- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
029564,000002: ## Copyright: Public domain.
029565,000003: ## Filename: P40-P47.agc
029566,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
029567,000005: ## as closely as possible with available information. Sundance
029568,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
029569,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
029570,000008: ## using the mixed-revision SundanceXXX as a starting point, and
029571,000009: ## pulling back features from Luminary 69 believed to have been
029572,000010: ## added based on memos, checklists, observed address changes,
029573,000011: ## or the Sundance GSOPs.
029574,000012: ## Assembler: yaYUL
029575,000013: ## Contact: Ron Burkey <info@sandroid.org>.
029576,000014: ## Website: www.ibiblio.org/apollo/index.html
029577,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
029578,000016: ## 2021-05-30 ABS Aligned TCF BURNBABY and TCF B*RNB*B* to field
029579,000017: ## boundaries and surrounding comments to match.
029580,000018: ## TGDCALC -> TGOCALC
029581,000019:
029582,000020:
029583,000021:
029584,000022: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
029585,000023: # MOD 03 BY PETER ADLER MARCH 3, 1967
029586,000024: # CALLED VIA JOB FROM V37E
029587,000025:
029588,000026: # FUNCTIONAL DESCRIPTION
029589,000027:
029590,000028: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
029591,000029: # THRUSTING MANEUVER.
029592,000030:
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(There is no item #2 in the original program listing.) |
029594,000032:
029595,000033: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
029596,000034:
029597,000035: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
029598,000036: # PGNCS CONTROLLED DPS MANEUVER.
029599,000037:
029600,000038: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
029601,000039: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
029602,000040:
029603,000041: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
029604,000042: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
029605,000043:
029606,000044: # SUBROUTINES USED
029607,000045:
029608,000046: # R02 IMU STATUS CHECK
029609,000047: # S40.1 COMPUTATION OF THRUST DIRECTION
029610,000048: # S40.13 LENGTH OF BURN
029611,000049: # S40.2,3 PREFERRED IMU ORIENATTION
029612,000050: # S40.8 X PRODUCT STEERING
029613,000051: # S40.9 LAMBERT VTOGAIN
029614,000052: # R60LEM ATTITUDE MANEUVER
029615,000053: # LEMPREC EXTRAPOLATE STATE VECTOR
029616,000054: # PREREAD AVERAGE G, SERVICER
029617,000055: # ALLCOAST DAP COASTING INITIALIZATION
029618,000056: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
029619,000057: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
029620,000058: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
029621,000059: # KILLTASK, SGNAGREE, TPAGREE, ETC.
029622,000060:
029623,000061: # RESTARTS VIA GROUP 4
029624,000062:
029625,000063: # DISPLAYS
029626,000064:
029627,000065: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
029628,000066: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
029629,000067: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
029630,000068: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
029631,000069: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
029632,000070: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
029633,000071: # V05N09 POSSIBLE ALARMS
029634,000072: # V50N07 PLEASE SELECT P00
029635,000073:
029636,000074: # VIA R30
029637,000075:
029638,000076: # V06N44 HAPO, PERI, TFF
029639,000077: # V06N35 TIME TO PERIGEE, HMS
029640,000078:
029641,000079: # ALARM OR ABORT EXIT MODES
029642,000080:
029643,000081: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
029644,000082: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
029645,000083:
029646,000084: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
029647,000085: # TIG BY 45 SECS.
029648,000086:
029649,000087: # ERASABLE INITIALIZATION
029650,000088: # DEBRIS
029651,000089: # OUTPUT
029652,000090:
029653,000091: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
029654,000092: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
029655,000093: # = 0 FOR AIMPT (LAMBERT) COMP
029656,000094:
029657,000095: 27,2253 COUNT* $$/P40
029658,000096: 27,2253 E7,1430 EBANK= WHICH
029659,000097:
029660,000098: 36,3133 BANK 36
029661,000099: 36,2000 SETLOC P40S
029662,000100: 36,2000 BANK
029663,000101:
029664,000102: 36,3133 33114 P40LM CAF P40ADRES # INITIALIZATION FOR BURNBABY.
029665,000103: 36,3134 55430 TS WHICH
029666,000104:
029667,000105: 36,3135 00006 EXTEND
029668,000106: 36,3136 00030 READ CHAN30
029669,000107: 36,3137 40000 COM
029670,000108: 36,3140 75025 MASK BIT2
029671,000109: 36,3141 00006 EXTEND
029672,000110: 36,3142 13714 BZF P40ALM
029673,000111: 36,3143 04655 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
029674,000112: 36,3144 11067 CADR R02BOTH
029675,000113:
029676,000114: 36,3145 41102 CS DAPBOOLS # INITIALIZE DVMON
029677,000115: 36,3146 75012 MASK CSMDOCKD
029678,000116: 36,3147 10000 CCS A
029679,000117: 36,3150 33757 CAF THRESH1
029680,000118: 36,3151 63761 AD THRESH3
029681,000119: 36,3152 55201 TS DVTHRUSH
029682,000120: 36,3153 35026 CAF ONE
029683,000121: 36,3154 55202 TS AUXFLAG
029684,000122: 36,3155 35024 CAF FOUR
029685,000123: 36,3156 55472 TS DVCNTR
029686,000124:
029687,000125: 36,3157 06014 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
029688,000126: 36,3160 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
029689,000127: 36,3161 35725 FDPS
029690,000128: 36,3162 02663 NOTHROTL
029691,000129: 36,3163 03723 STORE F
029692,000130: 36,3164 77624 P40IN CALL
029693,000131: 36,3165 56253 S40.1 # COMPUTES UT AND VGTIG
029694,000132: 36,3166 77624 CALL
029695,000133: 36,3167 56416 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
029696,000134: 36,3170 77776 EXIT
029697,000135:
029698,000136: 36,3171 00004 INHINT
029699,000137: 36,3172 04737 TC IBNKCALL
029700,000138: 36,3173 40223 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
029701,000139:
029702,000140: 36,3174 03176 TC P40SXT4
029703,000141:
029704,000142:
029705,000143: # ***********************
029706,000144: 36,3175 12133 TCF BURNBABY
029707,000145: # ***********************
029708,000146:
029709,000147:
029710,000148: 36,3176 00006 P40SXT4 EXTEND
029711,000149: 36,3177 23153 QXCH P40/RET
029712,000150: 36,3200 00003 P41MANU RELINT
029713,000151:
029714,000152: 36,3201 05600 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
029715,000153: 36,3202 00124 ADRES 3AXISFLG
029716,000154:
029717,000155: 36,3203 04655 TC BANKCALL
029718,000156: 36,3204 54103 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
029719,000157: 36,3205 01153 TC P40/RET
029720,000158:
029721,000159:
029722,000160: 36,3206 E7,1447 EBANK= TRKMKCNT
029723,000161: 36,3206 35062 POSTBURN CA LOW10
029724,000162: 36,3207 55175 TS DISPDEX
029725,000163: 36,3210 00006 EXTEND
029726,000164: 36,3211 32040 DCA ACADN85
029727,000165: 36,3212 53253 DXCH AVEGEXIT
029728,000166: 36,3213 33763 CAF V16N40
029729,000167: 36,3214 04655 TC BANKCALL
029730,000168: 36,3215 20544 CADR GOFLASHR
029731,000169: 36,3216 03241 TC TERM40
029732,000170: 36,3217 13224 TCF TIGNOW
029733,000171: 36,3220 03206 TC POSTBURN
029734,000172:
029735,000173: 36,3221 05423 P40PHS1 TC PHASCHNG
029736,000174: 36,3222 00014 OCT 00014
029737,000175: 36,3223 15225 TCF ENDOFJOB
029738,000176:
029739,000177: 36,3224 00004 TIGNOW INHINT
029740,000178: 36,3225 04737 TC IBNKCALL
029741,000179: 36,3226 40232 CADR ZATTEROR
029742,000180: 36,3227 04737 TC IBNKCALL
029743,000181: 36,3230 40221 CADR SETMINDB
029744,000182: 36,3231 00003 RELINT
029745,000183: 36,3232 33764 CAF V16N85B
029746,000184: 36,3233 04655 TC BANKCALL
029747,000185: 36,3234 20375 CADR REFLASHR
029748,000186: 36,3235 03241 TC TERM40
029749,000187: 36,3236 13241 TCF TERM40
029750,000188: 36,3237 03232 TC -5
029751,000189:
029752,000190: 36,3240 13221 TCF P40PHS1
029753,000191:
029754,000192: 36,3241 00006 TERM40 EXTEND
029755,000193: 36,3242 32071 DCA SERVCADR
029756,000194: 36,3243 53253 DXCH AVEGEXIT
029757,000195: 36,3244 35030 CAF ZERO
029758,000196: 36,3245 55447 TS TRKMKCNT # ZERO RENDZVS CNTERS
029759,000197: 36,3246 35062 CA LOW10
029760,000198: 36,3247 55175 TS DISPDEX
029761,000199: 36,3250 00004 INHINT
029762,000200: 36,3251 04737 TC IBNKCALL
029763,000201: 36,3252 40204 CADR RESTORDB
029764,000202: 36,3253 00003 RELINT
029765,000203: 36,3254 04106 TC GOTOPOOH
029766,000204:
029767,000205: 36,3255 E7,1430 EBANK= WHICH
029768,000206: 36,3255 COUNT* $$/P41
029769,000207: 36,3255 33115 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
029770,000208: 36,3256 55430 TS WHICH
029771,000209:
029772,000210: 36,3257 04655 TC BANKCALL
029773,000211: 36,3260 11067 CADR R02BOTH
029774,000212:
029775,000213: 36,3261 06014 TC INTPRET # BOTH LM
029776,000214: 36,3262 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
029777,000215: 36,3263 00700 NJETSFLG
029778,000216: 36,3264 75270 P41FJET1
029779,000217: 36,3265 35733 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
029780,000218:
029781,000219: 36,3266 37723 P41FJET STCALL F
029782,000220: 36,3267 75273 P41IN
029783,000221: 36,3270 77745 P41FJET1 DLOAD
029784,000222:
029785,000223: 36,3271 35735 FRCS2
029786,000224: 36,3272 03723 STORE F
029787,000225:
029788,000226: 36,3273 77624 P41IN CALL
029789,000227: 36,3274 56253 S40.1 # BOTH
029790,000228: 36,3275 77624 P41NORM CALL
029791,000229: 36,3276 56416 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
029792,000230: 36,3277 77776 EXIT # SET PFRATFLG.
029793,000231:
029794,000232: 36,3300 00004 INHINT
029795,000233: 36,3301 04737 TC IBNKCALL
029796,000234: 36,3302 40232 CADR ZATTEROR # ZERO ATTITUDE ERRORS
029797,000235: 36,3303 04737 TC IBNKCALL
029798,000236: 36,3304 40221 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
029799,000237: 36,3305 03176 TC P40SXT4
029800,000238:
029801,000239: 36,3306 06014 TC INTPRET
029802,000240: 36,3307 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
029803,000241: 36,3310 03674 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
029804,000242: 36,3311 57307 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
029805,000243: 36,3312 03773 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
029806,000244: 36,3313 77776 EXIT
029807,000245:
029808,000246: 36,3314 33764 CAF V16N85B
029809,000247: 36,3315 04655 TC BANKCALL
029810,000248: 36,3316 20361 CADR GODSPRET
029811,000249:
029812,000250:
029813,000251: 36,3317 35067 CAF PRIO5
029814,000252: 36,3320 55175 TS DISPDEX # FOR SAFETY ONLY
029815,000253: 36,3321 05155 TC FINDVAC
029816,000254: 36,3322 E7,1673 EBANK= VGPREV
029817,000255: 36,3322 03344 74067 2CADR DYNMDISP
029818,000256:
029819,000257: 36,3324 05403 TC 2PHSCHNG
029820,000258: 36,3325 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
029821,000259: 36,3326 04024 OCT 04024 # GROUP 4 RESTARTS HERE
029822,000260:
029823,000261: # ***********************
029824,000262: 36,3327 12142 TCF B*RNB*B*
029825,000263: # ***********************
029826,000264:
029827,000265:
029828,000266: 36,3330 35047 BLNKWAIT CAF 1SEC
029829,000267: 36,3331 04655 TC BANKCALL
029830,000268: 36,3332 01732 CADR DELAYJOB
029831,000269:
029832,000270: 36,3333 31175 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
029833,000271: 36,3334 65025 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
029834,000272:
029835,000273: # ***********************
029836,000274:
029837,000275:
029838,000276: 36,3335 00006 EXTEND
029839,000277: 36,3336 13330 BZF BLNKWAIT
029840,000278:
029841,000279: 36,3337 33764 CAF V16N85B
029842,000280: 36,3340 04655 TC BANKCALL
029843,000281: 36,3341 20361 CADR GODSPRET
029844,000282:
029845,000283: 36,3342 35067 CAF PRIO5
029846,000284: 36,3343 05216 TC PRIOCHNG
029847,000285:
029848,000286: 36,3344 31175 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
029849,000287: 36,3345 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
029850,000288: 36,3346 65225 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
029851,000289: 36,3347 06014 TC INTPRET
029852,000290: 36,3350 45175 VLOAD CALL
029853,000291: 36,3351 03674 VGPREV
029854,000292: 36,3352 57307 S41.1
029855,000293: 36,3353 03773 STORE VGBODY
029856,000294: 36,3354 77776 EXIT
029857,000295: 36,3355 35047 CAF 1SEC
029858,000296: 36,3356 04655 TC BANKCALL
029859,000297: 36,3357 01732 CADR DELAYJOB
029860,000298: 36,3360 13344 TCF DYNMDISP
029861,000299:
029862,000300: 36,3361 06014 CALCN85 TC INTPRET
029863,000301: 36,3362 77624 CALL
029864,000302: 36,3363 75607 UPDATEVG
029865,000303: 36,3364 45175 VLOAD CALL
029866,000304: 36,3365 03674 VGPREV
029867,000305: 36,3366 57307 S41.1
029868,000306: 36,3367 03773 STORE VGBODY
029869,000307: 36,3370 77776 EXIT
029870,000308: 36,3371 04674 TC POSTJUMP
029871,000309: 36,3372 66354 CADR SERVEXIT
029872,000310:
029873,000311: 36,3373 COUNT* $$/P42
029874,000312: 36,3373 E7,1430 EBANK= WHICH
029875,000313:
029876,000314: 36,3373 33116 P42LM CAF P42ADRES # INITIALIZATION FOR BURNBABY.
029877,000315: 36,3374 55430 TS WHICH
029878,000316:
029879,000317: 36,3375 00006 EXTEND
029880,000318: 36,3376 00030 READ CHAN30
029881,000319: 36,3377 40000 COM
029882,000320: 36,3400 75025 MASK BIT2
029883,000321: 36,3401 10000 CCS A
029884,000322: 36,3402 03714 TC P40ALM
029885,000323: 36,3403 04655 TC BANKCALL
029886,000324: 36,3404 11067 CADR R02BOTH
029887,000325: 36,3405 33760 CAF THRESH2 # INITIALIZE DVMON
029888,000326: 36,3406 55201 TS DVTHRUSH
029889,000327: 36,3407 35026 CAF ONE
029890,000328: 36,3410 55202 TS AUXFLAG
029891,000329: 36,3411 35024 CAF FOUR
029892,000330: 36,3412 55472 TS DVCNTR
029893,000331:
029894,000332: 36,3413 06014 TC INTPRET
029895,000333: 36,3414 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
029896,000334: 36,3415 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
029897,000335: 36,3416 35737 FAPS
029898,000336: 36,3417 37723 STCALL F
029899,000337: 36,3420 75164 P40IN
029900,000338:
029901,000339: 36,3421 E7,1430 EBANK= WHICH
029902,000340:
029903,000341: 36,3421 COUNT* $$/P47
029904,000342: 36,3421 04655 P47LM TC BANKCALL
029905,000343: 36,3422 11067 CADR R02BOTH
029906,000344: 36,3423 06014 TC INTPRET
029907,000345: 36,3424 43234 RTB DAD
029908,000346: 36,3425 21454 LOADTIME
029909,000347: 36,3426 35745 SEC60DP
029910,000348: 36,3427 03425 STORE TIG
029911,000349: 36,3430 77776 EXIT
029912,000350:
029913,000351: 36,3431 00006 EXTEND
029914,000352: 36,3432 33745 DCA SEC60DP
029915,000353: 36,3433 05347 TC LONGCALL
029916,000354: 36,3434 E7,1430 EBANK= WHICH
029917,000355: 36,3434 03445 74067 2CADR STARTP47
029918,000356:
029919,000357: 36,3436 00003 RELINT
029920,000358: 36,3437 06014 TC INTPRET
029921,000359: 36,3440 45145 DLOAD CALL
029922,000360: 36,3441 03425 TIG
029923,000361: 36,3442 64671 TIGINT -1
029924,000362: 36,3443 77776 EXIT
029925,000363:
029926,000364: 36,3444 15225 TCF ENDOFJOB
029927,000365:
029928,000366: 36,3445 05423 STARTP47 TC PHASCHNG
029929,000367: 36,3446 05014 OCT 05014
029930,000368: 36,3447 77777 OCT 77777
029931,000369:
029932,000370: 36,3450 00006 EXTEND
029933,000371: 36,3451 33767 DCA ACADN83
029934,000372: 36,3452 53253 DXCH AVEGEXIT
029935,000373: 36,3453 35011 CAF PRIO20
029936,000374: 36,3454 05155 TC FINDVAC
029937,000375: 36,3455 E7,1607 EBANK= DELVIMU
029938,000376: 36,3455 03511 74067 2CADR P47BODY
029939,000377: 36,3457 12372 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
029940,000378: # SEE TIG-30 IN BURNBABY.
029941,000379:
029942,000380: 36,3460 06014 CALCN83 TC INTPRET
029943,000381: 36,3461 53375 VLOAD VAD
029944,000382: 36,3462 03773 DELVCTL
029945,000383: 36,3463 03504 DELVREF
029946,000384: 36,3464 03643 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
029947,000385:
029948,000386: 36,3465 77624 CALL
029949,000387: 36,3466 57307 S41.1
029950,000388: 36,3467 03610 STORE DELVIMU
029951,000389: 36,3470 77776 EXIT
029952,000390: 36,3471 05423 TC PHASCHNG
029953,000391: 36,3472 10035 OCT 10035 # REREADAC AND HERE
029954,000392:
029955,000393: 36,3473 06014 TC INTPRET
029956,000394: 36,3474 77775 VLOAD
029957,000395: 36,3475 03643 DELVSIN
029958,000396: 36,3476 03773 STORE DELVCTL
029959,000397: 36,3477 77776 EXIT
029960,000398:
029961,000399: 36,3500 04674 TC POSTJUMP
029962,000400: 36,3501 66354 CADR SERVEXIT
029963,000401:
029964,000402: 36,3502 33765 P47BOD CAF V1683
029965,000403: 36,3503 04655 TC BANKCALL
029966,000404: 36,3504 20544 CADR GOFLASHR
029967,000405: 36,3505 04106 TC GOTOPOOH
029968,000406: 36,3506 04106 TC GOTOPOOH
029969,000407:
029970,000408: 36,3507 13511 TCF P47BODY
029971,000409:
029972,000410: 36,3510 13221 TCF P40PHS1
029973,000411:
029974,000412: 36,3511 06014 P47BODY TC INTPRET
029975,000413: 36,3512 77775 VLOAD
029976,000414: 36,3513 06233 HI6ZEROS
029977,000415: 36,3514 03610 STORE DELVIMU
029978,000416: 36,3515 03773 STORE DELVCTL
029979,000417: 36,3516 77776 EXIT
029980,000418: 36,3517 03502 TC P47BOD
029981,000419:
029982,000420: 36,3520 COUNT* $$/P40
029983,000421: 36,3520 31474 IMPLBURN CA TGO +1
029984,000422: 36,3521 05243 TC TWIDDLE
029985,000423: 36,3522 03537 ADRES ENGOFTSK
029986,000424: 36,3523 05600 TC DOWNFLAG # TURN OFF IGNFLAG
029987,000425: 36,3524 00153 ADRES IGNFLAG
029988,000426: 36,3525 05600 TC DOWNFLAG # TURN OFF ASTNFLG
029989,000427: 36,3526 00154 ADRES ASTNFLAG
029990,000428: 36,3527 05600 TC DOWNFLAG # TURN OFF IMPULSW
029991,000429: 36,3530 00044 ADRES IMPULSW
029992,000430: 36,3531 05423 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
029993,000431: 36,3532 40114 OCT 40114
029994,000432:
029995,000433: 36,3533 05271 TC FIXDELAY # WAIT HALF A SECOND
029996,000434: 36,3534 00062 DEC 50 B-14
029997,000435:
029998,000436: 36,3535 02643 TC NOULLAGE # TURN OFF ULLAGE
029999,000437:
030000,000438: 36,3536 05331 TC TASKOVER
030001,000439:
030002,000440: 36,3537 04737 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
030003,000441: 36,3540 75542 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
030004,000442: 36,3541 05331 TC TASKOVER
030005,000443:
030006,000444: 36,3542 34703 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
030007,000445: 36,3543 05155 TC FINDVAC
030008,000446: 36,3544 E7,1447 EBANK= TRKMKCNT
030009,000447: 36,3544 03206 74067 2CADR POSTBURN
030010,000448:
030011,000449: 36,3546 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
030012,000450: 36,3547 75020 MASK IDLEFBIT
030013,000451: 36,3550 26103 ADS FLAGWRD7
030014,000452:
030015,000453: 36,3551 02643 TC NOULLAGE
030016,000454:
030017,000455: 36,3552 00006 EXTEND
030018,000456: 36,3553 30025 DCA TIME2
030019,000457: 36,3554 53355 DXCH TEVENT
030020,000458:
030021,000459: 36,3555 35026 ENGINOF2 CAF BIT1
030022,000460: 36,3556 05252 TC WAITLIST
030023,000461: 36,3557 E6,1420 EBANK= OMEGAQ
030024,000462: 36,3557 03604 74066 2CADR COASTSET
030025,000463:
030026,000464: 36,3561 44367 ENGINOF3 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
030027,000465: 36,3562 00006 EXTEND # SUBROUTINE.
030028,000466: 36,3563 02011 RAND DSALMOUT
030029,000467: 36,3564 65011 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
030030,000468: 36,3565 00006 EXTEND
030031,000469: 36,3566 01011 WRITE DSALMOUT
030032,000470:
030033,000471: 36,3567 45020 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
030034,000472: 36,3570 70101 MASK FLAGWRD5
030035,000473: 36,3571 54101 TS FLAGWRD5
030036,000474:
030037,000475: 36,3572 41102 CS DAPBOOLS # TURN OFF TRIM GIMBAL
030038,000476: 36,3573 75011 MASK USEQRJTS
030039,000477: 36,3574 27102 ADS DAPBOOLS
030040,000478:
030041,000479: 36,3575 45012 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
030042,000480: 36,3576 55417 TS PIF
030043,000481: 36,3577 54055 TS THRUST # IS TURNED OFF.
030044,000482: 36,3600 35023 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
030045,000483: 36,3601 00006 EXTEND # ENGINE IS DISARMED.
030046,000484: 36,3602 05014 WOR CHAN14
030047,000485:
030048,000486: 36,3603 04752 TC ISWRETRN
030049,000487:
030050,000488: 36,3604 04737 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
030051,000489: 36,3605 40263 CADR ALLCOAST
030052,000490: 36,3606 05331 TC TASKOVER
030053,000491:
030054,000492: 36,3607 E6,1420 EBANK= OMEGAQ
030055,000493: 36,3607 45020 UPDATEVG STQ CALL
030056,000494: 36,3610 03652 QTEMP1
030057,000495: 36,3611 56440 S40.8 # X-PRODUCT STEERING
030058,000496: 36,3612 43014 BON BOFSET
030059,000497: 36,3613 01307 XDELVFLG
030060,000498: 36,3614 03652 QTEMP1
030061,000499: 36,3615 01045 CYCLESW
030062,000500: 36,3616 03652 QTEMP1
030063,000501: 36,3617 77776 EXIT
030064,000502:
030065,000503: 36,3620 10755 CCS PHASE2
030066,000504: 36,3621 13634 TCF ENDSTEER # GROUP 2 ACTIVE --> LAMBERT STILL GOING.
030067,000505:
030068,000506: 36,3622 35012 CAF PRIO10
030069,000507: 36,3623 00004 INHINT
030070,000508: 36,3624 05155 TC FINDVAC
030071,000509: 36,3625 E7,1702 EBANK= VG
030072,000510: 36,3625 03071 56067 2CADR S40.9 # LAMBERT VTOGAIN
030073,000511:
030074,000512: 36,3627 05403 TC 2PHSCHNG
030075,000513: 36,3630 00172 OCT 00172 # 2.17SPOT FOR S40.9
030076,000514: 36,3631 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
030077,000515:
030078,000516: 36,3632 05600 TC DOWNFLAG
030079,000517: 36,3633 00043 ADRES CYCLESW # VG CALCULATION OMITTED
030080,000518: 36,3634 06014 ENDSTEER TC INTPRET
030081,000519: 36,3635 77650 GOTO
030082,000520: 36,3636 03652 QTEMP1
030083,000521:
030084,000522: 36,3637 06014 STEERING TC INTPRET
030085,000523:
030086,000524: 36,3640 77624 CALL
030087,000525: 36,3641 75607 UPDATEVG
030088,000526: 36,3642 77776 EXIT
030089,000527:
030090,000528: 36,3643 E7,1472 EBANK= DVCNTR
030091,000529: 36,3643 00004 NSTEER INHINT
030092,000530: 36,3644 35066 CA EBANK7
030093,000531: 36,3645 54003 TS EBANK
030094,000532: # PHASE CHANGE IN SERVERICER NEEDED HERE *********************************
030095,000533: 36,3646 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
030096,000534: 36,3647 75016 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
030097,000535: 36,3650 10000 CCS A # STEERING IS ALMOST DONE.
030098,000536:
030099,000537: 36,3651 13656 TCF +5 # IMPULSW = 0 EXIT
030100,000538:
030101,000539: 36,3652 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
030102,000540: 36,3653 75020 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
030103,000541: 36,3654 10000 CCS A
030104,000542: 36,3655 13660 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
030105,000543: 36,3656 04674 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
030106,000544: 36,3657 66354 CADR SERVEXIT
030107,000545:
030108,000546: 36,3660 05600 TC DOWNFLAG # TURN OFF IMPULSW
030109,000547: 36,3661 00044 ADRES IMPULSW
030110,000548:
030111,000549: 36,3662 05566 TC UPFLAG
030112,000550: 36,3663 00161 ADRES IDLEFLAG # TURN OFF DVMON
030113,000551:
030114,000552: 36,3664 00004 INHINT
030115,000553: 36,3665 00006 EXTEND
030116,000554: 36,3666 31425 DCA TIG
030117,000555: 36,3667 52155 DXCH MPAC
030118,000556: 36,3670 00006 EXTEND
030119,000557: 36,3671 40025 DCS TIME2
030120,000558: 36,3672 20155 DAS MPAC
030121,000559: 36,3673 07231 TC TPAGREE
030122,000560: 36,3674 30155 CAE MPAC +1
030123,000561: 36,3675 10000 CCS A
030124,000562: 36,3676 13701 TCF +3
030125,000563: 36,3677 13701 TCF +2
030126,000564: 36,3700 35030 CAF ZERO
030127,000565: 36,3701 65026 AD ONE
030128,000566: 36,3702 56001 XCH L
030129,000567: 36,3703 35030 CAF ZERO
030130,000568: 36,3704 53474 DXCH TGO
030131,000569: 36,3705 31474 CA TGO +1
030132,000570: 36,3706 05243 TC TWIDDLE
030133,000571: 36,3707 03537 ADRES ENGOFTSK
030134,000572: 36,3710 05403 TC 2PHSCHNG
030135,000573: 36,3711 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
030136,000574: 36,3712 00035 OCT 00035 # SERVICER--REREADAC
030137,000575:
030138,000576: 36,3713 15225 TCF ENDOFJOB
030139,000577:
030140,000578: 36,3714 05651 P40ALM TC ALARM # ASTRONAUT DOESN'T AGREE WITH STAGE
030141,000579: 36,3715 01706 OCT 01706 # VERIFY DISCRETE. HE HAS SELECTED P40,
030142,000580: 36,3716 35056 CAF V05N09 # BUT THE DAP THINKS THAT THE DESCENT UNIT
030143,000581: 36,3717 04655 TC BANKCALL # IS GONE--A SITUATION THAT WOULD MAKE A
030144,000582: 36,3720 20406 CADR GOFLASH # DPS BURN EXCEEDINGLY DIFFICULT.
030145,000583:
030146,000584: 36,3721 14106 TCF GOTOPOOH # V34E TERMINATE
030147,000585: 36,3722 13716 TCF -4 # V33E PROCEED (ILLEGAL)
030148,000586: 36,3723 13716 TCF -5 # RECYCLE (ILLEGAL)
030149,000587:
030150,000588: # ************************************************************************
030151,000589:
030152,000590: 36,3724 01050 33423 FDPS 2DEC 4.319223 B-7 # 9710.0 LBS FORCE IN NEWTONS
030153,000591: 36,3726 00022 07742 MDOTDPS 2DEC 0.00891025 B-3 # 32.62 LBS/SEC IN KGS/CS.
030154,000592: 36,3730 77777 77731 DTDECAY 2DEC -38 B-28
030155,000593:
030156,000594: 36,3732 00026 30630 FRCS4 2DEC 0.177929 B-7 # 400 LBS FORCE IN NEWTONS
030157,000595: 36,3734 00013 14314 FRCS2 2DEC 0.0889645 B-7 # 200 LBS FORCE IN NEWTONS
030158,000596:
030159,000597: 36,3736 00307 10516 FAPS 2DEC 1.5568 B-7 # 3500 LBS FORCE IN NEWTONS
030160,000598: 36,3740 00151 07074 MDOTAPS 2DEC 0.05137812 B-3 # 11.32 LBS/SEC IN KGS/CS
030161,000599: 36,3742 77777 77765 ATDECAY 2DEC -10 B-28
030162,000600:
030163,000601: 36,3744 00000 SEC60DP OCT 00000 # DON'T SEPARATE
030164,000602: 36,3745 13560 SEC60 DEC 6000 B-14 # DON'T SEPARATE
030165,000603: 36,3746 00000 SEC15DP OCT 00000 # DON'T SEPARATE
030166,000604: 36,3747 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
030167,000605: 36,3750 00000 05670 SEC30DP 2DEC 3000 B-28
030168,000606: 36,3752 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
030169,000607: 36,3753 10624 SEC45 DEC 4500 B-14
030170,000608: 36,3754 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
030171,000609: 36,3755 00764 5SEC DEC 500 B-14
030172,000610: 36,3756 05050 26SECS DEC 2600 B-14
030173,000611: 36,3757 00030 THRESH1 DEC 24 B-14
030174,000612: 36,3760 00464 THRESH2 DEC 308 B-14
030175,000613: 36,3761 00014 THRESH3 DEC 12 B-14
030176,000614: 36,3762 5012 HIRTHROT = BIT13
030177,000615: 36,3762 00203 P40A/PMD OCT 00203
030178,000616: 36,3763 04050 V16N40 VN 1640
030179,000617: 36,3764 04125 V16N85B VN 1685
030180,000618: 36,3765 04123 V1683 VN 1683
030181,000619: 36,3766 5047 SEC01 = 1SEC
030182,000620: 36,3766 36,2037 ACADN85 = P41TABLE +2
030183,000621:
030184,000622: 36,3766 E7,1607 EBANK= DELVIMU
030185,000623: 36,3766 03460 74067 ACADN83 2CADR CALCN83
030186,000624:
030187,000625:
030188,000626: # *************************************************
030189,000627:
030190,000628: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
030191,000629: # MOD N02 LOG SECTION P40-P47
030192,000630: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
030193,000631: # FUNCTIONAL DESCRIPTION
030194,000632: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
030195,000633: # VECTOR(VGTIG).
030196,000634: # CALLING SEQUENCE
030197,000635: # L CALL
030198,000636: # L+1 S40.1
030199,000637: # NORMAL EXIT MODE
030200,000638: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
030201,000639: # ERROR RETURN IF NOSOFLAG =1
030202,000640: # SUBROUTINES CALLED
030203,000641: # LEMPREC
030204,000642: # INITVEL
030205,000643: # CALCGRAV
030206,000644: # MIDGIM
030207,000645: # ALARM OR ABORT EXIT MODES
030208,000646: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
030209,000647: # ERASABLE INITIALIZATION REQUIRED
030210,000648: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
030211,000649: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
030212,000650: # F THRUST FOR ENGINE USED
030213,000651: # IF DELTA-V MANEUVER
030214,000652: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
030215,000653: # INERTIAL COORDS. OF ACTIVE VEHICLE
030216,000654: # AT TIME OF IGNITION VECTOR B7M/CS
030217,000655: # DELVSAB MAG. OF DELVSIN DP B7M/CS
030218,000656: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
030219,000657: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
030220,000658: # IF AIMPT STEER
030221,000659: # TIG TIME OF IGNITION DP B28CS
030222,000660: # RTARG POSITION TARGET TIME VECTOR B29M
030223,000661: # CSTEER C FOR STEER LAW DP B2
030224,000662: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
030225,000663: # OUTPUT
030226,000664: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
030227,000665: # VGTIG INITIAL VALUE OF VELOCITY
030228,000666: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
030229,000667: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
030230,000668: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
030231,000669: # -GDT FOR S40.13 VECT B7M/CS
030232,000670: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
030233,000671: # POSITION AT TIME OF IGNITION
030234,000672: # DEBRIS QTEMP1
030235,000673: # MPAC,QPRET
030236,000674: # PUSHLIST
030237,000675:
030238,000676: 14,2000 BANK 14
030239,000677: 27,2000 SETLOC P40S1
030240,000678: 27,2000 BANK
030241,000679:
030242,000680: 27,2253 COUNT* $$/S40.1
030243,000681: 27,2253 44014 S40.1 CLEAR STQ
030244,000682: 27,2254 03264 FIRSTFLG
030245,000683: 27,2255 03617 QTEMP
030246,000684: 27,2256 77614 DELVTEST BOFF
030247,000685: 27,2257 01347 XDELVFLG
030248,000686: 27,2260 56345 S40.1B
030249,000687: 27,2261 77201 CALCTHET SETPD VLOAD
030250,000688: 27,2262 00001 0
030251,000689: 27,2263 03635 VTIG
030252,000690: 27,2264 02347 STORE VINIT
030253,000691: 27,2265 53435 VXV UNIT
030254,000692: 27,2266 03627 RTIG
030255,000693: 27,2267 27666 STOVL UT # UP IN UT
030256,000694: 27,2270 03627 RTIG
030257,000695: 27,2271 02341 STORE RINIT
030258,000696: 27,2272 65236 VSQ PDDL
030259,000697: 27,2273 00045 36D
030260,000698: 27,2274 56205 DMP DDV
030261,000699: 27,2275 16415 THETACON
030262,000700: 27,2276 41205 DMP DMP
030263,000701: 27,2277 03651 DELVSAB
030264,000702: 27,2300 01244 WEIGHT/G
030265,000703: 27,2301 77671 DDV
030266,000704: 27,2302 03723 F
030267,000705: 27,2303 24017 STOVL 14D
030268,000706: 27,2304 03643 DELVSIN
030269,000707:
030270,000708: 27,2305 74241 DOT VXSC
030271,000709: 27,2306 03666 UT
030272,000710: 27,2307 03666 UT
030273,000711: 27,2310 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
030274,000712: 27,2311 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
030275,000713: 27,2312 03643 DELVSIN
030276,000714: 27,2313 00017 14D
030277,000715: 27,2314 63356 SIN PDVL
030278,000716: 27,2315 00007 6D
030279,000717: 27,2316 53435 VXV UNIT
030280,000718: 27,2317 03666 UT
030281,000719: 27,2320 45561 VXSC STADR
030282,000720: 27,2321 50103 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
030283,000721: 27,2322 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
030284,000722: 27,2323 00017 14D
030285,000723: 27,2324 74346 COS VXSC
030286,000724: 27,2325 74255 VAD VXSC
030287,000725: 27,2326 03674 VGTIG
030288,000726: 27,2327 00045 36D
030289,000727: 27,2330 53352 VSL2 VAD
030290,000728: 27,2331 77626 STADR
030291,000729: 27,2332 74103 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
030292,000730:
030293,000731: 27,2333 77656 UNIT
030294,000732: 27,2334 27666 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
030295,000733: 27,2335 03674 VGTIG
030296,000734: 27,2336 45006 PUSH CALL
030297,000735: 27,2337 20025 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
030298,000736: 27,2340 77775 VLOAD
030299,000737: 27,2341 06233 ZEROVECS
030300,000738: 27,2342 03660 STORE BDT
030301,000739: 27,2343 77650 GOTO
030302,000740: 27,2344 03617 QTEMP
030303,000741: 27,2345 77745 S40.1B DLOAD
030304,000742: 27,2346 03425 TIG
030305,000743: 27,2347 00041 STORE TDEC1
030306,000744: 27,2350 77621 BDSU
030307,000745: 27,2351 03616 TPASS4
030308,000746: 27,2352 36355 STCALL DELLT4 # INTERCEPT TIME - TIG.
030309,000747: 27,2353 27030 LEMPREC
030310,000748: 27,2354 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
030311,000749: 27,2355 00001 RATT
030312,000750: 27,2356 00001 0
030313,000751: 27,2357 03627 STORE RTIG
030314,000752: 27,2360 26341 STOVL RINIT
030315,000753: 27,2361 00007 VATT
030316,000754: 27,2362 02347 STORE VINIT
030317,000755: 27,2363 65345 DLOAD PDDL # NUMIT = 0
030318,000756: 27,2364 06233 ZEROVECS
030319,000757: 27,2365 16411 EPS1
030320,000758: 27,2366 43214 BOFF DAD
030321,000759: 27,2367 03745 NORMSW
030322,000760: 27,2370 56372 SMALLEPS
030323,000761: 27,2371 16413 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
030324,000762: 27,2372 74006 SMALLEPS PUSH AXC,1
030325,000763: 27,2373 00002 2
030326,000764: 27,2374 77624 CALL
030327,000765: 27,2375 22022 INITVEL
030328,000766: 27,2376 41575 VLOAD PUSH
030329,000767: 27,2377 03363 DELVEET3 # VGTIG = VR - VN.
030330,000768: 27,2400 03674 STORE VGTIG
030331,000769: 27,2401 77656 UNIT # UT = UNIT (VGTIG)
030332,000770: 27,2402 17666 STODL UT
030333,000771: 27,2403 00045 36D
030334,000772: 27,2404 37651 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
030335,000773: 27,2405 20025 GET.LVC # VERTICAL COORDINATES.
030336,000774: 27,2406 77650 GOTO
030337,000775: 27,2407 03617 QTEMP
030338,000776:
030339,000777: 27,2410 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
030340,000778:
030341,000779: 27,2412 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
030342,000780: 27,2414 00024 13714 THETACON 2DEC .31830989 B-8
030343,000781:
030344,000782: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
030345,000783:
030346,000784: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
030347,000785:
030348,000786: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
030349,000787:
030350,000788: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
030351,000789:
030352,000790: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
030353,000791:
030354,000792: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
030355,000793: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
030356,000794: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
030357,000795: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
030358,000796: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
030359,000797:
030360,000798:
030361,000799: # CALLING SEQUENCE:
030362,000800: # L CALL INTERPRETIVE CALL.
030363,000801: # L +1 S40.2,3
030364,000802: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
030365,000803:
030366,000804: # SUBROUTINES CALLED: NONE.
030367,000805:
030368,000806: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
030369,000807:
030370,000808: # ALARM/ABORT MODES: NONE.
030371,000809:
030372,000810: # INPUT:
030373,000811:
030374,000812: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
030375,000813: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
030376,000814: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
030377,000815:
030378,000816: # OUTPUT:
030379,000817:
030380,000818: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
030381,000819: # : YSCREF : IN REFERENCE COORDINATES
030382,000820: # : ZSCREF : (PREFERRED IMU ORIENTATION).
030383,000821: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
030384,000822: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
030385,000823: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
030386,000824:
030387,000825: # DEBRIS: NONE.
030388,000826:
030389,000827:
030390,000828: 27,2416 COUNT* $$/S40.2
030391,000829: 27,2416 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
030392,000830: 27,2417 03666 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
030393,000831: 27,2420 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
030394,000832: 27,2421 01736 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
030395,000833: 27,2422 25256 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
030396,000834: 27,2423 06231 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
030397,000835: 27,2424 25250 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
030398,000836:
030399,000837: 27,2425 03666 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
030400,000838: 27,2426 03574 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
030401,000839: 27,2427 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
030402,000840: 27,2430 03627 RTIG # YSCREF = UNIT(UT X RTIG)
030403,000841: 27,2431 03602 STORE YSCREF
030404,000842: 27,2432 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
030405,000843: 27,2433 03574 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
030406,000844: 27,2434 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
030407,000845: 27,2435 03610 STORE ZSCREF # = + (XSCREF X YSCREF)
030408,000846:
030409,000847: 27,2436 43414 SET RVQ
030410,000848: 27,2437 01073 PFRATFLG
030411,000849:
030412,000850: # SUBROUTINE S40.8
030413,000851:
030414,000852: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
030415,000853:
030416,000854: # DESCRIPTION
030417,000855:
030418,000856: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
030419,000857: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
030420,000858: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
030421,000859:
030422,000860: # CALLING SEQUENCE
030423,000861:
030424,000862: # L-1 CALL
030425,000863: # L S40.8
030426,000864: # L+1 INTERPRETIVE RETURN
030427,000865:
030428,000866: # ALARM
030429,000867:
030430,000868: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
030431,000869: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
030432,000870:
030433,000871: # INPUT AND INITIALIZATION
030434,000872:
030435,000873: # VGPREV REFERENCE 2(7) M/CS
030436,000874: # DELVREF REFERENCE 2(7) M/CS
030437,000875: # BDT REFERENCE 2(7) M/CS
030438,000876: # TDECAY TAIL-OFF TIME 2(28) CS
030439,000877: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
030440,000878: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
030441,000879: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
030442,000880:
030443,000881: # NOTE: VGTIG EQUALS VGPREV
030444,000882:
030445,000883: # OUTPUT
030446,000884:
030447,000885: # STEERSW SEE INPUT
030448,000886: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
030449,000887: # TGO TIME TO CUT-OFF 2(28) CS
030450,000888: # SEE FINDCDUW FOR STEERING OUTPUTS.
030451,000889:
030452,000890: # SUBROUTINE CALLED
030453,000891:
030454,000892: # FINDCDUW
030455,000893:
030456,000894: # DEBRIS
030457,000895:
030458,000896: # MPACS, PUSHLIST
030459,000897:
030460,000898: 27,2440 COUNT* $$/S40.8
030461,000899:
030462,000900: 27,2440 E6,1420 EBANK= OMEGAQ
030463,000901: 27,2440 43175 S40.8 VLOAD BON
030464,000902: 27,2441 03674 VGPREV
030465,000903: 27,2442 01307 XDELVFLG
030466,000904: 27,2443 56450 VGNEW
030467,000905: 27,2444 53214 BOFF VAD
030468,000906: 27,2445 03344 FIRSTFLG
030469,000907: 27,2446 56450 VGNEW
030470,000908: 27,2447 03660 BDT
030471,000909: 27,2450 77651 VGNEW VSU
030472,000910: 27,2451 03504 DELVREF
030473,000911: 27,2452 03703 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
030474,000912: 27,2453 76521 MXV VSL1
030475,000913: 27,2454 01736 REFSMMAT
030476,000914: 27,2455 77656 UNIT
030477,000915: 27,2456 03764 STORE UDSTEER
030478,000916: 27,2457 77214 BON VLOAD
030479,000917: 27,2460 03304 FIRSTFLG
030480,000918: 27,2461 56464 BDTOK
030481,000919: 27,2462 06233 HI6ZEROS
030482,000920: 27,2463 03660 STORE BDT
030483,000921: 27,2464 77745 BDTOK DLOAD
030484,000922: 27,2465 00045 36D
030485,000923: 27,2466 03651 STORE VGDISP
030486,000924: 27,2467 44001 TGOCALC SETPD STQ
030487,000925: 27,2470 00001 0
030488,000926: 27,2471 03771 S40EXIT
030489,000927: 27,2472 77775 VLOAD
030490,000928: 27,2473 03703 VG
030491,000929: 27,2474 27674 STOVL VGPREV
030492,000930: 27,2475 03504 DELVREF
030493,000931: 27,2476 57414 BOFF VCOMP
030494,000932: 27,2477 01344 STEERSW
030495,000933: 27,2500 03771 S40EXIT
030496,000934: 27,2501 77656 UNIT
030497,000935: 27,2502 41441 DOT PUSH
030498,000936: 27,2503 03703 VG
030499,000937: 27,2504 56244 BPL DDV
030500,000938: 27,2505 56627 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
030501,000939: 27,2506 16646 2VEXHUST
030502,000940: 27,2507 41215 DAD DMP
030503,000941: 27,2510 06231 DPHALF
030504,000942: 27,2511 56261 SR DDV
030505,000943: 27,2512 20613 10D
030506,000944: 27,2513 00045 36D
030507,000945: 27,2514 43205 DMP DAD
030508,000946: 27,2515 16644 -FOURDT
030509,000947: 27,2516 03727 TDECAY
030510,000948: 27,2517 03474 STORE TGO
030511,000949: 27,2520 77615 DAD
030512,000950: 27,2521 01234 PIPTIME
030513,000951: 27,2522 17425 STODL TIG
030514,000952: 27,2523 03474 TGO
030515,000953:
030516,000954: 27,2524 51025 DSU BPL
030517,000955: 27,2525 16650 FOURSECS # 400 CS
030518,000956: 27,2526 56533 FINDCDUD
030519,000957: 27,2527 43014 SET CLRGO
030520,000958: 27,2530 01066 IMPULSW
030521,000959: 27,2531 01224 STEERSW
030522,000960: 27,2532 03771 S40EXIT
030523,000961:
030524,000962: 27,2533 44001 FINDCDUD SETPD STQ
030525,000963: 27,2534 00001 0
030526,000964: 27,2535 03771 S40EXIT
030527,000965: 27,2536 77634 RTB
030528,000966: 27,2537 66536 TMPTOSPT
030529,000967: 27,2540 45175 VLOAD CALL
030530,000968: 27,2541 03764 UDSTEER
030531,000969: 27,2542 47457 TRG*SMNB
030532,000970: 27,2543 03764 STORE UDSTEER
030533,000971: 27,2544 77775 VLOAD
030534,000972: 27,2545 01212 DELV
030535,000973: 27,2546 45056 UNIT CALL
030536,000974: 27,2547 47477 *SMNB*
030537,000975: 27,2550 64451 VSU VSR3
030538,000976: 27,2551 03461 UASTEER
030539,000977: 27,2552 53455 VAD UNIT
030540,000978: 27,2553 03461 UASTEER
030541,000979: 27,2554 03461 STORE UASTEER
030542,000980: 27,2555 47375 VLOAD VXV
030543,000981: 27,2556 03461 UASTEER
030544,000982: 27,2557 03764 UDSTEER
030545,000983: 27,2560 00013 STORE 10D
030546,000984: 27,2561 41446 ABVAL PUSH
030547,000985: 27,2562 50025 DSU BMN
030548,000986: 27,2563 16654 SIN20DEG
030549,000987: 27,2564 56576 SCALPROD
030550,000988: 27,2565 77745 DLOAD
030551,000989: 27,2566 51025 DSU BPL
030552,000990: 27,2567 16652 SIN45DEG
030553,000991: 27,2570 56627 ALARMIT
030554,000992: 27,2571 53575 VLOAD UNIT
030555,000993: 27,2572 00013 10D
030556,000994: 27,2573 76561 VXSC VSL1
030557,000995: 27,2574 16654 SIN20DEG
030558,000996: 27,2575 00013 STORE 10D
030559,000997:
030560,000998: 27,2576 74375 SCALPROD VLOAD VXSC
030561,000999: 27,2577 00013 10D
030562,001000: 27,2600 16640 1/PI
030563,001001: 27,2601 00013 STORE 10D
030564,001002: 27,2602 45001 SETPD CALL
030565,001003: 27,2603 00001 0
030566,001004: 27,2604 56655 CALCCMD
030567,001005: 27,2605 53375 VLOAD VAD
030568,001006: 27,2606 00025 20D
030569,001007: 27,2607 00767 CDUSPOT
030570,001008: 27,2610 77434 RTB EXIT
030571,001009: 27,2611 21516 V1STO2S
030572,001010:
030573,001011: 27,2612 52155 DXCH MPAC
030574,001012: 27,2613 53210 DXCH CTHETA
030575,001013: 27,2614 31632 CA CDUXD
030576,001014: 27,2615 55206 TS CPHI
030577,001015:
030578,001016: 27,2616 35012 CAF BIT13
030579,001017: 27,2617 00006 EXTEND
030580,001018: 27,2620 02031 RAND CHAN31
030581,001019: 27,2621 00006 EXTEND
030582,001020: 27,2622 12632 BZF S40.8XIT
030583,001021:
030584,001022: 27,2623 00006 EXTEND
030585,001023: 27,2624 31210 DCA CTHETA
030586,001024: 27,2625 53634 DXCH CDUYD
030587,001025: 27,2626 12632 TCF S40.8XIT
030588,001026:
030589,001027: 27,2627 77776 ALARMIT EXIT
030590,001028: 27,2630 05651 TC ALARM
030591,001029: 27,2631 01407 OCT 01407
030592,001030: 27,2632 31176 S40.8XIT CAE TEMPR60
030593,001031: 27,2633 54003 TS EBANK
030594,001032: 27,2634 06014 TC INTPRET
030595,001033: 27,2635 77650 GOTO
030596,001034: 27,2636 03771 S40EXIT
030597,001035:
030598,001036: 27,2637 24276 14076 1/PI 2DEC 0.3183099 B1
030599,001037: 27,2641 00002 00545 UNUSEDC1 2OCT 00002 00545
030600,001038:
030601,001039: 27,2643 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
030602,001040: 27,2645 17000 00000 2VEXHUST 2DEC 3000 E-2 B-6
030603,001041: 27,2647 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28)CS
030604,001042: 27,2651 05520 11006 SIN45DEG 2DEC 0.7071 B-2
030605,001043: 27,2653 02572 00505 SIN20DEG 2DEC 0.34229 B-2
030606,001044:
030607,001045: 27,2655 41345 CALCCMD DLOAD DMP
030608,001046: 27,2656 00015 12D
030609,001047: 27,2657 00751 COSCDUX
030610,001048: 27,2660 41325 PDDL DMP
030611,001049: 27,2661 00017 14D
030612,001050: 27,2662 00743 SINCDUX
030613,001051: 27,2663 77621 BDSU
030614,001052: 27,2664 77671 DDV
030615,001053: 27,2665 00747 COSCDUZ
030616,001054: 27,2666 00025 STORE 20D
030617,001055: 27,2667 57545 DLOAD DCOMP
030618,001056: 27,2670 00773 CDUSPOTX
030619,001057: 27,2671 14031 STODL 24D
030620,001058: 27,2672 00015 12D
030621,001059: 27,2673 65205 DMP PDDL
030622,001060: 27,2674 00743 SINCDUX
030623,001061: 27,2675 00017 14D
030624,001062: 27,2676 43205 DMP DAD
030625,001063: 27,2677 00751 COSCDUX
030626,001064: 27,2700 77752 SL1
030627,001065: 27,2701 00027 STORE 22D
030628,001066: 27,2702 77616 RVQ
030629,001067:
030630,001068: # NAME S40.13 - TIMEBURN
030631,001069: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
030632,001070: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
030633,001071: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
030634,001072: # BURN
030635,001073: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
030636,001074: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
030637,001075: # SIGNAL
030638,001076: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
030639,001077: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
030640,001078: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
030641,001079: # F APS ENGINE THRUST IN M.NEWTONS AT +7
030642,001080: # AND ALSO FOR RCS ENGINE
030643,001081: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
030644,001082: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
030645,001083: # REQUIRE MODIFICATION FOR SATURN BURNS.
030646,001084: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
030647,001085: # =0 DPS
030648,001086: # =1 APS
030649,001087: # OUTPUT IMPULSW ZERO FOR STEERING
030650,001088: # ONE FOR ATTITUDE HOLD
030651,001089: # NOTHROTL ZERO FOR THROTTLING
030652,001090: # ONE TO INHIBIT THROTTLING
030653,001091: # TGO TIME TO BURN IN CS
030654,001092: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
030655,001093: # FORCE
030656,001094:
030657,001095:
030658,001096: 27,2703 E7,1473 EBANK= TGO
030659,001097: 27,2703 COUNT* $$/40.13
030660,001098: 27,2703 06014 S40.13 TC INTPRET
030661,001099: 27,2704 43001 SETPD CLEAR
030662,001100: 27,2705 00001 00D
030663,001101: 27,2706 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
030664,001102: 27,2707 51575 VLOAD ABVAL
030665,001103: 27,2710 03674 VGTIG # VELOCITY TO BE GAINED AT +7
030666,001104: 27,2711 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
030667,001105: 27,2712 17056 7SEC # 700 CS AT + 18
030668,001106: 27,2713 17060 FRCS2B3
030669,001107: 27,2714 62471 DDV SL2 # SCALE
030670,001108: 27,2715 01244 WEIGHT/G
030671,001109: 27,2716 41421 BDSU PUSH
030672,001110: 27,2717 43014 BOFF SET
030673,001111: 27,2720 00743 APSFLAG
030674,001112: 27,2721 56771 S40.13D # FOR DPS ENGINE
030675,001113: 27,2722 02463 NOTHROTL
030676,001114: 27,2723 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
030677,001115: 27,2724 17040 K1VAL # M.NEWTONS-CS AT +24
030678,001116: 27,2725 01244 WEIGHT/G
030679,001117: 27,2726 50021 BDSU BMN
030680,001118:
030681,001119: 27,2727 00001 00D
030682,001120: 27,2730 56753 S40.131 # TGO LESS THAN 100 CS
030683,001121: 27,2731 41325 PDDL DMP # 02D = TEMP1 AT +7
030684,001122: 27,2732 03725 MDOT
030685,001123:
030686,001124: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
030687,001125: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
030688,001126: # REQUIRE ADJUSTMENT
030689,001127:
030690,001128: 27,2733 17050 3.5SEC # 350 CS AT +14
030691,001129: 27,2734 65221 BDSU PDDL
030692,001130: 27,2735 01244 WEIGHT/G
030693,001131: 27,2736 03723 F
030694,001132: 27,2737 60405 DMP SR2 # SCALE
030695,001133: 27,2740 17052 5SECS
030696,001134: 27,2741 41471 DDV PUSH # 04D = TEMP2
030697,001135: 27,2742 51021 BDSU BPL
030698,001136: 27,2743 00003 02D
030699,001137: 27,2744 56771 S40.13D
030700,001138: 27,2745 55345 DLOAD BDDV
030701,001139: 27,2746 43205 DMP DAD
030702,001140: 27,2747 17052 5SECS
030703,001141: 27,2750 17046 1SEC2D # 100 CS AT +14
030704,001142: 27,2751 77650 GOTO
030705,001143: 27,2752 56761 S40.132
030706,001144: 27,2753 41345 S40.131 DLOAD DMP
030707,001145: 27,2754 01244 WEIGHT/G
030708,001146: 27,2755 41542 SR1 PUSH
030709,001147: 27,2756 56215 DAD DDV
030710,001148: 27,2757 17042 K2VAL # M.NEWTON CS AT +24
030711,001149: 27,2760 17044 K3VAL # M.NEWTON CS AT +10
030712,001150: 27,2761 77414 S40.132 SET EXIT
030713,001151: 27,2762 01066 IMPULSW
030714,001152: 27,2763 07231 S40.132* TC TPAGREE
030715,001153: 27,2764 30154 CA MPAC
030716,001154: 27,2765 56001 XCH L
030717,001155: 27,2766 35030 CA ZERO
030718,001156: 27,2767 53474 DXCH TGO
030719,001157: 27,2770 13013 TCF S40.134
030720,001158:
030721,001159: 27,2771 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
030722,001160: 27,2772 00001 00D
030723,001161: 27,2773 01244 WEIGHT/G
030724,001162: 27,2774 43006 PUSH BON
030725,001163: 27,2775 00703 APSFLAG
030726,001164: 27,2776 57034 APSTGO
030727,001165: 27,2777 43071 DDV CLEAR
030728,001166: 27,3000 17062 S40.136
030729,001167: 27,3001 02663 NOTHROTL
030730,001168: 27,3002 41400 BOV PUSH
030731,001169:
030732,001170: 27,3003 57016 S40.130V
030733,001171: 27,3004 51025 S40.137 DSU BPL
030734,001172: 27,3005 17054 6SEC # 600.0 CS AT +14
030735,001173: 27,3006 57024 S40.138
030736,001174: 27,3007 52015 DAD GOTO
030737,001175: 27,3010 17054 6SEC
030738,001176: 27,3011 56761 S40.132
030739,001177: 27,3012 77776 S40.133 EXIT
030740,001178: 27,3013 05423 S40.134 TC PHASCHNG
030741,001179: 27,3014 00003 OCT 00003
030742,001180: 27,3015 05225 TC ENDOFJOB
030743,001181: 27,3016 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
030744,001182: 27,3017 77671 DDV
030745,001183: 27,3020 17064 S40.136_ # S40.136 SHIFTED LEFT 10
030746,001184: 27,3021 03474 STORE TGO
030747,001185: 27,3022 77776 EXIT
030748,001186: 27,3023 13013 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
030749,001187:
030750,001188: 27,3024 51025 S40.138 DSU BPL
030751,001189: 27,3025 17066 89SECS
030752,001190: 27,3026 57031 STORETGO
030753,001191: 27,3027 77614 SET
030754,001192: 27,3030 02463 NOTHROTL
030755,001193: 27,3031 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
030756,001194: 27,3032 77776 EXIT
030757,001195: 27,3033 12763 TCF S40.132*
030758,001196:
030759,001197: 27,3034 52071 APSTGO DDV GOTO
030760,001198: 27,3035 17070 FAPSB9
030761,001199: 27,3036 57032 STORETGO +1
030762,001200: 27,3037 00000 07621 K1VAL 2DEC 124.54 B-23 # 2800 LB-SEC
030763,001201: 27,3041 00000 00762 K2VAL 2DEC 31.138 B-24 # 700 LB-SEC
030764,001202: 27,3043 00030 35052 K3VAL 2DEC 1.556802 B-10 # FAPS ( 3500 LBS THRUST)
030765,001203: 27,3045 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
030766,001204: 27,3047 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
030767,001205: 27,3051 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
030768,001206: 27,3053 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
030769,001207: 27,3055 00000 01274 7SEC 2DEC 700.0 # 700.0 CS
030770,001208: 27,3057 26614 05221 FRCS2B3 2DEC 0.08896 B3 # 200 LBS FORCE IN NEWTONS
030771,001209: 27,3061 00016 36237 S40.136 2DEC .4671 B-9 # .4671 M NEWTONS (DPS)
030772,001210: 27,3063 35711 35663 S40.136_ 2DEC .4671 B+1 # S40.136 SHIFTED LEFT 10.
030773,001211: 27,3065 21304 00000 89SECS 2DEC 8900.0 B-14
030774,001212: 27,3067 00061 32124 FAPSB9 2DEC 1.5568 B-9 # 3500 LBS FORCE IN NEWTONS
030775,001213: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
030776,001214: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
030777,001215: # COMPUTATION CYCLES (4 SECONDS).
030778,001216: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
030779,001217: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
030780,001218: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
030781,001219: # CALLING SEQ VIA FINDVAC AS NEW JOB.
030782,001220:
030783,001221: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
030784,001222: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
030785,001223: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
030786,001224: # METERS/CS AT +7.
030787,001225: # TIG - TIME OF IGNITION IN CS AT +28.
030788,001226: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
030789,001227: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
030790,001228: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
030791,001229: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
030792,001230: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
030793,001231: # METERS/CS AT +7.
030794,001232: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
030795,001233: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
030796,001234: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
030797,001235: # BDT - B VECTOR IN METERS/CS AT +7.
030798,001236: # SUBROUTINES USED - INITVEL
030799,001237:
030800,001238: 27,3071 E7,1673 EBANK= VGPREV
030801,001239: 27,3071 COUNT* $$/S40.9
030802,001240: 27,3071 06014 S40.9 TC INTPRET
030803,001241: 27,3072 77201 SETPD VLOAD
030804,001242: 27,3073 00001 00D
030805,001243: 27,3074 01220 RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
030806,001244: 27,3075 26341 STOVL RINIT
030807,001245: 27,3076 01226 VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
030808,001246: 27,3077 16347 STODL VINIT
030809,001247: 27,3100 01234 PIPTIME
030810,001248: 27,3101 03717 STORE TNIT
030811,001249: 27,3102 77621 BDSU
030812,001250: 27,3103 03616 TPASS4
030813,001251: 27,3104 02355 STORE DELLT4 # T2 - T1
030814,001252: 27,3105 71214 SET DLOAD
030815,001253: 27,3106 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
030816,001254: 27,3107 06233 HI6ZEROS
030817,001255: 27,3110 77725 PDDL
030818,001256: 27,3111 16411 EPS1
030819,001257: 27,3112 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
030820,001258: 27,3113 03745 NORMSW
030821,001259: 27,3114 57116 EPSSMALL
030822,001260: 27,3115 16413 EPS2
030823,001261: 27,3116 74006 EPSSMALL PUSH AXC,1
030824,001262: 27,3117 00002 2
030825,001263: 27,3120 45014 S40.92 BOFSET CALL
030826,001264: 27,3121 03044 FIRSTFLG
030827,001265: 27,3122 57224 INITINIT
030828,001266: 27,3123 22024 HAVEGUES
030829,001267: 27,3124 52375 VLOAD VSU
030830,001268: 27,3125 02357 VIPRIME
030831,001269: 27,3126 03711 VRPREV
030832,001270: 27,3127 45325 PDDL DSU
030833,001271: 27,3130 03717 TNIT
030834,001272: 27,3131 03721 TNITPREV
030835,001273:
030836,001274: 27,3132 55261 SL BDDV
030837,001275: 27,3133 20223 18D
030838,001276: 27,3134 17223 100B10
030839,001277: 27,3135 77761 VXSC
030840,001278: 27,3136 76451 VSU VSL1
030841,001279: 27,3137 01236 GDT/2
030842,001280: 27,3140 03660 STORE BDT
030843,001281:
030844,001282: 27,3141 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
030845,001283: 27,3142 01220 RN
030846,001284: 27,3143 45345 DLOAD DSU
030847,001285: 27,3144 01234 PIPTIME # 2
030848,001286: 27,3145 03574 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
030849,001287: 27,3146 56205 DMP DDV # OBL
030850,001288: 27,3147 17231 EARTHMU
030851,001289: 27,3150 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
030852,001290: 27,3151 53361 VXSC VAD
030853,001291: 27,3152 03476 UNITGOBL
030854,001292: 27,3153 03363 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
030855,001293: 27,3154 03363 STORE DELVEET3 # VG = VR + GOBL - VN
030856,001294: 27,3155 77646 NOGOBL ABVAL
030857,001295: 27,3156 17651 STODL VGDISP
030858,001296: 27,3157 03717 TNIT
030859,001297: 27,3160 03721 STORE TNITPREV
030860,001298: 27,3161 77776 EXIT
030861,001299: 27,3162 05423 TC PHASCHNG
030862,001300: 27,3163 05022 OCT 05022
030863,001301: 27,3164 14000 OCT 14000
030864,001302: 27,3165 06014 TC INTPRET
030865,001303: 27,3166 77775 VLOAD
030866,001304: 27,3167 02357 VIPRIME # VR(T)
030867,001305: 27,3170 03711 STORE VRPREV
030868,001306: 27,3171 77776 EXIT
030869,001307: 27,3172 05423 TC PHASCHNG
030870,001308: 27,3173 05022 OCT 05022
030871,001309: 27,3174 14000 OCT 14000
030872,001310: 27,3175 06014 TC INTPRET
030873,001311: 27,3176 77214 BON VLOAD
030874,001312: 27,3177 01305 CYCLESW
030875,001313: 27,3200 57206 S40.91
030876,001314: 27,3201 03363 DELVEET3
030877,001315: 27,3202 03674 STORE VGPREV
030878,001316: 27,3203 52014 SET GOTO
030879,001317: 27,3204 01065 CYCLESW
030880,001318: 27,3205 57216 ENDS40.9
030881,001319: 27,3206 53375 S40.91 VLOAD VAD # EXTRAPOLATE FOR V TO GAIN
030882,001320: 27,3207 03363 DELVEET3
030883,001321: 27,3210 03660 BDT
030884,001322:
030885,001323: 27,3211 77651 VSU
030886,001324: 27,3212 03504 DELVREF
030887,001325: 27,3213 03674 STORE VGPREV
030888,001326: 27,3214 77646 ABVAL
030889,001327: 27,3215 03651 STORE VGDISP # FOR DISPLAY PURPOSES
030890,001328: 27,3216 77776 ENDS40.9 EXIT
030891,001329: 27,3217 05423 TC PHASCHNG
030892,001330: 27,3220 00002 OCT 2
030893,001331: 27,3221 05225 TC ENDOFJOB
030894,001332: 27,3222 03100 00000 100B10 2DEC 100 B-10
030895,001333: 27,3224 77624 INITINIT CALL
030896,001334: 27,3225 22024 HAVEGUES
030897,001335: 27,3226 77650 GOTO
030898,001336: 27,3227 57141 GETGOBL
030899,001337:
030900,001338: 27,3230 55340 61710 EARTHMU 2DEC* -3.986032 E10 B-36* # M(3)/CS(2)
030901,001339:
030902,001340: # MOD 0 24 FEB 67 PETER ADLER
030903,001341: # FUNCTION:
030904,001342: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
030905,001343: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
030906,001344: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
030907,001345: # CALLING SEQUENCE:
030908,001346: # VIA WAITLIST FROM R03
030909,001347: # INPUT:
030910,001348: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
030911,001349: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
030912,001350: # SUBROUTINES USED:
030913,001351: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
030914,001352:
030915,001353: 27,3232 COUNT* $$/S40.6
030916,001354: 27,3232 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
030917,001355:
030918,001356: 27,3232 05600 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
030919,001357: 27,3233 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
030920,001358:
030921,001359: 27,3234 35065 CAF EBANK6
030922,001360: 27,3235 56003 XCH EBANK
030923,001361: 27,3236 54061 TS ITEMP1
030924,001362:
030925,001363: 27,3237 45067 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
030926,001364: 27,3240 00006 EXTEND
030927,001365: 27,3241 03012 WAND CHAN12
030928,001366: 27,3242 35064 CAF EBANK5 # TURN ON + PITCH, + ROLL.
030929,001367: 27,3243 00006 EXTEND
030930,001368: 27,3244 05012 WOR CHAN12
030931,001369: 27,3245 05271 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
030932,001370: 27,3246 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
030933,001371: 27,3247 45064 CS EBANK5 # TURN OFF + PITCH, + ROLL.
030934,001372: 27,3250 00006 EXTEND
030935,001373: 27,3251 03012 WAND CHAN12
030936,001374: 27,3252 35067 CAF PRIO5 # TURN ON - PITCH, - ROLL.
030937,001375: 27,3253 00006 EXTEND
030938,001376: 27,3254 05012 WOR CHAN12
030939,001377: 27,3255 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
030940,001378: 27,3256 05243 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
030941,001379:
030942,001380: 27,3257 03300 ADRES PITCHOFF
030943,001381:
030944,001382: 27,3260 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
030945,001383: 27,3261 05274 TC VARDELAY # UNTIL THEN
030946,001384: 27,3262 45013 CS BIT12
030947,001385: 27,3263 00006 EXTEND
030948,001386: 27,3264 03012 WAND CHAN12 # SHUT OFF ROLL
030949,001387: 27,3265 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
030950,001388: 27,3266 75015 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
030951,001389: 27,3267 00006 EXTEND
030952,001390: 27,3270 13304 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
030953,001391: 27,3271 30061 CA ITEMP1
030954,001392: 27,3272 54003 TS EBANK
030955,001393: 27,3273 35012 CAF PRIO10 # RETURN TO R03
030956,001394: 27,3274 05142 TC NOVAC
030957,001395: 27,3275 E7,1456 EBANK= WHOCARES
030958,001396: 27,3275 02171 40067 2CADR TRIMDONE
030959,001397: 27,3277 05331 TC TASKOVER
030960,001398: 27,3300 45015 PITCHOFF CS BIT10
030961,001399: 27,3301 00006 EXTEND
030962,001400: 27,3302 03012 WAND CHAN12 # SHUT OFF PITCH
030963,001401: 27,3303 13265 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
030964,001402: 27,3304 05566 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
030965,001403: 27,3305 00137 ADRES GMBDRVSW
030966,001404: 27,3306 05331 TC TASKOVER
030967,001405:
030968,001406: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
030969,001407:
030970,001408: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
030971,001409:
030972,001410: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
030973,001411:
030974,001412: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
030975,001413: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
030976,001414: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
030977,001415: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
030978,001416: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
030979,001417: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
030980,001418: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
030981,001419: # CALLER WITH C(MPAC) = VELOCITY(LM).
030982,001420:
030983,001421:
030984,001422: # CALLING SEQUENCE:
030985,001423: # L VLOAD CALL
030986,001424: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
030987,001425: # L +2 S41.1
030988,001426: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
030989,001427:
030990,001428: # SUBROUTINES CALLED:
030991,001429:
030992,001430: # 1. CDUTRIG,
030993,001431: # WHICH CALLS CDULOGIC.
030994,001432: # 2. *SMNB*
030995,001433:
030996,001434: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
030997,001435:
030998,001436: # ALARM/ABORT MODES: NONE.
030999,001437:
031000,001438: # RESTART PROTECTION: NONE.
031001,001439:
031002,001440: # INPUT:
031003,001441:
031004,001442: # 1. REFSMMAT.
031005,001443: # 2. CDUX, CDUY, CDUZ.
031006,001444: # 3. VELOCITY (REF) IN MPAC.
031007,001445:
031008,001446: # OUTPUT:
031009,001447:
031010,001448: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
031011,001449: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
031012,001450: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
031013,001451: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
031014,001452:
031015,001453: # DEBRIS: NONE.
031016,001454:
031017,001455: # CHECKOUT STATUS: CODED.
031018,001456:
031019,001457: 27,3307 COUNT* $$/S41.1
031020,001458: 27,3307 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
031021,001459: 27,3310 01736 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
031022,001460: 27,3311 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
031023,001461: 27,3312 47454 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
031024,001462: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc