Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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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031950,000002: ## Copyright: Public domain.
031951,000003: ## Filename: P40-P47.agc
031952,000004: ## Purpose: A section of Luminary revision 173.
031953,000005: ## It is part of the reconstructed source code for the second
031954,000006: ## (unflown) release of the flight software for the Lunar
031955,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
031956,000008: ## The code has been recreated from a reconstructed copy of
031957,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
031958,000010: ## It has been adapted such that the resulting bugger words
031959,000011: ## exactly match those specified for Luminary 173 in NASA
031960,000012: ## drawing 2021152N, which gives relatively high confidence
031961,000013: ## that the reconstruction is correct.
031962,000014: ## Reference: pp. 738-770
031963,000015: ## Assembler: yaYUL
031964,000016: ## Contact: Ron Burkey <info@sandroid.org>.
031965,000017: ## Website: www.ibiblio.org/apollo/index.html
031966,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178. Changed S40.13
031967,000019: ## to call FRCS2 instead of FRCS4, with 4SEC(17)
031968,000020: ## as the duration instead of 6.5SECS. Removed
031969,000021: ## the definition of 6.5SECS.
031970,000022: ## 2021-05-30 ABS TGDCALC -> TGOCALC
031971,000023:
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Page 738
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031973,000025: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031974,000026: # MOD 03 BY PETER ADLER MARCH 3, 1967
031975,000027: # CALLED VIA JOB FROM V37E
031976,000028:
031977,000029: # FUNCTIONAL DESCRIPTION
031978,000030:
031979,000031: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031980,000032: # THRUSTING MANEUVER.
031981,000033:
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(There is no item #2 in the original program listing.)
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031983,000035:
031984,000036: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031985,000037:
031986,000038: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031987,000039: # PGNCS CONTROLLED DPS MANEUVER.
031988,000040:
031989,000041: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031990,000042: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031991,000043:
031992,000044: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031993,000045: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031994,000046:
031995,000047: # SUBROUTINES USED
031996,000048:
031997,000049: # R02 IMU STATUS CHECK
031998,000050: # S40.1 COMPUTATION OF THRUST DIRECTION
031999,000051: # S40.13 LENGTH OF BURN
032000,000052: # S40.2,3 PREFERRED IMU ORIENATTION
032001,000053: # S40.8 X PRODUCT STEERING
032002,000054: # S40.9 LAMBERT VTOGAIN
032003,000055: # R60LEM ATTITUDE MANEUVER
032004,000056: # LEMPREC EXTRAPOLATE STATE VECTOR
032005,000057: # PREREAD AVERAGE G, SERVICER
032006,000058: # ALLCOAST DAP COASTING INITIALIZATION
032007,000059: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
032008,000060: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032009,000061: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032010,000062: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032011,000063:
032012,000064: # RESTARTS VIA GROUP 4
032013,000065:
032014,000066: # DISPLAYS
032015,000067:
032016,000068: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032017,000069: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032018,000070: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032019,000071: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032020,000072: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032021,000073: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032022,000074: # V05N09 POSSIBLE ALARMS
032023,000075: # V50N07 PLEASE SELECT P00
032024,000076:
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Page 739
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032026,000078: # VIA R30
032027,000079:
032028,000080: # V06N44 HAPO, PERI, TFF
032029,000081: # V06N35 TIME TO PERIGEE, HMS
032030,000082:
032031,000083: # ALARM OR ABORT EXIT MODES
032032,000084:
032033,000085: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032034,000086: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032035,000087:
032036,000088: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032037,000089: # TIG BY 45 SECS.
032038,000090:
032039,000091: # ERASABLE INITIALIZATION
032040,000092: # DEBRIS
032041,000093: # OUTPUT
032042,000094:
032043,000095: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032044,000096: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032045,000097: # = 0 FOR AIMPT (LAMBERT) COMP
032046,000098:
032047,000099: 27,2246 COUNT* $$/P40
032048,000100: 27,2246 E7,1455 EBANK= WHICH
032049,000101:
032050,000102: 36,3154 BANK 36
032051,000103: 36,2000 SETLOC P40S
032052,000104: 36,2000 BANK
032053,000105:
032054,000106: 36,3154 05364 P40LM TC PHASCHNG
032055,000107: 36,3155 04024 OCT 04024
032056,000108:
032057,000109: 36,3156 33140 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032058,000110: 36,3157 55455 TS WHICH
032059,000111:
032060,000112: 36,3160 30106 CA FLGWRD10
032061,000113: 36,3161 74737 MASK APSFLBIT
032062,000114: 36,3162 10000 CCS A
032063,000115: 36,3163 13126 TCF P40ALM
032064,000116: 36,3164 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032065,000117: 36,3165 11241 CADR R02BOTH
032066,000118:
032067,000119: 36,3166 40111 CS DAPBOOLS # INITIALIZE DVMON
032068,000120: 36,3167 74737 MASK CSMDOCKD
032069,000121: 36,3170 10000 CCS A
032070,000122: 36,3171 32022 CAF THRESH1
032071,000123: 36,3172 62023 AD THRESH3
032072,000124: 36,3173 55250 TS DVTHRUSH
032073,000125: 36,3174 34751 CAF FOUR
032074,000126: 36,3175 55515 TS DVCNTR
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Page 740
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032076,000128: 36,3176 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032077,000129: 36,3177 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032078,000130: 36,3200 34001 FDPS
032079,000131: 36,3201 02663 NOTHROTL
032080,000132: 36,3202 03735 STORE F
032081,000133: 36,3203 77735 SLOAD
032082,000134: 36,3204 26002 DPSVEX
032083,000135: 36,3205 70476 P40IN DCOMP SR1
032084,000136: 36,3206 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032085,000137: 36,3207 56246 S40.1 # COMPUTES UT AND VGTIG
032086,000138: 36,3210 77624 CALL
032087,000139: 36,3211 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032088,000140: 36,3212 77776 EXIT
032089,000141:
032090,000142: 36,3213 00004 INHINT
032091,000143: 36,3214 04674 TC IBNKCALL
032092,000144: 36,3215 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032093,000145:
032094,000146: 36,3216 03220 TC P40SXT4
032095,000147:
032096,000148: # ***********************
032097,000149: 36,3217 12130 TCF BURNBABY
032098,000150: # ***********************
032099,000151:
032100,000152: 36,3220 00006 P40SXT4 EXTEND
032101,000153: 36,3221 23141 QXCH P40/RET
032102,000154: 36,3222 00003 P41MANU RELINT
032103,000155:
032104,000156: 36,3223 05527 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032105,000157: 36,3224 00124 ADRES 3AXISFLG
032106,000158:
032107,000159: 36,3225 04616 TC BANKCALL
032108,000160: 36,3226 54125 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032109,000161: 36,3227 01141 TC P40/RET
032110,000162:
032111,000163:
032112,000164: 36,3230 E7,1462 EBANK= TRKMKCNT
032113,000165: 36,3230 30005 POSTBURN CA Z
032114,000166: 36,3231 55162 TS DISPDEX
032115,000167: 36,3232 00006 EXTEND
032116,000168: 36,3233 32060 DCA ACADN85
032117,000169: 36,3234 53252 DXCH AVEGEXIT
032118,000170: 36,3235 33760 CAF V16N40
032119,000171: 36,3236 04616 TC BANKCALL
032120,000172: 36,3237 20636 CADR GOFLASHR
032121,000173: 36,3240 03263 TC TERM40
032122,000174: 36,3241 13246 TCF TIGNOW
032123,000175: 36,3242 03230 TC POSTBURN
032124,000176:
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Page 741
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032126,000178: 36,3243 05364 P40PHS1 TC PHASCHNG
032127,000179: 36,3244 00014 OCT 00014
032128,000180: 36,3245 15155 TCF ENDOFJOB
032129,000181:
032130,000182: 36,3246 00004 TIGNOW INHINT
032131,000183: 36,3247 04674 TC IBNKCALL
032132,000184: 36,3250 40154 CADR ZATTEROR
032133,000185: 36,3251 04674 TC IBNKCALL
032134,000186: 36,3252 40141 CADR SETMINDB
032135,000187: 36,3253 00003 RELINT
032136,000188: 36,3254 33761 CAF V16N85B
032137,000189: 36,3255 04616 TC BANKCALL
032138,000190: 36,3256 20463 CADR REFLASHR
032139,000191: 36,3257 03263 TC TERM40
032140,000192: 36,3260 13263 TCF TERM40
032141,000193: 36,3261 03254 TC -5
032142,000194:
032143,000195: 36,3262 13243 TCF P40PHS1
032144,000196:
032145,000197: 36,3263 00006 TERM40 EXTEND
032146,000198: 36,3264 32110 DCA SERVCADR
032147,000199: 36,3265 53252 DXCH AVEGEXIT
032148,000200: 36,3266 34755 CAF ZERO
032149,000201: 36,3267 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032150,000202: 36,3270 30005 CA Z
032151,000203: 36,3271 55162 TS DISPDEX
032152,000204: 36,3272 00004 INHINT
032153,000205: 36,3273 04674 TC IBNKCALL
032154,000206: 36,3274 40115 CADR RESTORDB
032155,000207: 36,3275 00003 RELINT
032156,000208: 36,3276 06001 TC GOTOPOOH
032157,000209:
032158,000210: 36,3277 E7,1455 EBANK= WHICH
032159,000211: 36,3277 COUNT* $$/P41
032160,000212: 36,3277 33141 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032161,000213: 36,3300 55455 TS WHICH
032162,000214:
032163,000215: 36,3301 04616 TC BANKCALL
032164,000216: 36,3302 11241 CADR R02BOTH
032165,000217:
032166,000218: 36,3303 34755 CA ZERO # ZERO DVTOTAL FOR NOUN 40 DISPLAY
032167,000219: 36,3304 55507 TS DVTOTAL
032168,000220: 36,3305 55510 TS DVTOTAL +1
032169,000221: 36,3306 35017 CAF PRIO5
032170,000222: 36,3307 55162 TS DISPDEX # FOR SAFETY
032171,000223: 36,3310 05105 TC FINDVAC
032172,000224: 36,3311 E7,1700 EBANK= VGPREV
032173,000225: 36,3311 03374 74067 2CADR DYNMDISP
032174,000226:
032175,000227: 36,3313 05340 TC 2PHSCHNG
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Page 742
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032177,000229: 36,3314 00116 OCT 00116 # GROUP 6 RESTART AT FKP5RST, PRIO 17
032178,000230: 36,3315 04024 OCT 04024 # GROUP 4 RESTART HERE, PRIO 13
032179,000231:
032180,000232: 36,3316 06042 TC INTPRET # BOTH LM
032181,000233: 36,3317 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032182,000234: 36,3320 00700 NJETSFLG
032183,000235: 36,3321 75325 P41FJET1
032184,000236: 36,3322 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032185,000237:
032186,000238: 36,3323 37735 P41FJET STCALL F
032187,000239: 36,3324 75330 P41IN
032188,000240:
032189,000241: 36,3325 77745 P41FJET1 DLOAD
032190,000242: 36,3326 34021 FRCS2
032191,000243: 36,3327 03735 STORE F
032192,000244:
032193,000245: 36,3330 77624 P41IN CALL
032194,000246: 36,3331 56246 S40.1 # BOTH
032195,000247: 36,3332 77624 P41NORM CALL
032196,000248: 36,3333 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032197,000249: 36,3334 77776 EXIT # SET PFRATFLG.
032198,000250:
032199,000251: 36,3335 00004 INHINT
032200,000252: 36,3336 04674 TC IBNKCALL
032201,000253: 36,3337 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032202,000254: 36,3340 04674 TC IBNKCALL
032203,000255: 36,3341 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032204,000256: 36,3342 03220 TC P40SXT4
032205,000257:
032206,000258: 36,3343 06042 TC INTPRET
032207,000259: 36,3344 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032208,000260: 36,3345 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032209,000261: 36,3346 57265 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032210,000262: 36,3347 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032211,000263: 36,3350 77776 EXIT
032212,000264:
032213,000265: 36,3351 33761 CAF V16N85B
032214,000266: 36,3352 04616 TC BANKCALL
032215,000267: 36,3353 20447 CADR GODSPRET
032216,000268:
032217,000269:
032218,000270: 36,3354 05340 TC 2PHSCHNG
032219,000271: 36,3355 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032220,000272: 36,3356 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032221,000273:
032222,000274: # ***********************
032223,000275: 36,3357 12137 TCF B*RNB*B*
032224,000276: # ***********************
032225,000277:
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Page 743
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032227,000279: 36,3360 34777 BLNKWAIT CAF 1SEC
032228,000280: 36,3361 04616 TC BANKCALL
032229,000281: 36,3362 01736 CADR DELAYJOB
032230,000282:
032231,000283: 36,3363 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032232,000284: 36,3364 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032233,000285: # ***********************
032234,000286:
032235,000287: 36,3365 00006 EXTEND
032236,000288: 36,3366 13360 BZF BLNKWAIT
032237,000289:
032238,000290: 36,3367 33761 CAF V16N85B
032239,000291: 36,3370 04616 TC BANKCALL
032240,000292: 36,3371 20447 CADR GODSPRET
032241,000293:
032242,000294: 36,3372 35017 FKP5RST CAF PRIO5
032243,000295: 36,3373 05146 TC PRIOCHNG
032244,000296:
032245,000297: 36,3374 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032246,000298: 36,3375 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032247,000299: 36,3376 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032248,000300: 36,3377 00006 EXTEND
032249,000301: 36,3400 41442 DCS TIG
032250,000302: 36,3401 53454 DXCH TTOGO # UPDATE TFI DISPLAY (NOUN 40)
032251,000303: 36,3402 00006 EXTEND
032252,000304: 36,3403 30025 DCA TIME2
032253,000305: 36,3404 21454 DAS TTOGO
032254,000306: 36,3405 06042 TC INTPRET
032255,000307: 36,3406 45175 VLOAD CALL
032256,000308: 36,3407 03701 VGPREV
032257,000309: 36,3410 57265 S41.1 # CONVERT VG FROM REF TO BODY
032258,000310: 36,3411 03502 STORE VGBODY
032259,000311: 36,3412 77776 EXIT
032260,000312: 36,3413 34777 CAF 1SEC
032261,000313: 36,3414 04616 TC BANKCALL
032262,000314: 36,3415 01736 CADR DELAYJOB
032263,000315: 36,3416 13374 TCF DYNMDISP # RECYCLE ONCE A SECOND
032264,000316:
032265,000317:
032266,000318: 36,3417 COUNT $$/P41
032267,000319: 32,2550 BANK 32
032268,000320: 32,2000 SETLOC P40S4
032269,000321: 32,2000 BANK
032270,000322:
032271,000323: 32,2550 06042 CALCN85 TC INTPRET
032272,000324: 32,2551 77624 CALL
032273,000325: 32,2552 75620 UPDATEVG
032274,000326: 32,2553 45175 VLOAD CALL
032275,000327: 32,2554 03701 VGPREV
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Page 744
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032277,000329: 32,2555 57265 S41.1
032278,000330: 32,2556 03502 STORE VGBODY
032279,000331: 32,2557 77776 EXIT
032280,000332: 32,2560 04635 TC POSTJUMP
032281,000333: 32,2561 65647 CADR SERVEXIT
032282,000334:
032283,000335: 36,3417 BANK 36
032284,000336: 36,2000 SETLOC P40S
032285,000337: 36,2000 BANK
032286,000338:
032287,000339: 36,3417 COUNT* $$/P42
032288,000340: 36,3417 E7,1455 EBANK= WHICH
032289,000341:
032290,000342: 36,3417 05364 P42LM TC PHASCHNG
032291,000343: 36,3420 04024 OCT 04024
032292,000344:
032293,000345: 36,3421 33142 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032294,000346: 36,3422 55455 TS WHICH
032295,000347:
032296,000348: 36,3423 40106 CS FLGWRD10
032297,000349: 36,3424 74737 MASK APSFLBIT
032298,000350: 36,3425 10000 CCS A
032299,000351: 36,3426 03126 TC P40ALM
032300,000352: 36,3427 04616 P42STAGE TC BANKCALL
032301,000353: 36,3430 11241 CADR R02BOTH
032302,000354: 36,3431 36000 CAF THRESH2 # INITIALIZE DVMON
032303,000355: 36,3432 55250 TS DVTHRUSH
032304,000356: 36,3433 34751 CAF FOUR
032305,000357: 36,3434 55515 TS DVCNTR
032306,000358:
032307,000359: 36,3435 06042 TC INTPRET
032308,000360: 36,3436 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032309,000361: 36,3437 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032310,000362: 36,3440 34007 FAPS
032311,000363: 36,3441 03735 STORE F
032312,000364: 36,3442 52135 SLOAD GOTO
032313,000365: 36,3443 26001 APSVEX
032314,000366: 36,3444 75205 P40IN
032315,000367:
032316,000368: 36,3445 E7,1455 EBANK= WHICH
032317,000369:
032318,000370: 36,3445 COUNT* $$/P47
032319,000371: 36,3445 04616 P47LM TC BANKCALL
032320,000372: 36,3446 11241 CADR R02BOTH
032321,000373: 36,3447 06042 TC INTPRET
032322,000374: 36,3450 77624 CALRB
032323,000375: 36,3451 27547 MIDTOAV2
032324,000376:
032325,000377: 36,3452 30155 CA MPAC +1
032326,000378: 36,3453 05204 TC TWIDDLE
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Page 745
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032328,000380: 36,3454 03456 ADRES STARTP47
032329,000381:
032330,000382: 36,3455 15155 TCF ENDOFJOB
032331,000383:
032332,000384: 36,3456 05364 STARTP47 TC PHASCHNG
032333,000385: 36,3457 05014 OCT 05014
032334,000386: 36,3460 77777 OCT 77777
032335,000387:
032336,000388: 36,3461 00006 EXTEND
032337,000389: 36,3462 33764 DCA ACADN83
032338,000390: 36,3463 53252 DXCH AVEGEXIT
032339,000391: 36,3464 34736 CAF PRIO20
032340,000392: 36,3465 05105 TC FINDVAC
032341,000393: 36,3466 E7,1622 EBANK= DELVIMU
032342,000394: 36,3466 03522 74067 2CADR P47BODY
032343,000395:
032344,000396: 36,3470 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032345,000397: # SEE TIG-30 IN BURNBABY.
032346,000398:
032347,000399: 36,3471 06042 CALCN83 TC INTPRET
032348,000400: 36,3472 53375 VLOAD VAD
032349,000401: 36,3473 03502 DELVCTL
032350,000402: 36,3474 03527 DELVREF
032351,000403: 36,3475 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
032352,000404: 36,3476 77624 CALL
032353,000405: 36,3477 57265 S41.1
032354,000406: 36,3500 03623 STORE DELVIMU
032355,000407: 36,3501 77776 EXIT
032356,000408: 36,3502 05364 TC PHASCHNG
032357,000409: 36,3503 10035 OCT 10035 # REREADAC AND HERE
032358,000410:
032359,000411: 36,3504 06042 TC INTPRET
032360,000412: 36,3505 77775 VLOAD
032361,000413: 36,3506 03656 DELVSIN
032362,000414: 36,3507 03502 STORE DELVCTL
032363,000415: 36,3510 77776 EXIT
032364,000416:
032365,000417: 36,3511 04635 TC POSTJUMP
032366,000418: 36,3512 65647 CADR SERVEXIT
032367,000419:
032368,000420: 36,3513 33762 P47BOD CAF V1683
032369,000421: 36,3514 04616 TC BANKCALL
032370,000422: 36,3515 20636 CADR GOFLASHR
032371,000423: 36,3516 06001 TC GOTOPOOH
032372,000424: 36,3517 06001 TC GOTOPOOH
032373,000425:
032374,000426: 36,3520 13522 TCF P47BODY
032375,000427:
032376,000428: 36,3521 13243 TCF P40PHS1
032377,000429:
032378,000430: 36,3522 06042 P47BODY TC INTPRET
032379,000431: 36,3523 77775 VLOAD
|
|
Page 746
|
032381,000433: 36,3524 06520 HI6ZEROS
032382,000434: 36,3525 03623 STORE DELVIMU
032383,000435: 36,3526 03502 STORE DELVCTL
032384,000436: 36,3527 77776 EXIT
032385,000437: 36,3530 03513 TC P47BOD
032386,000438:
032387,000439: 36,3531 COUNT* $$/P40
032388,000440: 36,3531 31517 IMPLBURN CA TGO +1
032389,000441: 36,3532 03744 TC GETDT
032390,000442: 36,3533 05204 TC TWIDDLE
032391,000443: 36,3534 03551 ADRES ENGOFTSK
032392,000444: 36,3535 05527 TC DOWNFLAG # TURN OFF IGNFLAG
032393,000445: 36,3536 00153 ADRES IGNFLAG
032394,000446: 36,3537 05527 TC DOWNFLAG # TURN OFF ASTNFLG
032395,000447: 36,3540 00154 ADRES ASTNFLAG
032396,000448: 36,3541 05527 TC DOWNFLAG # TURN OFF IMPULSW
032397,000449: 36,3542 00044 ADRES IMPULSW
032398,000450: 36,3543 05364 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032399,000451: 36,3544 40114 OCT 40114
032400,000452:
032401,000453: 36,3545 05232 TC FIXDELAY # WAIT HALF A SECOND
032402,000454: 36,3546 00062 DEC 50 B-14
032403,000455:
032404,000456: 36,3547 02660 TC NOULLAGE # TURN OFF ULLAGE
032405,000457:
032406,000458: 36,3550 05272 TC TASKOVER
032407,000459:
032408,000460: 36,3551 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032409,000461: 36,3552 75554 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032410,000462: 36,3553 05272 TC TASKOVER
032411,000463:
032412,000464: 36,3554 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032413,000465: 36,3555 05105 TC FINDVAC
032414,000466: 36,3556 E7,1462 EBANK= TRKMKCNT
032415,000467: 36,3556 03230 74067 2CADR POSTBURN
032416,000468:
032417,000469:
032418,000470: 36,3560 34753 ENGINOF2 CAF BIT1
032419,000471: 36,3561 05214 TC WAITLIST
032420,000472: 36,3562 E6,1422 EBANK= OMEGAQ
032421,000473: 36,3562 03615 74066 2CADR COASTSET
032422,000474:
032423,000475: 36,3564 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032424,000476: 36,3565 74745 MASK IDLEFBIT
032425,000477: 36,3566 26103 ADS FLAGWRD7
032426,000478:
032427,000479: 36,3567 02660 TC NOULLAGE
032428,000480:
032429,000481: 36,3570 00006 ENGINOF4 EXTEND
032430,000482: 36,3571 30025 DCA TIME2
|
|
Page 747
|
032432,000484: 36,3572 53342 DXCH TEVENT
032433,000485:
032434,000486: 36,3573 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032435,000487: 36,3574 70101 MASK FLAGWRD5
032436,000488: 36,3575 54101 TS FLAGWRD5
032437,000489: 36,3576 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032438,000490: 36,3577 00006 EXTEND # SUBROUTINE.
032439,000491: 36,3600 02011 RAND DSALMOUT
032440,000492: 36,3601 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032441,000493: 36,3602 00006 EXTEND
032442,000494: 36,3603 01011 WRITE DSALMOUT
032443,000495:
032444,000496: 36,3604 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032445,000497: 36,3605 74736 MASK USEQRJTS
032446,000498: 36,3606 26111 ADS DAPBOOLS
032447,000499:
032448,000500: 36,3607 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032449,000501: 36,3610 54055 TS THRUST # IS TURNED OFF.
032450,000502: 36,3611 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032451,000503: 36,3612 00006 EXTEND # ENGINE IS DISARMED.
032452,000504: 36,3613 05014 WOR CHAN14
032453,000505:
032454,000506: 36,3614 04707 TC ISWRETRN
032455,000507: 36,3615 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032456,000508: 36,3616 40205 CADR ALLCOAST
032457,000509: 36,3617 05272 TC TASKOVER
032458,000510:
032459,000511: 36,3620 E6,1422 EBANK= OMEGAQ
032460,000512: 36,3620 45020 UPDATEVG STQ CALL
032461,000513: 36,3621 03665 QTEMP1
032462,000514: 36,3622 56447 S40.8 # X-PRODUCT STEERING
032463,000515: 36,3623 43014 S40RET BON BON # WILL RETURN HERE FROM S40.8
032464,000516: 36,3624 01307 XDELVFLG
032465,000517: 36,3625 03665 QTEMP1
032466,000518: 36,3626 03705 NORMSW
032467,000519: 36,3627 75642 180SETUP
032468,000520: 36,3630 45345 DLOAD DSU
032469,000521: 36,3631 01234 PIPTIME
032470,000522: 36,3632 03763 TIGSAVE
032471,000523: 36,3633 50025 DSU BMN
032472,000524: 36,3634 03432 TNEWA
032473,000525: 36,3635 75665 GETRANS
032474,000526: 36,3636 43345 DLOAD DAD
032475,000527: 36,3637 03763 TIGSAVE
032476,000528: 36,3640 03432 TNEWA
032477,000529: 36,3641 03765 STORE TIGSAVEP
032478,000530: 36,3642 77776 180SETUP EXIT
032479,000531: 36,3643 10754 CCS PHASE2
032480,000532: 36,3644 13672 TCF NO.9
032481,000533: 36,3645 34737 CAF PRIO10
|
|
Page 748
|
032483,000535: 36,3646 00004 INHINT
032484,000536: 36,3647 05105 TC FINDVAC
032485,000537: 36,3650 E7,1706 EBANK= VG
032486,000538: 36,3650 02705 56067 2CADR S40.9 # LAMBERT VTOGAIN
032487,000539:
032488,000540: 36,3652 05340 TC 2PHSCHNG
032489,000541: 36,3653 00172 OCT 00172 # 2.17SPOT FOR S40.9
032490,000542: 36,3654 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032491,000543:
032492,000544: 36,3655 06042 ENDSTEER TC INTPRET
032493,000545: 36,3656 77745 DLOAD
032494,000546: 36,3657 03765 TIGSAVEP
032495,000547: 36,3660 27763 STOVL TIGSAVE
032496,000548: 36,3661 01220 RN
032497,000549: 36,3662 26323 STOVL RINIT
032498,000550: 36,3663 01226 VN
032499,000551: 36,3664 02331 STORE VINIT
032500,000552: 36,3665 45345 GETRANS DLOAD DSU
032501,000553: 36,3666 03631 TPASS4
032502,000554: 36,3667 01234 PIPTIME
032503,000555: 36,3670 37452 STCALL DELLT4
032504,000556: 36,3671 03665 QTEMP1
032505,000557:
032506,000558: 36,3672 06042 NO.9 TC INTPRET
032507,000559: 36,3673 77650 GOTO
032508,000560: 36,3674 03665 QTEMP1
032509,000561: 36,3675 06042 STEERING TC INTPRET
032510,000562:
032511,000563: 36,3676 77624 CALL
032512,000564: 36,3677 75620 UPDATEVG
032513,000565: 36,3700 77776 EXIT
032514,000566:
032515,000567: 36,3701 E7,1515 EBANK= DVCNTR
032516,000568: 36,3701 00004 NSTEER INHINT
032517,000569: 36,3702 35016 CA EBANK7
032518,000570: 36,3703 54003 TS EBANK
032519,000571: 36,3704 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032520,000572: 36,3705 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032521,000573: 36,3706 10000 CCS A # STEERING IS ALMOST DONE.
032522,000574:
032523,000575: 36,3707 13714 TCF +5 # IMPULSW = 0 EXIT
032524,000576: 36,3710 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032525,000577: 36,3711 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032526,000578: 36,3712 10000 CCS A
032527,000579: 36,3713 13716 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
032528,000580: 36,3714 04635 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
032529,000581: 36,3715 65647 CADR SERVEXIT
032530,000582:
032531,000583: 36,3716 04674 TC IBNKCALL
032532,000584: 36,3717 40166 CADR STOPRATE
032533,000585:
|
|
Page 749
|
032535,000587: 36,3720 05527 TC DOWNFLAG # TURN OFF IMPULSW
032536,000588: 36,3721 00044 ADRES IMPULSW
032537,000589:
032538,000590: 36,3722 05515 TC UPFLAG
032539,000591: 36,3723 00161 ADRES IDLEFLAG # TURN OFF DVMON
032540,000592:
032541,000593: 36,3724 00004 INHINT
032542,000594: 36,3725 00006 EXTEND
032543,000595: 36,3726 31442 DCA TIG
032544,000596: 36,3727 52155 DXCH MPAC
032545,000597: 36,3730 00006 EXTEND
032546,000598: 36,3731 40025 DCS TIME2
032547,000599: 36,3732 20155 DAS MPAC
032548,000600: 36,3733 07262 TC TPAGREE
032549,000601: 36,3734 30155 CAE MPAC +1
032550,000602: 36,3735 03744 TC GETDT
032551,000603: 36,3736 05204 TC TWIDDLE
032552,000604: 36,3737 03551 ADRES ENGOFTSK
032553,000605: 36,3740 05340 TC 2PHSCHNG
032554,000606: 36,3741 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032555,000607: 36,3742 00035 OCT 00035 # SERVICER--REREADAC
032556,000608: 36,3743 15155 TCF ENDOFJOB
032557,000609:
032558,000610: 36,3744 10000 GETDT CCS A
032559,000611: 36,3745 13750 TCF +3
032560,000612: 36,3746 13750 TCF +2
032561,000613: 36,3747 34755 CAF ZERO
032562,000614: 36,3750 64753 AD ONE
032563,000615: 36,3751 56001 XCH L
032564,000616: 36,3752 34755 CAF ZERO
032565,000617: 36,3753 53517 DXCH TGO
032566,000618: 36,3754 31517 CA TGO +1
032567,000619: 36,3755 00002 TC Q
032568,000620:
032569,000621:
032570,000622: # ************************************************************************
032571,000623:
032572,000624: 36,3756 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032573,000625: 36,3757 00764 5SEC DEC 500 B-14
032574,000626: 36,3760 04050 V16N40 VN 1640
032575,000627: 36,3761 04125 V16N85B VN 1685
032576,000628: 36,3762 04123 V1683 VN 1683
032577,000629: 36,3763 4777 SEC01 = 1SEC
032578,000630: 36,3763 36,2057 ACADN85 = P41TABLE +2
032579,000631:
032580,000632: 36,3763 E7,1622 EBANK= DELVIMU
032581,000633: 36,3763 03471 74067 ACADN83 2CADR CALCN83
032582,000634:
032583,000635: # *************************************************
032584,000636:
|
|
Page 750
|
032586,000638: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
032587,000639: # MOD N02 LOG SECTION P40-P47
032588,000640: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032589,000641: # FUNCTIONAL DESCRIPTION
032590,000642: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032591,000643: # VECTOR(VGTIG).
032592,000644: # CALLING SEQUENCE
032593,000645: # L CALL
032594,000646: # L+1 S40.1
032595,000647: # NORMAL EXIT MODE
032596,000648: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032597,000649: # ERROR RETURN IF NOSOFLAG =1
032598,000650: # SUBROUTINES CALLED
032599,000651: # LEMPREC
032600,000652: # INITVEL
032601,000653: # CALCGRAV
032602,000654: # MIDGIM
032603,000655: # ALARM OR ABORT EXIT MODES
032604,000656: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
032605,000657: # ERASABLE INITIALIZATION REQUIRED
032606,000658: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
032607,000659: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
032608,000660: # F THRUST FOR ENGINE USED
032609,000661: # IF DELTA-V MANEUVER
032610,000662: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032611,000663: # INERTIAL COORDS. OF ACTIVE VEHICLE
032612,000664: # AT TIME OF IGNITION VECTOR B7M/CS
032613,000665: # DELVSAB MAG. OF DELVSIN DP B7M/CS
032614,000666: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
032615,000667: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
032616,000668: # IF AIMPT STEER
032617,000669: # TIG TIME OF IGNITION DP B28CS
032618,000670: # RTARG POSITION TARGET TIME VECTOR B29M
032619,000671: # CSTEER C FOR STEER LAW DP B2
032620,000672: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
032621,000673: # OUTPUT
032622,000674: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
032623,000675: # VGTIG INITIAL VALUE OF VELOCITY
032624,000676: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
032625,000677: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
032626,000678: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032627,000679: # -GDT FOR S40.13 VECT B7M/CS
032628,000680: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
032629,000681: # POSITION AT TIME OF IGNITION
032630,000682: # DEBRIS QTEMP1
032631,000683: # MPAC, QPRET
032632,000684: # PUSHLIST
032633,000685: 14,2347 BANK 14
032634,000686: 27,2000 SETLOC P40S1
032635,000687: 27,2000 BANK
032636,000688:
|
|
Page 751
|
032638,000690: 27,2246 COUNT* $$/S40.1
032639,000691: 27,2246 71220 S40.1 STQ DLOAD
032640,000692: 27,2247 03632 QTEMP
032641,000693: 27,2250 03442 TIG
032642,000694: 27,2251 03763 STORE TIGSAVE
032643,000695: 27,2252 77614 DELVTEST BOFF
032644,000696: 27,2253 01347 XDELVFLG
032645,000697: 27,2254 56336 S40.1B
032646,000698: 27,2255 77201 CALCTHET SETPD VLOAD
032647,000699: 27,2256 00001 0
032648,000700: 27,2257 03650 VTIG
032649,000701: 27,2260 02331 STORE VINIT
032650,000702: 27,2261 53435 VXV UNIT
032651,000703: 27,2262 03642 RTIG
032652,000704: 27,2263 27673 STOVL UT # UP IN UT
032653,000705: 27,2264 03642 RTIG
032654,000706: 27,2265 02323 STORE RINIT
032655,000707: 27,2266 65236 VSQ PDDL
032656,000708: 27,2267 00045 36D
032657,000709: 27,2270 56205 DMP DDV
032658,000710: 27,2271 16412 THETACON
032659,000711: 27,2272 41205 DMP DMP
032660,000712: 27,2273 03664 DELVSAB
032661,000713: 27,2274 01244 WEIGHT/G
032662,000714: 27,2275 77671 DDV
032663,000715: 27,2276 03735 F
032664,000716: 27,2277 24017 STOVL 14D
032665,000717: 27,2300 03656 DELVSIN
032666,000718:
032667,000719: 27,2301 74241 DOT VXSC
032668,000720: 27,2302 03673 UT
032669,000721: 27,2303 03673 UT
032670,000722: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032671,000723: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032672,000724: 27,2306 03656 DELVSIN
032673,000725: 27,2307 00017 14D
032674,000726: 27,2310 63356 SIN PDVL
032675,000727: 27,2311 00007 6D
032676,000728: 27,2312 53435 VXV UNIT
032677,000729: 27,2313 03673 UT
032678,000730: 27,2314 45561 VXSC STADR
032679,000731: 27,2315 50076 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
032680,000732: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032681,000733: 27,2317 00017 14D
032682,000734: 27,2320 74346 COS VXSC
032683,000735: 27,2321 74255 VAD VXSC
032684,000736: 27,2322 03701 VGTIG
032685,000737: 27,2323 00045 36D
032686,000738: 27,2324 53352 VSL2 VAD
032687,000739: 27,2325 77626 STADR
|
|
Page 752
|
032689,000741: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7)M/CS
032690,000742:
032691,000743: 27,2327 77656 UNIT
032692,000744: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032693,000745: 27,2331 03701 VGTIG
032694,000746: 27,2332 45006 PUSH CALL
032695,000747: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032696,000748: 27,2334 77650 GOTO
032697,000749: 27,2335 03632 QTEMP
032698,000750: 27,2336 77745 S40.1B DLOAD
032699,000751: 27,2337 03442 TIG
032700,000752: 27,2340 00041 STORE TDEC1
032701,000753: 27,2341 77621 BDSU
032702,000754: 27,2342 03631 TPASS4
032703,000755: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032704,000756: 27,2344 27056 LEMPREC
032705,000757: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032706,000758: 27,2346 00001 RATT
032707,000759: 27,2347 00001 0
032708,000760: 27,2350 03642 STORE RTIG
032709,000761: 27,2351 02323 STORE RINIT
032710,000762: 27,2352 77656 UNIT
032711,000763: 27,2353 27537 STOVL UNIT/R/
032712,000764: 27,2354 00007 VATT
032713,000765: 27,2355 03650 STORE VTIG
032714,000766: 27,2356 02331 STORE VINIT
032715,000767: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032716,000768: 27,2360 06520 ZEROVECS
032717,000769: 27,2361 16406 EPS1
032718,000770: 27,2362 43214 BOFF DAD
032719,000771: 27,2363 03745 NORMSW
032720,000772: 27,2364 56366 SMALLEPS
032721,000773: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032722,000774: 27,2366 66006 SMALLEPS PUSH SXA,1
032723,000775: 27,2367 02776 RTX1
032724,000776: 27,2370 45134 SXA,2 CALL
032725,000777: 27,2371 02777 RTX2
032726,000778: 27,2372 22000 INITVEL
032727,000779: 27,2373 41575 VLOAD PUSH
032728,000780: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032729,000781: 27,2375 03701 STORE VGTIG
032730,000782: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032731,000783: 27,2377 17673 STODL UT
032732,000784: 27,2400 00045 36D
032733,000785: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
032734,000786: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032735,000787: 27,2403 77650 GOTO
032736,000788: 27,2404 03632 QTEMP
032737,000789:
032738,000790: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032739,000791:
|
|
Page 753
|
032741,000793: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032742,000794:
032743,000795: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032744,000796:
|
|
Page 754
|
032746,000798: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032747,000799:
032748,000800: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032749,000801:
032750,000802: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032751,000803:
032752,000804: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032753,000805:
032754,000806: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032755,000807:
032756,000808: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032757,000809: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032758,000810: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032759,000811: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032760,000812: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032761,000813:
032762,000814:
032763,000815: # CALLING SEQUENCE:
032764,000816: # L CALL INTERPRETIVE CALL.
032765,000817: # L +1 S40.2,3
032766,000818: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032767,000819:
032768,000820: # SUBROUTINES CALLED: NONE.
032769,000821:
032770,000822: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032771,000823:
032772,000824: # ALARM/ABORT MODES: NONE.
032773,000825:
032774,000826: # INPUT:
032775,000827:
032776,000828: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032777,000829: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032778,000830: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032779,000831:
032780,000832: # OUTPUT:
032781,000833:
032782,000834: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
032783,000835: # : YSCREF : IN REFERENCE COORDINATES
032784,000836: # : ZSCREF : (PREFERRED IMU ORIENTATION).
032785,000837: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032786,000838: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032787,000839: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032788,000840:
032789,000841: # DEBRIS: NONE.
032790,000842:
|
|
Page 755
|
032792,000844: 27,2413 COUNT* $$/S40.2
032793,000845: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032794,000846: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032795,000847: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032796,000848: 27,2416 01732 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032797,000849: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032798,000850: 27,2420 06516 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032799,000851: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032800,000852:
032801,000853: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032802,000854: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032803,000855: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032804,000856: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032805,000857: 27,2426 46125 PDDL BHIZ
032806,000858: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032807,000859: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032808,000860: 27,2431 45575 STORY VLOAD STADR
032809,000861: 27,2432 74162 STORE YSCREF
032810,000862: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
032811,000863: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032812,000864: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032813,000865: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032814,000866:
032815,000867: 27,2437 43414 SET RVQ
032816,000868: 27,2440 01073 PFRATFLG
032817,000869: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032818,000870: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032819,000871: 27,2443 03650 VTIG
032820,000872: 27,2444 41456 UNIT PUSH
032821,000873: 27,2445 77650 GOTO
032822,000874: 27,2446 56431 STORY
032823,000875:
|
|
Page 756
|
032825,000877: # SUBROUTINE S40.8
032826,000878:
032827,000879: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032828,000880:
032829,000881: # DESCRIPTION
032830,000882:
032831,000883: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032832,000884: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032833,000885: # "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE DAP.
032834,000886:
032835,000887: # CALLING SEQUENCE
032836,000888:
032837,000889: # L-1 CALL
032838,000890: # L S40.8
032839,000891: # L+1 INTERPRETIVE RETURN
032840,000892:
032841,000893: # ALARM
032842,000894:
032843,000895: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032844,000896: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032845,000897:
032846,000898: # INPUT AND INITIALIZATION
032847,000899:
032848,000900: # VGPREV REFERENCE 2(7) M/CS
032849,000901: # DELVREF REFERENCE 2(7) M/CS
032850,000902: # BDT REFERENCE 2(7) M/CS
032851,000903: # TDECAY TAIL-OFF TIME 2(28) CS
032852,000904: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032853,000905: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032854,000906: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032855,000907:
032856,000908: # NOTE: VGTIG EQUALS VGPREV
032857,000909:
032858,000910: # OUTPUT
032859,000911:
032860,000912: # STEERSW SEE INPUT
032861,000913: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032862,000914: # TGO TIME TO CUT-OFF 2(28) CS
032863,000915: # SEE FINDCDUW FOR STEERING OUTPUTS.
032864,000916:
032865,000917: # SUBROUTINE CALLED
032866,000918:
032867,000919: # FINDCDUW
032868,000920:
032869,000921: # DEBRIS
032870,000922:
032871,000923: # MPACS, PUSHLIST
032872,000924:
032873,000925: 27,2447 COUNT* $$/S40.8
|
|
Page 757
|
032875,000927: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032876,000928: 27,2450 01347 XDELVFLG
032877,000929: 27,2451 56727 RASTEER1
032878,000930: 27,2452 52375 VLOAD VSU
032879,000931: 27,2453 03701 VGPREV
032880,000932: 27,2454 03527 DELVREF
032881,000933: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
032882,000934: 27,2456 76521 MXV VSL1
032883,000935: 27,2457 01732 REFSMMAT
032884,000936: 27,2460 03253 STORE UNFC/2
032885,000937: 27,2461 51575 BDTOK VLOAD ABVAL
032886,000938: 27,2462 03707 VG
032887,000939: 27,2463 03664 STORE VGDISP
032888,000940: 27,2464 77776 EXIT
032889,000941: 27,2465 05364 TC PHASCHNG
032890,000942: 27,2466 10035 OCT 10035
032891,000943: 27,2467 06042 TC INTPRET
032892,000944: 27,2470 77201 TGOCALC SETPD VLOAD
032893,000945: 27,2471 00001 0
032894,000946: 27,2472 03707 VG
032895,000947: 27,2473 27701 STOVL VGPREV
032896,000948: 27,2474 03527 DELVREF
032897,000949: 27,2475 57414 BOFF VCOMP
032898,000950: 27,2476 01344 STEERSW
032899,000951: 27,2477 75623 S40RET # LOCATION FOLLOWING CALL TO S40.8
032900,000952: 27,2500 77656 UNIT
032901,000953: 27,2501 41441 DOT PUSH
032902,000954: 27,2502 03707 VG
032903,000955: 27,2503 56244 BPL DDV
032904,000956: 27,2504 51632 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032905,000957: 27,2505 03743 VEX
032906,000958: 27,2506 41215 DAD DMP
032907,000959: 27,2507 06516 DPHALF
032908,000960: 27,2510 56261 SR DDV
032909,000961: 27,2511 20613 10D
032910,000962: 27,2512 00045 36D
032911,000963: 27,2513 43205 DMP DAD
032912,000964: 27,2514 16533 -FOURDT
032913,000965: 27,2515 03741 TDECAY
032914,000966: 27,2516 03517 STORE TGO
032915,000967: 27,2517 77615 DAD
032916,000968: 27,2520 01234 PIPTIME
032917,000969: 27,2521 17442 STODL TIG
032918,000970: 27,2522 03517 TGO
032919,000971: 27,2523 51025 DSU BPL
032920,000972: 27,2524 16535 FOURSECS # 400 CS
032921,000973: 27,2525 51636 GOFIND # CALL TO FINDCDUW -2
032922,000974: 27,2526 43014 SET CLRGO
032923,000975: 27,2527 01066 IMPULSW
032924,000976: 27,2530 01224 STEERSW
032925,000977: 27,2531 75623 S40RET # LOCATION FOLLOWING CALL TO S40.8
032926,000978:
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|
Page 758
|
032928,000980: 24,3632 BANK 24
032929,000981: 24,2000 SETLOC S40BNK
032930,000982: 24,2000 BANK
032931,000983:
032932,000984: 24,3632 77776 ALARMIT EXIT
032933,000985: 24,3633 05600 TC ALARM
032934,000986: 24,3634 01407 OCT 01407 # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032935,000987: 24,3635 06042 TC INTPRET
032936,000988: 24,3636 77624 GOFIND CALL
032937,000989: 24,3637 61072 FINDCDUW -2
032938,000990: 24,3640 77650 GOTO
032939,000991: 24,3641 75623 S40RET # LOCATION FOLLOWING CALL TO S40.8
032940,000992:
032941,000993: 27,2532 BANK 27
032942,000994: 27,2000 SETLOC P40S1
032943,000995: 27,2000 BANK
032944,000996:
032945,000997: 27,2532 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B (-18)
032946,000998:
032947,000999: 27,2534 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032948,001000:
032949,001001: 27,2536 E7,1742 2VEXHUST = VEX
032950,001002:
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|
Page 759
|
032952,001004: # NAME S40.13 - TIMEBURN
032953,001005: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032954,001006: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032955,001007: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032956,001008: # BURN
032957,001009: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032958,001010: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032959,001011: # SIGNAL
032960,001012: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032961,001013: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032962,001014: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032963,001015: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032964,001016: # AND ALSO FOR RCS ENGINE
032965,001017: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032966,001018: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
032967,001019: # REQUIRE MODIFICATION FOR SATURN BURNS.
032968,001020: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032969,001021: # =0 DPS
032970,001022: # =1 APS
032971,001023: # OUTPUT IMPULSW ZERO FOR STEERING
032972,001024: # ONE FOR ATTITUDE HOLD
032973,001025: # NOTHROTL ZERO FOR THROTTLING
032974,001026: # ONE TO INHIBIT THROTTLING
032975,001027: # TGO TIME TO BURN IN CS
032976,001028: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032977,001029: # FORCE
032978,001030:
032979,001031: 27,2536 E7,1516 EBANK= TGO
032980,001032: 27,2536 COUNT* $$/40.13
032981,001033: 27,2536 06042 S40.13 TC INTPRET
032982,001034: 27,2537 43001 SETPD CLEAR
032983,001035: 27,2540 00001 00D
032984,001036: 27,2541 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032985,001037: 27,2542 51575 VLOAD ABVAL
032986,001038: 27,2543 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032987,001039: 27,2544 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032988,001040: 27,2545 21000 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032989,001041: 27,2546 34021 FRCS2
032990,001042: 27,2547 72471 DDV SL1 # SCALE
032991,001043: 27,2550 01244 WEIGHT/G
032992,001044: 27,2551 41421 BDSU PUSH
032993,001045: 27,2552 43014 BOFF SET
032994,001046: 27,2553 05342 APSFLAG
032995,001047: 27,2554 56624 S40.13D # FOR DPS ENGINE
032996,001048: 27,2555 02463 NOTHROTL
032997,001049: 27,2556 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032998,001050: 27,2557 16001 K1VAL # M.NEWTONS-CS AT +24
032999,001051: 27,2560 01244 WEIGHT/G
033000,001052: 27,2561 50021 BDSU BMN
|
|
Page 760
|
033002,001054: 27,2562 00001 00D
033003,001055: 27,2563 56606 S40.131 # TGO LESS THAN 100 CS
033004,001056: 27,2564 41325 PDDL DMP # 02D = TEMP1 AT +7
033005,001057: 27,2565 03737 MDOT
033006,001058:
033007,001059: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033008,001060: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
033009,001061: # REQUIRE ADJUSTMENT
033010,001062:
033011,001063: 27,2566 16676 3.5SEC # 350 CS AT +14
033012,001064: 27,2567 65221 BDSU PDDL
033013,001065: 27,2570 01244 WEIGHT/G
033014,001066: 27,2571 03735 F
033015,001067: 27,2572 60405 DMP SR2 # SCALE
033016,001068: 27,2573 16700 5SECS
033017,001069: 27,2574 41471 DDV PUSH # 04D = TEMP2
033018,001070: 27,2575 51021 BDSU BPL
033019,001071: 27,2576 00003 02D
033020,001072: 27,2577 56624 S40.13D
033021,001073: 27,2600 55345 DLOAD BDDV
033022,001074: 27,2601 43205 DMP DAD
033023,001075: 27,2602 16700 5SECS
033024,001076: 27,2603 16674 1SEC2D # 100 CS AT +14
033025,001077: 27,2604 77650 GOTO
033026,001078: 27,2605 56614 S40.132
033027,001079: 27,2606 41345 S40.131 DLOAD DMP
033028,001080: 27,2607 01244 WEIGHT/G
033029,001081: 27,2610 41542 SR1 PUSH
033030,001082: 27,2611 56215 DAD DDV
033031,001083: 27,2612 16003 K2VAL # M.NEWTON CS AT +24
033032,001084: 27,2613 16005 K3VAL # M.NEWTON CS AT +10
033033,001085: 27,2614 77414 S40.132 SET EXIT
033034,001086: 27,2615 01066 IMPULSW
033035,001087: 27,2616 07262 S40.132* TC TPAGREE
033036,001088: 27,2617 30154 CA MPAC
033037,001089: 27,2620 56001 XCH L
033038,001090: 27,2621 34755 CA ZERO
033039,001091: 27,2622 53517 DXCH TGO
033040,001092: 27,2623 12646 TCF S40.134
033041,001093:
033042,001094: 27,2624 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033043,001095: 27,2625 00001 00D
033044,001096: 27,2626 01244 WEIGHT/G
033045,001097: 27,2627 43006 PUSH BON
033046,001098: 27,2630 05302 APSFLAG
033047,001099: 27,2631 56667 APSTGO
033048,001100: 27,2632 43071 DDV CLEAR
033049,001101: 27,2633 16007 S40.136
033050,001102: 27,2634 02663 NOTHROTL
033051,001103: 27,2635 41400 BOV PUSH
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|
Page 761
|
033053,001105: 27,2636 56651 S40.130V
033054,001106: 27,2637 51025 S40.137 DSU BPL
033055,001107: 27,2640 16702 6SEC # 600.0 CS AT +14
033056,001108: 27,2641 56657 S40.138
033057,001109: 27,2642 52015 DAD GOTO
033058,001110: 27,2643 16702 6SEC
033059,001111: 27,2644 56614 S40.132
033060,001112: 27,2645 77776 S40.133 EXIT
033061,001113: 27,2646 05364 S40.134 TC PHASCHNG
033062,001114: 27,2647 00003 OCT 00003
033063,001115: 27,2650 05155 TC ENDOFJOB
033064,001116: 27,2651 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033065,001117: 27,2652 77671 DDV
033066,001118: 27,2653 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033067,001119: 27,2654 03517 STORE TGO
033068,001120: 27,2655 77776 EXIT
033069,001121: 27,2656 12646 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033070,001122:
033071,001123: 27,2657 51025 S40.138 DSU BPL
033072,001124: 27,2660 16704 89SECS
033073,001125: 27,2661 56664 STORETGO
033074,001126: 27,2662 77614 SET
033075,001127: 27,2663 02463 NOTHROTL
033076,001128: 27,2664 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033077,001129: 27,2665 77776 EXIT
033078,001130: 27,2666 12616 TCF S40.132*
033079,001131:
033080,001132: 27,2667 62471 APSTGO DDV SL2
033081,001133: 27,2670 34007 FAPS
033082,001134: 27,2671 77650 GOTO
033083,001135: 27,2672 56665 STORETGO +1
033084,001136: 27,2673 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033085,001137:
033086,001138: 27,2675 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033087,001139:
033088,001140: 27,2677 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033089,001141:
033090,001142: 27,2701 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033091,001143:
033092,001144: 27,2703 21304 00000 89SECS 2DEC 8900.0 B-14
033093,001145:
033094,001146: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033095,001147: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033096,001148: # COMPUTATION CYCLES (4 SECONDS).
033097,001149: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033098,001150: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033099,001151: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033100,001152: # CALLING SEQ VIA FINDVAC AS NEW JOB.
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|
Page 762
|
033102,001154: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033103,001155: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
033104,001156: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033105,001157: # METERS/CS AT +7.
033106,001158: # TIG - TIME OF IGNITION IN CS AT +28.
033107,001159: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033108,001160: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033109,001161: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033110,001162: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033111,001163: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033112,001164: # METERS/CS AT +7.
033113,001165: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033114,001166: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033115,001167: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033116,001168: # BDT - B VECTOR IN METERS/CS AT +7.
033117,001169: # SUBROUTINES USED - INITVEL
033118,001170: 27,2705 E7,1700 EBANK= VGPREV
033119,001171: 27,2705 COUNT* $$/S40.9
033120,001172: 27,2705 06042 S40.9 TC INTPRET
033121,001173: 27,2706 77601 SETPD
033122,001174: 27,2707 00001 00D
033123,001175: 27,2710 71214 SET DLOAD
033124,001176: 27,2711 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033125,001177: 27,2712 06520 HI6ZEROS
033126,001178: 27,2713 77725 PDDL
033127,001179: 27,2714 16406 EPS1
033128,001180: 27,2715 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033129,001181: 27,2716 03745 NORMSW
033130,001182: 27,2717 56721 EPSSMALL
033131,001183: 27,2720 16410 EPS2
033132,001184: 27,2721 45006 EPSSMALL PUSH CALL
033133,001185: 27,2722 22002 HAVEGUES
033134,001186: 27,2723 77776 ENDS40.9 EXIT
033135,001187: 27,2724 05364 TC PHASCHNG
033136,001188: 27,2725 00002 OCT 2
033137,001189: 27,2726 15155 TCF ENDOFJOB
033138,001190:
033139,001191:
033140,001192: 27,2727 51575 RASTEER1 VLOAD ABVAL
033141,001193: 27,2730 01220 RN
033142,001194: 27,2731 53744 LXC,2 SL*
033143,001195: 27,2732 02777 RTX2
033144,001196: 27,2733 57576 0,2
033145,001197: 27,2734 27715 STOVL RMAG
033146,001198: 27,2735 03444 RTARG
033147,001199: 27,2736 47051 VSU RTB
033148,001200: 27,2737 01220 RN
033149,001201: 27,2740 21725 NORMUNX1
033150,001202: 27,2741 17656 STODL IC
033151,001203: 27,2742 00045 36D # C(36D) = ABVAL(C)
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|
Page 763
|
033153,001205: 27,2743 53674 XAD,2 SL*
033154,001206: 27,2744 00046 X1
033155,001207: 27,2745 57576 0,2
033156,001208: 27,2746 00037 STORE 30D
033157,001209: 27,2747 41301 NORM DMP
033158,001210: 27,2750 00050 X2
033159,001211: 27,2751 03715 RMAG
033160,001212: 27,2752 57101 NORM XAD,2
033161,001213: 27,2753 00047 X1
033162,001214: 27,2754 00046 X1
033163,001215: 27,2755 77734 SXA,2
033164,001216: 27,2756 03766 MUSCALE
033165,001217: 27,2757 17725 STODL R1C # 2(+58 -X)
033166,001218: 27,2760 00037 30D
033167,001219: 27,2761 65342 SR1 PDDL
033168,001220: 27,2762 03715 RMAG
033169,001221: 27,2763 65342 SR1 PDDL
033170,001222: 27,2764 03723 RTMAG
033171,001223: 27,2765 43342 SR1 DAD
033172,001224: 27,2766 45415 DAD STADR
033173,001225: 27,2767 74044 STORE SS # SS = (R1 + R2 +C )/2
033174,001226: 27,2770 41225 DSU DMP
033175,001227: 27,2771 00037 30D
033176,001228: 27,2772 03721 MU/A
033177,001229: 27,2773 77621 BDSU
033178,001230: 27,2774 03717 MUASTEER
033179,001231: 27,2775 45325 PDDL DSU
033180,001232: 27,2776 03733 SS
033181,001233: 27,2777 03715 RMAG
033182,001234: 27,3000 70501 NORM SR1
033183,001235: 27,3001 00047 X1
033184,001236: 27,3002 41271 DDV DMP
033185,001237: 27,3003 03725 R1C
033186,001238: 27,3004 53664 XSU,2 SL*
033187,001239: 27,3005 00046 X1
033188,001240: 27,3006 57575 1,2
033189,001241: 27,3007 77754 LXA,2
033190,001242: 27,3010 03766 MUSCALE
033191,001243: 27,3011 75366 SQRT SIGN
033192,001244: 27,3012 02673 GEOMSGN
033193,001245: 27,3013 00041 STORE 32D # + OR - A
033194,001246: 27,3014 41345 DLOAD DMP
033195,001247: 27,3015 03733 SS
033196,001248: 27,3016 03721 MU/A
033197,001249: 27,3017 77621 BDSU
033198,001250: 27,3020 03717 MUASTEER
033199,001251: 27,3021 45325 PDDL DSU
033200,001252: 27,3022 03733 SS
033201,001253: 27,3023 03723 RTMAG
033202,001254: 27,3024 70501 NORM SR1
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Page 764
|
033204,001256: 27,3025 00047 X1
033205,001257: 27,3026 41271 DDV DMP
033206,001258: 27,3027 03725 R1C
033207,001259: 27,3030 53664 XSU,2 SL*
033208,001260: 27,3031 00046 X1
033209,001261: 27,3032 57575 1,2
033210,001262: 27,3033 65366 SQRT PDDL # -B (NO SIGN)
033211,001263: 27,3034 03733 SS
033212,001264: 27,3035 56225 DSU DDV
033213,001265: 27,3036 00037 30D
033214,001266: 27,3037 03733 SS
033215,001267: 27,3040 41566 SQRT PUSH
033216,001268: 27,3041 67542 SR1 ASIN
033217,001269: 27,3042 65205 DMP PDDL
033218,001270: 27,3043 17214 2PI+3
033219,001271: 27,3044 56325 PDDL DDV
033220,001272: 27,3045 00037 30D
033221,001273: 27,3046 03733 SS
033222,001274: 27,3047 77600 BOV
033223,001275: 27,3050 57051 +1
033224,001276: 27,3051 41366 SQRT DMP
033225,001277: 27,3052 44242 SR3 BDSU
033226,001278: 27,3053 65365 SIGN PDDL
033227,001279: 27,3054 02673 GEOMSGN
033228,001280: 27,3055 17214 2PI+3
033229,001281: 27,3056 45302 SR2 DSU
033230,001282: 27,3057 65205 DMP PDDL
033231,001283: 27,3060 03733 SS
033232,001284: 27,3061 03733 SS
033233,001285: 27,3062 75442 SR3 SQRT
033234,001286: 27,3063 77605 DMP
033235,001287: 27,3064 52525 PDDL SL3
033236,001288: 27,3065 03717 MUASTEER
033237,001289: 27,3066 55366 SQRT BDDV
033238,001290: 27,3067 43225 DSU DAD
033239,001291: 27,3070 03631 TPASS4
033240,001292: 27,3071 01234 PIPTIME
033241,001293: 27,3072 14037 STODL 30D
033242,001294: 27,3073 77765 SIGN
033243,001295: 27,3074 00037 30D # B WITH SIGN
033244,001296: 27,3075 00037 STORE 30D
033245,001297: 27,3076 77214 BON VLOAD
033246,001298: 27,3077 03705 NORMSW
033247,001299: 27,3100 57121 180MESS
033248,001300: 27,3101 03656 IC
033249,001301: 27,3102 53451 VSU UNIT
033250,001302: 27,3103 03537 UNIT/R/
033251,001303: 27,3104 63361 VXSC PDVL
033252,001304: 27,3105 00037 30D
033253,001305: 27,3106 03656 IC
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|
Page 765
|
033255,001307: 27,3107 53455 VAD UNIT
033256,001308: 27,3110 03537 UNIT/R/
033257,001309: 27,3111 53361 GETVRVG1 VXSC VAD
033258,001310: 27,3112 00041 32D
033259,001311: 27,3113 53744 GETVRVG2 LXC,2 VSR*
033260,001312: 27,3114 02777 RTX2
033261,001313: 27,3115 57177 0 -1,2
033262,001314: 27,3116 02337 STORE VIPRIME
033263,001315: 27,3117 77650 GOTO
033264,001316: 27,3120 57164 ASTREND -2
033265,001317: 27,3121 50375 180MESS VLOAD DOT
033266,001318: 27,3122 03656 IC
033267,001319: 27,3123 03537 UNIT/R/
033268,001320: 27,3124 77240 BMN VLOAD
033269,001321: 27,3125 57144 NEGPROD
033270,001322: 27,3126 03656 IC
033271,001323: 27,3127 63362 VSR1 PDVL
033272,001324: 27,3130 03537 UNIT/R/
033273,001325: 27,3131 53362 VSR1 VAD
033274,001326: 27,3132 77656 UNIT
033275,001327: 27,3133 57406 PUSH VCOMP # FOR A
033276,001328: 27,3134 75235 VXV SIGN
033277,001329: 27,3135 02674 UN
033278,001330: 27,3136 02673 GEOMSGN
033279,001331: 27,3137 74256 UNIT VXSC
033280,001332: 27,3140 00037 30D
033281,001333: 27,3141 77715 PDVL # UNIT(IC-IR) +-B
033282,001334: 27,3142 77650 GOTO
033283,001335: 27,3143 57111 GETVRVG1
033284,001336: 27,3144 74575 NEGPROD VLOAD VSR1
033285,001337: 27,3145 03537 UNIT/R/
033286,001338: 27,3146 74515 PDVL VSR1
033287,001339: 27,3147 03656 IC
033288,001340: 27,3150 53451 VSU UNIT
033289,001341: 27,3151 77606 PUSH
033290,001342: 27,3152 75235 VXV SIGN
033291,001343: 27,3153 02674 UN # FOR B
033292,001344: 27,3154 02673 GEOMSGN
033293,001345: 27,3155 74256 UNIT VXSC
033294,001346: 27,3156 00041 32D
033295,001347: 27,3157 77715 PDVL
033296,001348: 27,3160 53361 VXSC VAD
033297,001349: 27,3161 00037 30D
033298,001350: 27,3162 77650 GOTO
033299,001351: 27,3163 57113 GETVRVG2
033300,001352: 27,3164 77651 VSU
033301,001353: 27,3165 03553 VN1
033302,001354: 27,3166 02366 ASTREND STORE DELVEET3
033303,001355: 27,3167 53135 FIRSTTME SLOAD BZE
033304,001356: 27,3170 03000 RTX2
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Page 766
|
033306,001358: 27,3171 57175 GETGOBL
033307,001359: 27,3172 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
033308,001360: 27,3173 02366 DELVEET3
033309,001361: 27,3174 57210 NOGOBL
033310,001362: 27,3175 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033311,001363: 27,3176 01220 RN
033312,001364: 27,3177 45345 DLOAD DSU
033313,001365: 27,3200 01234 PIPTIME # 2
033314,001366: 27,3201 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
033315,001367: 27,3202 56205 DMP DDV # OBL
033316,001368: 27,3203 16023 EARTHMU
033317,001369: 27,3204 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033318,001370: 27,3205 53361 VXSC VAD
033319,001371: 27,3206 03521 UNITGOBL
033320,001372: 27,3207 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033321,001373: 27,3210 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033322,001374: 27,3211 77650 GOTO
033323,001375: 27,3212 56455 VGAIN*
033324,001376:
033325,001377:
033326,001378: 27,3213 31103 36652 2PI+3 2DEC 3.141592653 B-2
033327,001379:
033328,001380:
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Page 767
|
033330,001382: # TRIMGIMB (FORMERLY S40.6)
033331,001383: # MOD 0 24 FEB 67 PETER ADLER
033332,001384: # FUNCTION:
033333,001385: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033334,001386: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033335,001387: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033336,001388: # CALLING SEQUENCE:
033337,001389: # VIA WAITLIST FROM R03
033338,001390: # INPUT:
033339,001391: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033340,001392: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033341,001393: # SUBROUTINES USED:
033342,001394: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033343,001395:
033344,001396: 27,3215 COUNT* $$/S40.6
033345,001397: 27,3215 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033346,001398:
033347,001399: 27,3215 05527 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033348,001400: 27,3216 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033349,001401:
033350,001402: 27,3217 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033351,001403: 27,3220 00006 EXTEND
033352,001404: 27,3221 03012 WAND CHAN12
033353,001405: 27,3222 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033354,001406: 27,3223 00006 EXTEND
033355,001407: 27,3224 05012 WOR CHAN12
033356,001408: 27,3225 05232 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033357,001409: 27,3226 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033358,001410: 27,3227 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033359,001411: 27,3230 00006 EXTEND
033360,001412: 27,3231 03012 WAND CHAN12
033361,001413: 27,3232 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033362,001414: 27,3233 00006 EXTEND
033363,001415: 27,3234 05012 WOR CHAN12
033364,001416: 27,3235 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033365,001417: 27,3236 05204 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033366,001418: 27,3237 03256 ADRES PITCHOFF
033367,001419:
033368,001420: 27,3240 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033369,001421: 27,3241 05235 TC VARDELAY # UNTIL THEN
033370,001422: 27,3242 44740 CS BIT12
033371,001423: 27,3243 00006 EXTEND
033372,001424: 27,3244 03012 WAND CHAN12 # SHUT OFF ROLL
033373,001425: 27,3245 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033374,001426: 27,3246 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033375,001427: 27,3247 00006 EXTEND
033376,001428: 27,3250 13262 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033377,001429: 27,3251 34737 CAF PRIO10 # RETURN TO R03
033378,001430: 27,3252 05072 TC NOVAC
033379,001431: 27,3253 E7,1471 EBANK= WHOCARES
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Page 768
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033381,001433: 27,3253 02330 02067 2CADR TRIMDONE
033382,001434:
033383,001435: 27,3255 05272 TC TASKOVER
033384,001436: 27,3256 44742 PITCHOFF CS BIT10
033385,001437: 27,3257 00006 EXTEND
033386,001438: 27,3260 03012 WAND CHAN12 # SHUT OFF PITCH
033387,001439: 27,3261 13245 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033388,001440: 27,3262 05515 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033389,001441: 27,3263 00137 ADRES GMBDRVSW
033390,001442: 27,3264 05272 TC TASKOVER
033391,001443:
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Page 769
|
033393,001445: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033394,001446:
033395,001447: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033396,001448:
033397,001449: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033398,001450:
033399,001451: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033400,001452: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033401,001453: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033402,001454: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033403,001455: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033404,001456: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033405,001457: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033406,001458: # CALLER WITH C(MPAC) = VELOCITY(LM).
033407,001459:
033408,001460:
033409,001461: # CALLING SEQUENCE:
033410,001462: # L VLOAD CALL
033411,001463: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
033412,001464: # L +2 S41.1
033413,001465: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
033414,001466:
033415,001467: # SUBROUTINES CALLED:
033416,001468:
033417,001469: # 1. CDUTRIG,
033418,001470: # WHICH CALLS CDULOGIC.
033419,001471: # 2. *SMNB*
033420,001472:
033421,001473: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033422,001474:
033423,001475: # ALARM/ABORT MODES: NONE.
033424,001476:
033425,001477: # RESTART PROTECTION: NONE.
033426,001478:
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|
Page 770
|
033428,001480: # INPUT:
033429,001481:
033430,001482: # 1. REFSMMAT.
033431,001483: # 2. CDUX, CDUY, CDUZ.
033432,001484: # 3. VELOCITY (REF) IN MPAC.
033433,001485:
033434,001486: # OUTPUT:
033435,001487:
033436,001488: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033437,001489: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033438,001490: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033439,001491: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033440,001492:
033441,001493: # DEBRIS: NONE.
033442,001494:
033443,001495: # CHECKOUT STATUS: CODED.
033444,001496:
033445,001497: 27,3265 COUNT* $$/S41.1
033446,001498: 27,3265 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033447,001499: 27,3266 01732 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033448,001500: 27,3267 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033449,001501: 27,3270 47653 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033450,001502: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc