3233 05232 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033337,001401: 27,3234 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033338,001402: 27,3235 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033339,001403: 27,3236 00006 EXTEND
033340,001404: 27,3237 03012 WAND CHAN12
033341,001405: 27,3240 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033342,001406: 27,3241 00006 EXTEND
033343,001407: 27,3242 05012 WOR CHAN12
033344,001408: 27,3243 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033345,001409: 27,3244 05204 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033346,001410: 27,3245 03264 ADRES PITCHOFF
033347,001411:
033348,001412: 27,3246 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033349,001413: 27,3247 05235 TC VARDELAY # UNTIL THEN
033350,001414: 27,3250 44740 CS BIT12
033351,001415: 27,3251 00006 EXTEND
033352,001416: 27,3252 03012 WAND CHAN12 # SHUT OFF ROLL
033353,001417: 27,3253 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033354,001418: 27,3254 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033355,001419: 27,3255 00006 EXTEND
033356,001420: 27,3256 13270 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033357,001421: 27,3257 34737 CAF PRIO10 # RETURN TO R03
033358,001422: 27,3260 05072 TC NOVAC
033359,001423: 27,3261 E7,1471 EBANK= WHOCARES
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Page 768
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033361,001425: 27,3261 02330 02067 2CADR TRIMDONE
033362,001426:
033363,001427: 27,3263 05272 TC TASKOVER
033364,001428: 27,3264 44742 PITCHOFF CS BIT10
033365,001429: 27,3265 00006 EXTEND
033366,001430: 27,3266 03012 WAND CHAN12 # SHUT OFF PITCH
033367,001431: 27,3267 13253 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033368,001432: 27,3270 05515 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033369,001433: 27,3271 00137 ADRES GMBDRVSW
033370,001434: 27,3272 05272 TC TASKOVER
033371,001435:
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Page 769
|
033373,001437: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033374,001438:
033375,001439: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033376,001440:
033377,001441: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033378,001442:
033379,001443: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033380,001444: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033381,001445: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033382,001446: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033383,001447: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033384,001448: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033385,001449: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033386,001450: # CALLER WITH C(MPAC) = VELOCITY(LM).
033387,001451:
033388,001452:
033389,001453: # CALLING SEQUENCE:
033390,001454: # L VLOAD CALL
033391,001455: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
033392,001456: # L +2 S41.1
033393,001457: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
033394,001458:
033395,001459: # SUBROUTINES CALLED:
033396,001460:
033397,001461: # 1. CDUTRIG,
033398,001462: # WHICH CALLS CDULOGIC.
033399,001463: # 2. *SMNB*
033400,001464:
033401,001465: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033402,001466:
033403,001467: # ALARM/ABORT MODES: NONE.
033404,001468:
033405,001469: # RESTART PROTECTION: NONE.
033406,001470:
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|
Page 770
|
033408,001472: # INPUT:
033409,001473:
033410,001474: # 1. REFSMMAT.
033411,001475: # 2. CDUX, CDUY, CDUZ.
033412,001476: # 3. VELOCITY (REF) IN MPAC.
033413,001477:
033414,001478: # OUTPUT:
033415,001479:
033416,001480: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033417,001481: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033418,001482: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033419,001483: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033420,001484:
033421,001485: # DEBRIS: NONE.
033422,001486:
033423,001487: # CHECKOUT STATUS: CODED.
033424,001488:
033425,001489: 27,3273 COUNT* $$/S41.1
033426,001490: 27,3273 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033427,001491: 27,3274 01732 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033428,001492: 27,3275 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033429,001493: 27,3276 47653 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033430,001494: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc