Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
029441,000002: ## Copyright: Public domain.
029442,000003: ## Filename: P40-P47.agc
029443,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
029444,000005: ## It is part of the reconstructed source code for the Lunar
029445,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
029446,000007: ## No original listings of this program are available;
029447,000008: ## instead, this file was created via disassembly of dumps
029448,000009: ## of various revisions of Sundance core rope modules.
029449,000010: ## Assembler: yaYUL
029450,000011: ## Contact: Ron Burkey <info@sandroid.org>.
029451,000012: ## Website: www.ibiblio.org/apollo/index.html
029452,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
029453,000014: ## 2021-05-30 ABS Aligned TCF BURNBABY and TCF B*RNB*B* to field
029454,000015: ## boundaries and surrounding comments to match.
029455,000016: ## TGDCALC -> TGOCALC
029456,000017:
029457,000018: ## Sundance 306
029458,000019:
029459,000020: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
029460,000021: # MOD 03 BY PETER ADLER MARCH 3, 1967
029461,000022: # CALLED VIA JOB FROM V37E
029462,000023:
029463,000024: # FUNCTIONAL DESCRIPTION
029464,000025:
029465,000026: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
029466,000027: # THRUSTING MANEUVER.
029467,000028:
|
|
(There is no item #2 in the original program listing.) |
029469,000030:
029470,000031: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
029471,000032:
029472,000033: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
029473,000034: # PGNCS CONTROLLED DPS MANEUVER.
029474,000035:
029475,000036: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
029476,000037: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
029477,000038:
029478,000039: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
029479,000040: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
029480,000041:
029481,000042: # SUBROUTINES USED
029482,000043:
029483,000044: # R02 IMU STATUS CHECK
029484,000045: # S40.1 COMPUTATION OF THRUST DIRECTION
029485,000046: # S40.13 LENGTH OF BURN
029486,000047: # S40.2,3 PREFERRED IMU ORIENATTION
029487,000048: # S40.8 X PRODUCT STEERING
029488,000049: # S40.9 LAMBERT VTOGAIN
029489,000050: # R60LEM ATTITUDE MANEUVER
029490,000051: # LEMPREC EXTRAPOLATE STATE VECTOR
029491,000052: # PREREAD AVERAGE G, SERVICER
029492,000053: # ALLCOAST DAP COASTING INITIALIZATION
029493,000054: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
029494,000055: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
029495,000056: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
029496,000057: # KILLTASK, SGNAGREE, TPAGREE, ETC.
029497,000058:
029498,000059: # RESTARTS VIA GROUP 4
029499,000060:
029500,000061: # DISPLAYS
029501,000062:
029502,000063: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
029503,000064: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
029504,000065: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
029505,000066: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
029506,000067: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
029507,000068: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
029508,000069: # V05N09 POSSIBLE ALARMS
029509,000070: # V50N07 PLEASE SELECT P00
029510,000071:
029511,000072: # VIA R30
029512,000073:
029513,000074: # V06N44 HAPO, PERI, TFF
029514,000075: # V06N35 TIME TO PERIGEE, HMS
029515,000076:
029516,000077: # ALARM OR ABORT EXIT MODES
029517,000078:
029518,000079: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
029519,000080: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
029520,000081:
029521,000082: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
029522,000083: # TIG BY 45 SECS.
029523,000084:
029524,000085: # ERASABLE INITIALIZATION
029525,000086: # DEBRIS
029526,000087: # OUTPUT
029527,000088:
029528,000089: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
029529,000090: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
029530,000091: # = 0 FOR AIMPT (LAMBERT) COMP
029531,000092:
029532,000093: 27,2253 COUNT* $$/P40
029533,000094: 27,2253 E7,1430 EBANK= WHICH
029534,000095:
029535,000096: 36,3133 BANK 36
029536,000097: 36,2000 SETLOC P40S
029537,000098: 36,2000 BANK
029538,000099:
029539,000100: 36,3133 33114 P40LM CAF P40ADRES # INITIALIZATION FOR BURNBABY.
029540,000101: 36,3134 55430 TS WHICH
029541,000102:
029542,000103: 36,3135 00006 EXTEND
029543,000104: 36,3136 00030 READ CHAN30
029544,000105: 36,3137 40000 COM
029545,000106: 36,3140 75025 MASK BIT2
029546,000107: 36,3141 00006 EXTEND
029547,000108: 36,3142 13714 BZF P40ALM
029548,000109: 36,3143 04655 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
029549,000110: 36,3144 11064 CADR R02BOTH
029550,000111:
029551,000112: 36,3145 41102 CS DAPBOOLS # INITIALIZE DVMON
029552,000113: 36,3146 75012 MASK CSMDOCKD
029553,000114: 36,3147 10000 CCS A
029554,000115: 36,3150 33757 CAF THRESH1
029555,000116: 36,3151 63761 AD THRESH3
029556,000117: 36,3152 55201 TS DVTHRUSH
029557,000118: 36,3153 35026 CAF ONE
029558,000119: 36,3154 55202 TS AUXFLAG
029559,000120: 36,3155 35024 CAF FOUR
029560,000121: 36,3156 55472 TS DVCNTR
029561,000122:
029562,000123: 36,3157 06014 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
029563,000124: 36,3160 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
029564,000125: 36,3161 35725 FDPS
029565,000126: 36,3162 02663 NOTHROTL
029566,000127: 36,3163 03723 STORE F
029567,000128: 36,3164 77624 P40IN CALL
029568,000129: 36,3165 56253 S40.1 # COMPUTES UT AND VGTIG
029569,000130: 36,3166 77624 CALL
029570,000131: 36,3167 56416 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
029571,000132: 36,3170 77776 EXIT
029572,000133:
029573,000134: 36,3171 00004 INHINT
029574,000135: 36,3172 04737 TC IBNKCALL
029575,000136: 36,3173 40223 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
029576,000137:
029577,000138: 36,3174 03176 TC P40SXT4
029578,000139:
029579,000140:
029580,000141: # ***********************
029581,000142: 36,3175 12133 TCF BURNBABY
029582,000143: # ***********************
029583,000144:
029584,000145:
029585,000146: 36,3176 00006 P40SXT4 EXTEND
029586,000147: 36,3177 23153 QXCH P40/RET
029587,000148: 36,3200 00003 P41MANU RELINT
029588,000149:
029589,000150: 36,3201 05575 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
029590,000151: 36,3202 00124 ADRES 3AXISFLG
029591,000152:
029592,000153: 36,3203 04655 TC BANKCALL
029593,000154: 36,3204 54103 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
029594,000155: 36,3205 01153 TC P40/RET
029595,000156:
029596,000157:
029597,000158: 36,3206 E7,1447 EBANK= TRKMKCNT
029598,000159: 36,3206 35062 POSTBURN CA LOW10
029599,000160: 36,3207 55175 TS DISPDEX
029600,000161: 36,3210 00006 EXTEND
029601,000162: 36,3211 32040 DCA ACADN85
029602,000163: 36,3212 53253 DXCH AVEGEXIT
029603,000164: 36,3213 33763 CAF V16N40
029604,000165: 36,3214 04655 TC BANKCALL
029605,000166: 36,3215 20544 CADR GOFLASHR
029606,000167: 36,3216 03241 TC TERM40
029607,000168: 36,3217 13224 TCF TIGNOW
029608,000169: 36,3220 03206 TC POSTBURN
029609,000170:
029610,000171: 36,3221 05413 P40PHS1 TC PHASCHNG
029611,000172: 36,3222 00014 OCT 00014
029612,000173: 36,3223 15225 TCF ENDOFJOB
029613,000174:
029614,000175: 36,3224 00004 TIGNOW INHINT
029615,000176: 36,3225 04737 TC IBNKCALL
029616,000177: 36,3226 40232 CADR ZATTEROR
029617,000178: 36,3227 04737 TC IBNKCALL
029618,000179: 36,3230 40221 CADR SETMINDB
029619,000180: 36,3231 00003 RELINT
029620,000181: 36,3232 33764 CAF V16N85B
029621,000182: 36,3233 04655 TC BANKCALL
029622,000183: 36,3234 20375 CADR REFLASHR
029623,000184: 36,3235 03241 TC TERM40
029624,000185: 36,3236 13241 TCF TERM40
029625,000186: 36,3237 03232 TC -5
029626,000187:
029627,000188: 36,3240 13221 TCF P40PHS1
029628,000189:
029629,000190: 36,3241 00006 TERM40 EXTEND
029630,000191: 36,3242 32071 DCA SERVCADR
029631,000192: 36,3243 53253 DXCH AVEGEXIT
029632,000193: 36,3244 35030 CAF ZERO
029633,000194: 36,3245 55447 TS TRKMKCNT # ZERO RENDZVS CNTERS
029634,000195: 36,3246 35062 CA LOW10
029635,000196: 36,3247 55175 TS DISPDEX
029636,000197: 36,3250 00004 INHINT
029637,000198: 36,3251 04737 TC IBNKCALL
029638,000199: 36,3252 40204 CADR RESTORDB
029639,000200: 36,3253 00003 RELINT
029640,000201: 36,3254 04106 TC GOTOPOOH
029641,000202:
029642,000203: 36,3255 E7,1430 EBANK= WHICH
029643,000204: 36,3255 COUNT* $$/P41
029644,000205: 36,3255 33115 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
029645,000206: 36,3256 55430 TS WHICH
029646,000207:
029647,000208: 36,3257 04655 TC BANKCALL
029648,000209: 36,3260 11064 CADR R02BOTH
029649,000210:
029650,000211: 36,3261 06014 TC INTPRET # BOTH LM
029651,000212: 36,3262 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
029652,000213: 36,3263 00700 NJETSFLG
029653,000214: 36,3264 75270 P41FJET1
029654,000215: 36,3265 35733 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
029655,000216:
029656,000217: 36,3266 37723 P41FJET STCALL F
029657,000218: 36,3267 75273 P41IN
029658,000219: 36,3270 77745 P41FJET1 DLOAD
029659,000220:
029660,000221: 36,3271 35735 FRCS2
029661,000222: 36,3272 03723 STORE F
029662,000223:
029663,000224: 36,3273 77624 P41IN CALL
029664,000225: 36,3274 56253 S40.1 # BOTH
029665,000226: 36,3275 77624 P41NORM CALL
029666,000227: 36,3276 56416 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
029667,000228: 36,3277 77776 EXIT # SET PFRATFLG.
029668,000229:
029669,000230: 36,3300 00004 INHINT
029670,000231: 36,3301 04737 TC IBNKCALL
029671,000232: 36,3302 40232 CADR ZATTEROR # ZERO ATTITUDE ERRORS
029672,000233: 36,3303 04737 TC IBNKCALL
029673,000234: 36,3304 40221 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
029674,000235: 36,3305 03176 TC P40SXT4
029675,000236:
029676,000237: 36,3306 06014 TC INTPRET
029677,000238: 36,3307 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
029678,000239: 36,3310 03674 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
029679,000240: 36,3311 57307 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
029680,000241: 36,3312 03773 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
029681,000242: 36,3313 77776 EXIT
029682,000243:
029683,000244: 36,3314 33764 CAF V16N85B
029684,000245: 36,3315 04655 TC BANKCALL
029685,000246: 36,3316 20361 CADR GODSPRET
029686,000247:
029687,000248:
029688,000249: 36,3317 35067 CAF PRIO5
029689,000250: 36,3320 55175 TS DISPDEX # FOR SAFETY ONLY
029690,000251: 36,3321 05155 TC FINDVAC
029691,000252: 36,3322 E7,1673 EBANK= VGPREV
029692,000253: 36,3322 03344 74067 2CADR DYNMDISP
029693,000254:
029694,000255: 36,3324 05373 TC 2PHSCHNG
029695,000256: 36,3325 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
029696,000257: 36,3326 04024 OCT 04024 # GROUP 4 RESTARTS HERE
029697,000258:
029698,000259: # ***********************
029699,000260: 36,3327 12142 TCF B*RNB*B*
029700,000261: # ***********************
029701,000262:
029702,000263:
029703,000264: 36,3330 35047 BLNKWAIT CAF 1SEC
029704,000265: 36,3331 04655 TC BANKCALL
029705,000266: 36,3332 01730 CADR DELAYJOB
029706,000267:
029707,000268: 36,3333 31175 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
029708,000269: 36,3334 65025 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
029709,000270:
029710,000271: # ***********************
029711,000272:
029712,000273:
029713,000274: 36,3335 00006 EXTEND
029714,000275: 36,3336 13330 BZF BLNKWAIT
029715,000276:
029716,000277: 36,3337 33764 CAF V16N85B
029717,000278: 36,3340 04655 TC BANKCALL
029718,000279: 36,3341 20361 CADR GODSPRET
029719,000280:
029720,000281: 36,3342 35067 CAF PRIO5
029721,000282: 36,3343 05216 TC PRIOCHNG
029722,000283:
029723,000284: 36,3344 31175 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
029724,000285: 36,3345 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
029725,000286: 36,3346 65225 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
029726,000287: 36,3347 06014 TC INTPRET
029727,000288: 36,3350 45175 VLOAD CALL
029728,000289: 36,3351 03674 VGPREV
029729,000290: 36,3352 57307 S41.1
029730,000291: 36,3353 03773 STORE VGBODY
029731,000292: 36,3354 77776 EXIT
029732,000293: 36,3355 35047 CAF 1SEC
029733,000294: 36,3356 04655 TC BANKCALL
029734,000295: 36,3357 01730 CADR DELAYJOB
029735,000296: 36,3360 13344 TCF DYNMDISP
029736,000297:
029737,000298: 36,3361 06014 CALCN85 TC INTPRET
029738,000299: 36,3362 77624 CALL
029739,000300: 36,3363 75607 UPDATEVG
029740,000301: 36,3364 45175 VLOAD CALL
029741,000302: 36,3365 03674 VGPREV
029742,000303: 36,3366 57307 S41.1
029743,000304: 36,3367 03773 STORE VGBODY
029744,000305: 36,3370 77776 EXIT
029745,000306: 36,3371 04674 TC POSTJUMP
029746,000307: 36,3372 66351 CADR SERVEXIT
029747,000308:
029748,000309: 36,3373 COUNT* $$/P42
029749,000310: 36,3373 E7,1430 EBANK= WHICH
029750,000311:
029751,000312: 36,3373 33116 P42LM CAF P42ADRES # INITIALIZATION FOR BURNBABY.
029752,000313: 36,3374 55430 TS WHICH
029753,000314:
029754,000315: 36,3375 00006 EXTEND
029755,000316: 36,3376 00030 READ CHAN30
029756,000317: 36,3377 40000 COM
029757,000318: 36,3400 75025 MASK BIT2
029758,000319: 36,3401 10000 CCS A
029759,000320: 36,3402 03714 TC P40ALM
029760,000321: 36,3403 04655 TC BANKCALL
029761,000322: 36,3404 11064 CADR R02BOTH
029762,000323: 36,3405 33760 CAF THRESH2 # INITIALIZE DVMON
029763,000324: 36,3406 55201 TS DVTHRUSH
029764,000325: 36,3407 35026 CAF ONE
029765,000326: 36,3410 55202 TS AUXFLAG
029766,000327: 36,3411 35024 CAF FOUR
029767,000328: 36,3412 55472 TS DVCNTR
029768,000329:
029769,000330: 36,3413 06014 TC INTPRET
029770,000331: 36,3414 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
029771,000332: 36,3415 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
029772,000333: 36,3416 35737 FAPS
029773,000334: 36,3417 37723 STCALL F
029774,000335: 36,3420 75164 P40IN
029775,000336:
029776,000337: 36,3421 E7,1430 EBANK= WHICH
029777,000338:
029778,000339: 36,3421 COUNT* $$/P47
029779,000340: 36,3421 04655 P47LM TC BANKCALL
029780,000341: 36,3422 11064 CADR R02BOTH
029781,000342: 36,3423 06014 TC INTPRET
029782,000343: 36,3424 43234 RTB DAD
029783,000344: 36,3425 21454 LOADTIME
029784,000345: 36,3426 35745 SEC60DP
029785,000346: 36,3427 03425 STORE TIG
029786,000347: 36,3430 77776 EXIT
029787,000348:
029788,000349: 36,3431 00006 EXTEND
029789,000350: 36,3432 33745 DCA SEC60DP
029790,000351: 36,3433 05337 TC LONGCALL
029791,000352: 36,3434 E7,1430 EBANK= WHICH
029792,000353: 36,3434 03445 74067 2CADR STARTP47
029793,000354:
029794,000355: 36,3436 00003 RELINT
029795,000356: 36,3437 06014 TC INTPRET
029796,000357: 36,3440 45145 DLOAD CALL
029797,000358: 36,3441 03425 TIG
029798,000359: 36,3442 65672 TIGINT -1
029799,000360: 36,3443 77776 EXIT
029800,000361:
029801,000362: 36,3444 15225 TCF ENDOFJOB
029802,000363:
029803,000364: 36,3445 05413 STARTP47 TC PHASCHNG
029804,000365: 36,3446 05014 OCT 05014
029805,000366: 36,3447 77777 OCT 77777
029806,000367:
029807,000368: 36,3450 00006 EXTEND
029808,000369: 36,3451 33767 DCA ACADN83
029809,000370: 36,3452 53253 DXCH AVEGEXIT
029810,000371: 36,3453 35011 CAF PRIO20
029811,000372: 36,3454 05155 TC FINDVAC
029812,000373: 36,3455 E7,1607 EBANK= DELVIMU
029813,000374: 36,3455 03511 74067 2CADR P47BODY
029814,000375: 36,3457 12372 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
029815,000376: # SEE TIG-30 IN BURNBABY.
029816,000377:
029817,000378: 36,3460 06014 CALCN83 TC INTPRET
029818,000379: 36,3461 53375 VLOAD VAD
029819,000380: 36,3462 03773 DELVCTL
029820,000381: 36,3463 03504 DELVREF
029821,000382: 36,3464 03643 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
029822,000383:
029823,000384: 36,3465 77624 CALL
029824,000385: 36,3466 57307 S41.1
029825,000386: 36,3467 03610 STORE DELVIMU
029826,000387: 36,3470 77776 EXIT
029827,000388: 36,3471 05413 TC PHASCHNG
029828,000389: 36,3472 10035 OCT 10035 # REREADAC AND HERE
029829,000390:
029830,000391: 36,3473 06014 TC INTPRET
029831,000392: 36,3474 77775 VLOAD
029832,000393: 36,3475 03643 DELVSIN
029833,000394: 36,3476 03773 STORE DELVCTL
029834,000395: 36,3477 77776 EXIT
029835,000396:
029836,000397: 36,3500 04674 TC POSTJUMP
029837,000398: 36,3501 66351 CADR SERVEXIT
029838,000399:
029839,000400: 36,3502 33765 P47BOD CAF V1683
029840,000401: 36,3503 04655 TC BANKCALL
029841,000402: 36,3504 20544 CADR GOFLASHR
029842,000403: 36,3505 04106 TC GOTOPOOH
029843,000404: 36,3506 04106 TC GOTOPOOH
029844,000405:
029845,000406: 36,3507 13511 TCF P47BODY
029846,000407:
029847,000408: 36,3510 13221 TCF P40PHS1
029848,000409:
029849,000410: 36,3511 06014 P47BODY TC INTPRET
029850,000411: 36,3512 77775 VLOAD
029851,000412: 36,3513 06233 HI6ZEROS
029852,000413: 36,3514 03610 STORE DELVIMU
029853,000414: 36,3515 03773 STORE DELVCTL
029854,000415: 36,3516 77776 EXIT
029855,000416: 36,3517 03502 TC P47BOD
029856,000417:
029857,000418: 36,3520 COUNT* $$/P40
029858,000419: 36,3520 31474 IMPLBURN CA TGO +1
029859,000420: 36,3521 05243 TC TWIDDLE
029860,000421: 36,3522 03537 ADRES ENGOFTSK
029861,000422: 36,3523 05575 TC DOWNFLAG # TURN OFF IGNFLAG
029862,000423: 36,3524 00153 ADRES IGNFLAG
029863,000424: 36,3525 05575 TC DOWNFLAG # TURN OFF ASTNFLG
029864,000425: 36,3526 00154 ADRES ASTNFLAG
029865,000426: 36,3527 05575 TC DOWNFLAG # TURN OFF IMPULSW
029866,000427: 36,3530 00044 ADRES IMPULSW
029867,000428: 36,3531 05413 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
029868,000429: 36,3532 40114 OCT 40114
029869,000430:
029870,000431: 36,3533 05271 TC FIXDELAY # WAIT HALF A SECOND
029871,000432: 36,3534 00062 DEC 50 B-14
029872,000433:
029873,000434: 36,3535 02643 TC NOULLAGE # TURN OFF ULLAGE
029874,000435:
029875,000436: 36,3536 05321 TC TASKOVER
029876,000437:
029877,000438: 36,3537 04737 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
029878,000439: 36,3540 75542 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
029879,000440: 36,3541 05321 TC TASKOVER
029880,000441:
029881,000442: 36,3542 34703 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
029882,000443: 36,3543 05155 TC FINDVAC
029883,000444: 36,3544 E7,1447 EBANK= TRKMKCNT
029884,000445: 36,3544 03206 74067 2CADR POSTBURN
029885,000446:
029886,000447: 36,3546 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
029887,000448: 36,3547 75020 MASK IDLEFBIT
029888,000449: 36,3550 26103 ADS FLAGWRD7
029889,000450:
029890,000451: 36,3551 02643 TC NOULLAGE
029891,000452:
029892,000453: 36,3552 00006 EXTEND
029893,000454: 36,3553 30025 DCA TIME2
029894,000455: 36,3554 53355 DXCH TEVENT
029895,000456:
029896,000457: 36,3555 35026 ENGINOF2 CAF BIT1
029897,000458: 36,3556 05252 TC WAITLIST
029898,000459: 36,3557 E6,1420 EBANK= OMEGAQ
029899,000460: 36,3557 03604 74066 2CADR COASTSET
029900,000461:
029901,000462: 36,3561 44367 ENGINOF3 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
029902,000463: 36,3562 00006 EXTEND # SUBROUTINE.
029903,000464: 36,3563 02011 RAND DSALMOUT
029904,000465: 36,3564 65011 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
029905,000466: 36,3565 00006 EXTEND
029906,000467: 36,3566 01011 WRITE DSALMOUT
029907,000468:
029908,000469: 36,3567 45020 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
029909,000470: 36,3570 70101 MASK FLAGWRD5
029910,000471: 36,3571 54101 TS FLAGWRD5
029911,000472:
029912,000473: 36,3572 41102 CS DAPBOOLS # TURN OFF TRIM GIMBAL
029913,000474: 36,3573 75011 MASK USEQRJTS
029914,000475: 36,3574 27102 ADS DAPBOOLS
029915,000476:
029916,000477: 36,3575 45012 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
029917,000478: 36,3576 55417 TS PIF
029918,000479: 36,3577 54055 TS THRUST # IS TURNED OFF.
029919,000480: 36,3600 35023 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
029920,000481: 36,3601 00006 EXTEND # ENGINE IS DISARMED.
029921,000482: 36,3602 05014 WOR CHAN14
029922,000483:
029923,000484: 36,3603 04752 TC ISWRETRN
029924,000485:
029925,000486: 36,3604 04737 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
029926,000487: 36,3605 40263 CADR ALLCOAST
029927,000488: 36,3606 05321 TC TASKOVER
029928,000489:
029929,000490: 36,3607 E6,1420 EBANK= OMEGAQ
029930,000491: 36,3607 45020 UPDATEVG STQ CALL
029931,000492: 36,3610 03652 QTEMP1
029932,000493: 36,3611 56440 S40.8 # X-PRODUCT STEERING
029933,000494: 36,3612 43014 BON BOFSET
029934,000495: 36,3613 01307 XDELVFLG
029935,000496: 36,3614 03652 QTEMP1
029936,000497: 36,3615 01045 CYCLESW
029937,000498: 36,3616 03652 QTEMP1
029938,000499: 36,3617 77776 EXIT
029939,000500:
029940,000501: 36,3620 10755 CCS PHASE2
029941,000502: 36,3621 13634 TCF ENDSTEER # GROUP 2 ACTIVE --> LAMBERT STILL GOING.
029942,000503:
029943,000504: 36,3622 35012 CAF PRIO10
029944,000505: 36,3623 00004 INHINT
029945,000506: 36,3624 05155 TC FINDVAC
029946,000507: 36,3625 E7,1702 EBANK= VG
029947,000508: 36,3625 03071 56067 2CADR S40.9 # LAMBERT VTOGAIN
029948,000509:
029949,000510: 36,3627 05373 TC 2PHSCHNG
029950,000511: 36,3630 00172 OCT 00172 # 2.17SPOT FOR S40.9
029951,000512: 36,3631 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
029952,000513:
029953,000514: 36,3632 05575 TC DOWNFLAG
029954,000515: 36,3633 00043 ADRES CYCLESW # VG CALCULATION OMITTED
029955,000516: 36,3634 06014 ENDSTEER TC INTPRET
029956,000517: 36,3635 77650 GOTO
029957,000518: 36,3636 03652 QTEMP1
029958,000519:
029959,000520: 36,3637 06014 STEERING TC INTPRET
029960,000521:
029961,000522: 36,3640 77624 CALL
029962,000523: 36,3641 75607 UPDATEVG
029963,000524: 36,3642 77776 EXIT
029964,000525:
029965,000526: 36,3643 E7,1472 EBANK= DVCNTR
029966,000527: 36,3643 00004 NSTEER INHINT
029967,000528: 36,3644 35066 CA EBANK7
029968,000529: 36,3645 54003 TS EBANK
029969,000530: # PHASE CHANGE IN SERVERICER NEEDED HERE *********************************
029970,000531: 36,3646 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
029971,000532: 36,3647 75016 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
029972,000533: 36,3650 10000 CCS A # STEERING IS ALMOST DONE.
029973,000534:
029974,000535: 36,3651 13656 TCF +5 # IMPULSW = 0 EXIT
029975,000536:
029976,000537: 36,3652 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
029977,000538: 36,3653 75020 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
029978,000539: 36,3654 10000 CCS A
029979,000540: 36,3655 13660 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
029980,000541: 36,3656 04674 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
029981,000542: 36,3657 66351 CADR SERVEXIT
029982,000543:
029983,000544: 36,3660 05575 TC DOWNFLAG # TURN OFF IMPULSW
029984,000545: 36,3661 00044 ADRES IMPULSW
029985,000546:
029986,000547: 36,3662 05563 TC UPFLAG
029987,000548: 36,3663 00161 ADRES IDLEFLAG # TURN OFF DVMON
029988,000549:
029989,000550: 36,3664 00004 INHINT
029990,000551: 36,3665 00006 EXTEND
029991,000552: 36,3666 31425 DCA TIG
029992,000553: 36,3667 52155 DXCH MPAC
029993,000554: 36,3670 00006 EXTEND
029994,000555: 36,3671 40025 DCS TIME2
029995,000556: 36,3672 20155 DAS MPAC
029996,000557: 36,3673 07231 TC TPAGREE
029997,000558: 36,3674 30155 CAE MPAC +1
029998,000559: 36,3675 10000 CCS A
029999,000560: 36,3676 13701 TCF +3
030000,000561: 36,3677 13701 TCF +2
030001,000562: 36,3700 35030 CAF ZERO
030002,000563: 36,3701 65026 AD ONE
030003,000564: 36,3702 56001 XCH L
030004,000565: 36,3703 35030 CAF ZERO
030005,000566: 36,3704 53474 DXCH TGO
030006,000567: 36,3705 31474 CA TGO +1
030007,000568: 36,3706 05243 TC TWIDDLE
030008,000569: 36,3707 03537 ADRES ENGOFTSK
030009,000570: 36,3710 05373 TC 2PHSCHNG
030010,000571: 36,3711 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
030011,000572: 36,3712 00035 OCT 00035 # SERVICER--REREADAC
030012,000573:
030013,000574: 36,3713 15225 TCF ENDOFJOB
030014,000575:
030015,000576: 36,3714 05646 P40ALM TC ALARM # ASTRONAUT DOESN'T AGREE WITH STAGE
030016,000577: 36,3715 01706 OCT 01706 # VERIFY DISCRETE. HE HAS SELECTED P40,
030017,000578: 36,3716 35056 CAF V05N09 # BUT THE DAP THINKS THAT THE DESCENT UNIT
030018,000579: 36,3717 04655 TC BANKCALL # IS GONE--A SITUATION THAT WOULD MAKE A
030019,000580: 36,3720 20406 CADR GOFLASH # DPS BURN EXCEEDINGLY DIFFICULT.
030020,000581:
030021,000582: 36,3721 14106 TCF GOTOPOOH # V34E TERMINATE
030022,000583: 36,3722 13716 TCF -4 # V33E PROCEED (ILLEGAL)
030023,000584: 36,3723 13716 TCF -5 # RECYCLE (ILLEGAL)
030024,000585:
030025,000586: # ************************************************************************
030026,000587:
030027,000588: 36,3724 01050 33423 FDPS 2DEC 4.319223 B-7 # 9710.0 LBS FORCE IN NEWTONS
030028,000589: 36,3726 00022 07742 MDOTDPS 2DEC 0.00891025 B-3 # 32.62 LBS/SEC IN KGS/CS.
030029,000590: 36,3730 77777 77731 DTDECAY 2DEC -38 B-28
030030,000591:
030031,000592: 36,3732 00026 30630 FRCS4 2DEC 0.177929 B-7 # 400 LBS FORCE IN NEWTONS
030032,000593: 36,3734 00013 14314 FRCS2 2DEC 0.0889645 B-7 # 200 LBS FORCE IN NEWTONS
030033,000594:
030034,000595: 36,3736 00307 10516 FAPS 2DEC 1.5568 B-7 # 3500 LBS FORCE IN NEWTONS
030035,000596: 36,3740 00151 07074 MDOTAPS 2DEC 0.05137812 B-3 # 11.32 LBS/SEC IN KGS/CS
030036,000597: 36,3742 77777 77765 ATDECAY 2DEC -10 B-28
030037,000598:
030038,000599: 36,3744 00000 SEC60DP OCT 00000 # DON'T SEPARATE
030039,000600: 36,3745 13560 SEC60 DEC 6000 B-14 # DON'T SEPARATE
030040,000601: 36,3746 00000 SEC15DP OCT 00000 # DON'T SEPARATE
030041,000602: 36,3747 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
030042,000603: 36,3750 00000 05670 SEC30DP 2DEC 3000 B-28
030043,000604: 36,3752 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
030044,000605: 36,3753 10624 SEC45 DEC 4500 B-14
030045,000606: 36,3754 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
030046,000607: 36,3755 00764 5SEC DEC 500 B-14
030047,000608: 36,3756 05050 26SECS DEC 2600 B-14
030048,000609: 36,3757 00030 THRESH1 DEC 24 B-14
030049,000610: 36,3760 00464 THRESH2 DEC 308 B-14
030050,000611: 36,3761 00014 THRESH3 DEC 12 B-14
030051,000612: 36,3762 5012 HIRTHROT = BIT13
030052,000613: 36,3762 00203 P40A/PMD OCT 00203
030053,000614: 36,3763 04050 V16N40 VN 1640
030054,000615: 36,3764 04125 V16N85B VN 1685
030055,000616: 36,3765 04123 V1683 VN 1683
030056,000617: 36,3766 5047 SEC01 = 1SEC
030057,000618: 36,3766 36,2037 ACADN85 = P41TABLE +2
030058,000619:
030059,000620: 36,3766 E7,1607 EBANK= DELVIMU
030060,000621: 36,3766 03460 74067 ACADN83 2CADR CALCN83
030061,000622:
|
|
Sundance 302 |
030063,000624:
030064,000625: # *************************************************
030065,000626:
030066,000627: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
030067,000628: # MOD N02 LOG SECTION P40-P47
030068,000629: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
030069,000630: # FUNCTIONAL DESCRIPTION
030070,000631: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
030071,000632: # VECTOR(VGTIG).
030072,000633: # CALLING SEQUENCE
030073,000634: # L CALL
030074,000635: # L+1 S40.1
030075,000636: # NORMAL EXIT MODE
030076,000637: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
030077,000638: # ERROR RETURN IF NOSOFLAG =1
030078,000639: # SUBROUTINES CALLED
030079,000640: # LEMPREC
030080,000641: # INITVEL
030081,000642: # CALCGRAV
030082,000643: # MIDGIM
030083,000644: # ALARM OR ABORT EXIT MODES
030084,000645: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
030085,000646: # ERASABLE INITIALIZATION REQUIRED
030086,000647: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
030087,000648: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
030088,000649: # F THRUST FOR ENGINE USED
030089,000650: # IF DELTA-V MANEUVER
030090,000651: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
030091,000652: # INERTIAL COORDS. OF ACTIVE VEHICLE
030092,000653: # AT TIME OF IGNITION VECTOR B7M/CS
030093,000654: # DELVSAB MAG. OF DELVSIN DP B7M/CS
030094,000655: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
030095,000656: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
030096,000657: # IF AIMPT STEER
030097,000658: # TIG TIME OF IGNITION DP B28CS
030098,000659: # RTARG POSITION TARGET TIME VECTOR B29M
030099,000660: # CSTEER C FOR STEER LAW DP B2
030100,000661: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
030101,000662: # OUTPUT
030102,000663: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
030103,000664: # VGTIG INITIAL VALUE OF VELOCITY
030104,000665: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
030105,000666: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
030106,000667: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
030107,000668: # -GDT FOR S40.13 VECT B7M/CS
030108,000669: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
030109,000670: # POSITION AT TIME OF IGNITION
030110,000671: # DEBRIS QTEMP1
030111,000672: # MPAC,QPRET
030112,000673: # PUSHLIST
030113,000674:
030114,000675: 14,2000 BANK 14
030115,000676: 27,2000 SETLOC P40S1
030116,000677: 27,2000 BANK
030117,000678:
030118,000679: 27,2253 COUNT* $$/S40.1
030119,000680: 27,2253 44014 S40.1 CLEAR STQ
030120,000681: 27,2254 03264 FIRSTFLG
030121,000682: 27,2255 03617 QTEMP
030122,000683: 27,2256 77614 DELVTEST BOFF
030123,000684: 27,2257 01347 XDELVFLG
030124,000685: 27,2260 56345 S40.1B
030125,000686: 27,2261 77201 CALCTHET SETPD VLOAD
030126,000687: 27,2262 00001 0
030127,000688: 27,2263 03635 VTIG
030128,000689: 27,2264 02347 STORE VINIT
030129,000690: 27,2265 53435 VXV UNIT
030130,000691: 27,2266 03627 RTIG
030131,000692: 27,2267 27666 STOVL UT # UP IN UT
030132,000693: 27,2270 03627 RTIG
030133,000694: 27,2271 02341 STORE RINIT
030134,000695: 27,2272 65236 VSQ PDDL
030135,000696: 27,2273 00045 36D
030136,000697: 27,2274 56205 DMP DDV
030137,000698: 27,2275 16415 THETACON
030138,000699: 27,2276 41205 DMP DMP
030139,000700: 27,2277 03651 DELVSAB
030140,000701: 27,2300 01244 WEIGHT/G
030141,000702: 27,2301 77671 DDV
030142,000703: 27,2302 03723 F
030143,000704: 27,2303 24017 STOVL 14D
030144,000705: 27,2304 03643 DELVSIN
030145,000706:
030146,000707: 27,2305 74241 DOT VXSC
030147,000708: 27,2306 03666 UT
030148,000709: 27,2307 03666 UT
030149,000710: 27,2310 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
030150,000711: 27,2311 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
030151,000712: 27,2312 03643 DELVSIN
030152,000713: 27,2313 00017 14D
030153,000714: 27,2314 63356 SIN PDVL
030154,000715: 27,2315 00007 6D
030155,000716: 27,2316 53435 VXV UNIT
030156,000717: 27,2317 03666 UT
030157,000718: 27,2320 45561 VXSC STADR
030158,000719: 27,2321 50103 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
030159,000720: 27,2322 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
030160,000721: 27,2323 00017 14D
030161,000722: 27,2324 74346 COS VXSC
030162,000723: 27,2325 74255 VAD VXSC
030163,000724: 27,2326 03674 VGTIG
030164,000725: 27,2327 00045 36D
030165,000726: 27,2330 53352 VSL2 VAD
030166,000727: 27,2331 77626 STADR
030167,000728: 27,2332 74103 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
030168,000729:
030169,000730: 27,2333 77656 UNIT
030170,000731: 27,2334 27666 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
030171,000732: 27,2335 03674 VGTIG
030172,000733: 27,2336 45006 PUSH CALL
030173,000734: 27,2337 20025 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
030174,000735: 27,2340 77775 VLOAD
030175,000736: 27,2341 06233 ZEROVECS
030176,000737: 27,2342 03660 STORE BDT
030177,000738: 27,2343 77650 GOTO
030178,000739: 27,2344 03617 QTEMP
030179,000740: 27,2345 77745 S40.1B DLOAD
030180,000741: 27,2346 03425 TIG
030181,000742: 27,2347 00041 STORE TDEC1
030182,000743: 27,2350 77621 BDSU
030183,000744: 27,2351 03616 TPASS4
030184,000745: 27,2352 36355 STCALL DELLT4 # INTERCEPT TIME - TIG.
030185,000746: 27,2353 27030 LEMPREC
030186,000747: 27,2354 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
030187,000748: 27,2355 00001 RATT
030188,000749: 27,2356 00001 0
030189,000750: 27,2357 03627 STORE RTIG
030190,000751: 27,2360 26341 STOVL RINIT
030191,000752: 27,2361 00007 VATT
030192,000753: 27,2362 02347 STORE VINIT
030193,000754: 27,2363 65345 DLOAD PDDL # NUMIT = 0
030194,000755: 27,2364 06233 ZEROVECS
030195,000756: 27,2365 16411 EPS1
030196,000757: 27,2366 43214 BOFF DAD
030197,000758: 27,2367 03745 NORMSW
030198,000759: 27,2370 56372 SMALLEPS
030199,000760: 27,2371 16413 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
030200,000761: 27,2372 74006 SMALLEPS PUSH AXC,1
030201,000762: 27,2373 00002 2
030202,000763: 27,2374 77624 CALL
030203,000764: 27,2375 22022 INITVEL
030204,000765: 27,2376 41575 VLOAD PUSH
030205,000766: 27,2377 03363 DELVEET3 # VGTIG = VR - VN.
030206,000767: 27,2400 03674 STORE VGTIG
030207,000768: 27,2401 77656 UNIT # UT = UNIT (VGTIG)
030208,000769: 27,2402 17666 STODL UT
030209,000770: 27,2403 00045 36D
030210,000771: 27,2404 37651 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
030211,000772: 27,2405 20025 GET.LVC # VERTICAL COORDINATES.
030212,000773: 27,2406 77650 GOTO
030213,000774: 27,2407 03617 QTEMP
030214,000775:
030215,000776: 27,2410 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
030216,000777:
030217,000778: 27,2412 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
030218,000779: 27,2414 00024 13714 THETACON 2DEC .31830989 B-8
030219,000780:
030220,000781: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
030221,000782:
030222,000783: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
030223,000784:
030224,000785: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
030225,000786:
030226,000787: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
030227,000788:
030228,000789: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
030229,000790:
030230,000791: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
030231,000792: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
030232,000793: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
030233,000794: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
030234,000795: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
030235,000796:
030236,000797:
030237,000798: # CALLING SEQUENCE:
030238,000799: # L CALL INTERPRETIVE CALL.
030239,000800: # L +1 S40.2,3
030240,000801: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
030241,000802:
030242,000803: # SUBROUTINES CALLED: NONE.
030243,000804:
030244,000805: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
030245,000806:
030246,000807: # ALARM/ABORT MODES: NONE.
030247,000808:
030248,000809: # INPUT:
030249,000810:
030250,000811: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
030251,000812: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
030252,000813: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
030253,000814:
030254,000815: # OUTPUT:
030255,000816:
030256,000817: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
030257,000818: # : YSCREF : IN REFERENCE COORDINATES
030258,000819: # : ZSCREF : (PREFERRED IMU ORIENTATION).
030259,000820: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
030260,000821: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
030261,000822: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
030262,000823:
030263,000824: # DEBRIS: NONE.
030264,000825:
030265,000826:
030266,000827: 27,2416 COUNT* $$/S40.2
030267,000828: 27,2416 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
030268,000829: 27,2417 03666 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
030269,000830: 27,2420 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
030270,000831: 27,2421 01736 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
030271,000832: 27,2422 25256 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
030272,000833: 27,2423 06231 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
030273,000834: 27,2424 25250 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
030274,000835:
030275,000836: 27,2425 03666 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
030276,000837: 27,2426 03574 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
030277,000838: 27,2427 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
030278,000839: 27,2430 03627 RTIG # YSCREF = UNIT(UT X RTIG)
030279,000840: 27,2431 03602 STORE YSCREF
030280,000841: 27,2432 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
030281,000842: 27,2433 03574 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
030282,000843: 27,2434 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
030283,000844: 27,2435 03610 STORE ZSCREF # = + (XSCREF X YSCREF)
030284,000845:
030285,000846: 27,2436 43414 SET RVQ
030286,000847: 27,2437 01073 PFRATFLG
030287,000848:
030288,000849: # SUBROUTINE S40.8
030289,000850:
030290,000851: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
030291,000852:
030292,000853: # DESCRIPTION
030293,000854:
030294,000855: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
030295,000856: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
030296,000857: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
030297,000858:
030298,000859: # CALLING SEQUENCE
030299,000860:
030300,000861: # L-1 CALL
030301,000862: # L S40.8
030302,000863: # L+1 INTERPRETIVE RETURN
030303,000864:
030304,000865: # ALARM
030305,000866:
030306,000867: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
030307,000868: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
030308,000869:
030309,000870: # INPUT AND INITIALIZATION
030310,000871:
030311,000872: # VGPREV REFERENCE 2(7) M/CS
030312,000873: # DELVREF REFERENCE 2(7) M/CS
030313,000874: # BDT REFERENCE 2(7) M/CS
030314,000875: # TDECAY TAIL-OFF TIME 2(28) CS
030315,000876: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
030316,000877: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
030317,000878: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
030318,000879:
030319,000880: # NOTE: VGTIG EQUALS VGPREV
030320,000881:
030321,000882: # OUTPUT
030322,000883:
030323,000884: # STEERSW SEE INPUT
030324,000885: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
030325,000886: # TGO TIME TO CUT-OFF 2(28) CS
030326,000887: # SEE FINDCDUW FOR STEERING OUTPUTS.
030327,000888:
030328,000889: # SUBROUTINE CALLED
030329,000890:
030330,000891: # FINDCDUW
030331,000892:
030332,000893: # DEBRIS
030333,000894:
030334,000895: # MPACS, PUSHLIST
030335,000896:
030336,000897: 27,2440 COUNT* $$/S40.8
030337,000898:
030338,000899: 27,2440 E6,1420 EBANK= OMEGAQ
030339,000900: 27,2440 43175 S40.8 VLOAD BON
030340,000901: 27,2441 03674 VGPREV
030341,000902: 27,2442 01307 XDELVFLG
030342,000903: 27,2443 56450 VGNEW
030343,000904: 27,2444 53214 BOFF VAD
030344,000905: 27,2445 03344 FIRSTFLG
030345,000906: 27,2446 56450 VGNEW
030346,000907: 27,2447 03660 BDT
030347,000908: 27,2450 77651 VGNEW VSU
030348,000909: 27,2451 03504 DELVREF
030349,000910: 27,2452 03703 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
030350,000911: 27,2453 76521 MXV VSL1
030351,000912: 27,2454 01736 REFSMMAT
030352,000913: 27,2455 77656 UNIT
030353,000914: 27,2456 03764 STORE UDSTEER
030354,000915: 27,2457 77214 BON VLOAD
030355,000916: 27,2460 03304 FIRSTFLG
030356,000917: 27,2461 56464 BDTOK
030357,000918: 27,2462 06233 HI6ZEROS
030358,000919: 27,2463 03660 STORE BDT
030359,000920: 27,2464 77745 BDTOK DLOAD
030360,000921: 27,2465 00045 36D
030361,000922: 27,2466 03651 STORE VGDISP
030362,000923: 27,2467 44001 TGOCALC SETPD STQ
030363,000924: 27,2470 00001 0
030364,000925: 27,2471 03771 S40EXIT
030365,000926: 27,2472 77775 VLOAD
030366,000927: 27,2473 03703 VG
030367,000928: 27,2474 27674 STOVL VGPREV
030368,000929: 27,2475 03504 DELVREF
030369,000930: 27,2476 57414 BOFF VCOMP
030370,000931: 27,2477 01344 STEERSW
030371,000932: 27,2500 03771 S40EXIT
030372,000933: 27,2501 77656 UNIT
030373,000934: 27,2502 41441 DOT PUSH
030374,000935: 27,2503 03703 VG
030375,000936: 27,2504 56244 BPL DDV
030376,000937: 27,2505 56627 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
030377,000938: 27,2506 16646 2VEXHUST
030378,000939: 27,2507 41215 DAD DMP
030379,000940: 27,2510 06231 DPHALF
030380,000941: 27,2511 56261 SR DDV
030381,000942: 27,2512 20613 10D
030382,000943: 27,2513 00045 36D
030383,000944: 27,2514 43205 DMP DAD
030384,000945: 27,2515 16644 -FOURDT
030385,000946: 27,2516 03727 TDECAY
030386,000947: 27,2517 03474 STORE TGO
030387,000948: 27,2520 77615 DAD
030388,000949: 27,2521 01234 PIPTIME
030389,000950: 27,2522 17425 STODL TIG
030390,000951: 27,2523 03474 TGO
030391,000952:
030392,000953: 27,2524 51025 DSU BPL
030393,000954: 27,2525 16650 FOURSECS # 400 CS
030394,000955: 27,2526 56533 FINDCDUD
030395,000956: 27,2527 43014 SET CLRGO
030396,000957: 27,2530 01066 IMPULSW
030397,000958: 27,2531 01224 STEERSW
030398,000959: 27,2532 03771 S40EXIT
030399,000960:
030400,000961: 27,2533 44001 FINDCDUD SETPD STQ
030401,000962: 27,2534 00001 0
030402,000963: 27,2535 03771 S40EXIT
030403,000964: 27,2536 77634 RTB
030404,000965: 27,2537 66533 TMPTOSPT
030405,000966: 27,2540 45175 VLOAD CALL
030406,000967: 27,2541 03764 UDSTEER
030407,000968: 27,2542 47373 TRG*SMNB
030408,000969: 27,2543 03764 STORE UDSTEER
030409,000970: 27,2544 77775 VLOAD
030410,000971: 27,2545 01212 DELV
030411,000972: 27,2546 45056 UNIT CALL
030412,000973: 27,2547 47413 *SMNB*
030413,000974: 27,2550 64451 VSU VSR3
030414,000975: 27,2551 03461 UASTEER
030415,000976: 27,2552 53455 VAD UNIT
030416,000977: 27,2553 03461 UASTEER
030417,000978: 27,2554 03461 STORE UASTEER
030418,000979: 27,2555 47375 VLOAD VXV
030419,000980: 27,2556 03461 UASTEER
030420,000981: 27,2557 03764 UDSTEER
030421,000982: 27,2560 00013 STORE 10D
030422,000983: 27,2561 41446 ABVAL PUSH
030423,000984: 27,2562 50025 DSU BMN
030424,000985: 27,2563 16654 SIN20DEG
030425,000986: 27,2564 56576 SCALPROD
030426,000987: 27,2565 77745 DLOAD
030427,000988: 27,2566 51025 DSU BPL
030428,000989: 27,2567 16652 SIN45DEG
030429,000990: 27,2570 56627 ALARMIT
030430,000991: 27,2571 53575 VLOAD UNIT
030431,000992: 27,2572 00013 10D
030432,000993: 27,2573 76561 VXSC VSL1
030433,000994: 27,2574 16654 SIN20DEG
030434,000995: 27,2575 00013 STORE 10D
030435,000996:
030436,000997: 27,2576 74375 SCALPROD VLOAD VXSC
030437,000998: 27,2577 00013 10D
030438,000999: 27,2600 16640 1/PI
030439,001000: 27,2601 00013 STORE 10D
030440,001001: 27,2602 45001 SETPD CALL
030441,001002: 27,2603 00001 0
030442,001003: 27,2604 56655 CALCCMD
030443,001004: 27,2605 53375 VLOAD VAD
030444,001005: 27,2606 00025 20D
030445,001006: 27,2607 00767 CDUSPOT
030446,001007: 27,2610 77434 RTB EXIT
030447,001008: 27,2611 21516 V1STO2S
030448,001009:
030449,001010: 27,2612 52155 DXCH MPAC
030450,001011: 27,2613 53210 DXCH CTHETA
030451,001012: 27,2614 31632 CA CDUXD
030452,001013: 27,2615 55206 TS CPHI
030453,001014:
030454,001015: 27,2616 35012 CAF BIT13
030455,001016: 27,2617 00006 EXTEND
030456,001017: 27,2620 02031 RAND CHAN31
030457,001018: 27,2621 00006 EXTEND
030458,001019: 27,2622 12632 BZF S40.8XIT
030459,001020:
030460,001021: 27,2623 00006 EXTEND
030461,001022: 27,2624 31210 DCA CTHETA
030462,001023: 27,2625 53634 DXCH CDUYD
030463,001024: 27,2626 12632 TCF S40.8XIT
030464,001025:
030465,001026: 27,2627 77776 ALARMIT EXIT
030466,001027: 27,2630 05646 TC ALARM
030467,001028: 27,2631 01407 OCT 01407
030468,001029: 27,2632 31176 S40.8XIT CAE TEMPR60
030469,001030: 27,2633 54003 TS EBANK
030470,001031: 27,2634 06014 TC INTPRET
030471,001032: 27,2635 77650 GOTO
030472,001033: 27,2636 03771 S40EXIT
030473,001034:
030474,001035: 27,2637 24276 14076 1/PI 2DEC 0.3183099 B1
030475,001036: 27,2641 00002 00545 UNUSEDC1 2OCT 00002 00545
030476,001037:
030477,001038: 27,2643 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
030478,001039: 27,2645 17000 00000 2VEXHUST 2DEC 3000 E-2 B-6
030479,001040: 27,2647 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28)CS
030480,001041: 27,2651 05520 11006 SIN45DEG 2DEC 0.7071 B-2
030481,001042: 27,2653 02572 00505 SIN20DEG 2DEC 0.34229 B-2
030482,001043:
030483,001044: 27,2655 41345 CALCCMD DLOAD DMP
030484,001045: 27,2656 00015 12D
030485,001046: 27,2657 00751 COSCDUX
030486,001047: 27,2660 41325 PDDL DMP
030487,001048: 27,2661 00017 14D
030488,001049: 27,2662 00743 SINCDUX
030489,001050: 27,2663 77621 BDSU
030490,001051: 27,2664 77671 DDV
030491,001052: 27,2665 00747 COSCDUZ
030492,001053: 27,2666 00025 STORE 20D
030493,001054: 27,2667 57545 DLOAD DCOMP
030494,001055: 27,2670 00773 CDUSPOTX
030495,001056: 27,2671 14031 STODL 24D
030496,001057: 27,2672 00015 12D
030497,001058: 27,2673 65205 DMP PDDL
030498,001059: 27,2674 00743 SINCDUX
030499,001060: 27,2675 00017 14D
030500,001061: 27,2676 43205 DMP DAD
030501,001062: 27,2677 00751 COSCDUX
030502,001063: 27,2700 77752 SL1
030503,001064: 27,2701 00027 STORE 22D
030504,001065: 27,2702 77616 RVQ
030505,001066:
030506,001067: # NAME S40.13 - TIMEBURN
030507,001068: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
030508,001069: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
030509,001070: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
030510,001071: # BURN
030511,001072: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
030512,001073: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
030513,001074: # SIGNAL
030514,001075: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
030515,001076: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
030516,001077: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
030517,001078: # F APS ENGINE THRUST IN M.NEWTONS AT +7
030518,001079: # AND ALSO FOR RCS ENGINE
030519,001080: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
030520,001081: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
030521,001082: # REQUIRE MODIFICATION FOR SATURN BURNS.
030522,001083: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
030523,001084: # =0 DPS
030524,001085: # =1 APS
030525,001086: # OUTPUT IMPULSW ZERO FOR STEERING
030526,001087: # ONE FOR ATTITUDE HOLD
030527,001088: # NOTHROTL ZERO FOR THROTTLING
030528,001089: # ONE TO INHIBIT THROTTLING
030529,001090: # TGO TIME TO BURN IN CS
030530,001091: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
030531,001092: # FORCE
030532,001093:
030533,001094:
030534,001095: 27,2703 E7,1473 EBANK= TGO
030535,001096: 27,2703 COUNT* $$/40.13
030536,001097: 27,2703 06014 S40.13 TC INTPRET
030537,001098: 27,2704 43001 SETPD CLEAR
030538,001099: 27,2705 00001 00D
030539,001100: 27,2706 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
030540,001101: 27,2707 51575 VLOAD ABVAL
030541,001102: 27,2710 03674 VGTIG # VELOCITY TO BE GAINED AT +7
030542,001103: 27,2711 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
030543,001104: 27,2712 17056 7SEC # 700 CS AT + 18
030544,001105: 27,2713 17060 FRCS2B3
030545,001106: 27,2714 62471 DDV SL2 # SCALE
030546,001107: 27,2715 01244 WEIGHT/G
030547,001108: 27,2716 41421 BDSU PUSH
030548,001109: 27,2717 43014 BOFF SET
030549,001110: 27,2720 00743 APSFLAG
030550,001111: 27,2721 56771 S40.13D # FOR DPS ENGINE
030551,001112: 27,2722 02463 NOTHROTL
030552,001113: 27,2723 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
030553,001114: 27,2724 17040 K1VAL # M.NEWTONS-CS AT +24
030554,001115: 27,2725 01244 WEIGHT/G
030555,001116: 27,2726 50021 BDSU BMN
030556,001117:
030557,001118: 27,2727 00001 00D
030558,001119: 27,2730 56753 S40.131 # TGO LESS THAN 100 CS
030559,001120: 27,2731 41325 PDDL DMP # 02D = TEMP1 AT +7
030560,001121: 27,2732 03725 MDOT
030561,001122:
030562,001123: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
030563,001124: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
030564,001125: # REQUIRE ADJUSTMENT
030565,001126:
030566,001127: 27,2733 17050 3.5SEC # 350 CS AT +14
030567,001128: 27,2734 65221 BDSU PDDL
030568,001129: 27,2735 01244 WEIGHT/G
030569,001130: 27,2736 03723 F
030570,001131: 27,2737 60405 DMP SR2 # SCALE
030571,001132: 27,2740 17052 5SECS
030572,001133: 27,2741 41471 DDV PUSH # 04D = TEMP2
030573,001134: 27,2742 51021 BDSU BPL
030574,001135: 27,2743 00003 02D
030575,001136: 27,2744 56771 S40.13D
030576,001137: 27,2745 55345 DLOAD BDDV
030577,001138: 27,2746 43205 DMP DAD
030578,001139: 27,2747 17052 5SECS
030579,001140: 27,2750 17046 1SEC2D # 100 CS AT +14
030580,001141: 27,2751 77650 GOTO
030581,001142: 27,2752 56761 S40.132
030582,001143: 27,2753 41345 S40.131 DLOAD DMP
030583,001144: 27,2754 01244 WEIGHT/G
030584,001145: 27,2755 41542 SR1 PUSH
030585,001146: 27,2756 56215 DAD DDV
030586,001147: 27,2757 17042 K2VAL # M.NEWTON CS AT +24
030587,001148: 27,2760 17044 K3VAL # M.NEWTON CS AT +10
030588,001149: 27,2761 77414 S40.132 SET EXIT
030589,001150: 27,2762 01066 IMPULSW
030590,001151: 27,2763 07231 S40.132* TC TPAGREE
030591,001152: 27,2764 30154 CA MPAC
030592,001153: 27,2765 56001 XCH L
030593,001154: 27,2766 35030 CA ZERO
030594,001155: 27,2767 53474 DXCH TGO
030595,001156: 27,2770 13013 TCF S40.134
030596,001157:
030597,001158: 27,2771 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
030598,001159: 27,2772 00001 00D
030599,001160: 27,2773 01244 WEIGHT/G
030600,001161: 27,2774 43006 PUSH BON
030601,001162: 27,2775 00703 APSFLAG
030602,001163: 27,2776 57034 APSTGO
030603,001164: 27,2777 43071 DDV CLEAR
030604,001165: 27,3000 17062 S40.136
030605,001166: 27,3001 02663 NOTHROTL
030606,001167: 27,3002 41400 BOV PUSH
030607,001168:
030608,001169: 27,3003 57016 S40.130V
030609,001170: 27,3004 51025 S40.137 DSU BPL
030610,001171: 27,3005 17054 6SEC # 600.0 CS AT +14
030611,001172: 27,3006 57024 S40.138
030612,001173: 27,3007 52015 DAD GOTO
030613,001174: 27,3010 17054 6SEC
030614,001175: 27,3011 56761 S40.132
030615,001176: 27,3012 77776 S40.133 EXIT
030616,001177: 27,3013 05413 S40.134 TC PHASCHNG
030617,001178: 27,3014 00003 OCT 00003
030618,001179: 27,3015 05225 TC ENDOFJOB
030619,001180: 27,3016 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
030620,001181: 27,3017 77671 DDV
030621,001182: 27,3020 17064 S40.136_ # S40.136 SHIFTED LEFT 10
030622,001183: 27,3021 03474 STORE TGO
030623,001184: 27,3022 77776 EXIT
030624,001185: 27,3023 13013 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
030625,001186:
030626,001187: 27,3024 51025 S40.138 DSU BPL
030627,001188: 27,3025 17066 89SECS
030628,001189: 27,3026 57031 STORETGO
030629,001190: 27,3027 77614 SET
030630,001191: 27,3030 02463 NOTHROTL
030631,001192: 27,3031 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
030632,001193: 27,3032 77776 EXIT
030633,001194: 27,3033 12763 TCF S40.132*
030634,001195:
030635,001196: 27,3034 52071 APSTGO DDV GOTO
030636,001197: 27,3035 17070 FAPSB9
030637,001198: 27,3036 57032 STORETGO +1
030638,001199: 27,3037 00000 07621 K1VAL 2DEC 124.54 B-23 # 2800 LB-SEC
030639,001200: 27,3041 00000 00762 K2VAL 2DEC 31.138 B-24 # 700 LB-SEC
030640,001201: 27,3043 00030 35052 K3VAL 2DEC 1.556802 B-10 # FAPS ( 3500 LBS THRUST)
030641,001202: 27,3045 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
030642,001203: 27,3047 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
030643,001204: 27,3051 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
030644,001205: 27,3053 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
030645,001206: 27,3055 00000 01274 7SEC 2DEC 700.0 # 700.0 CS
030646,001207: 27,3057 26614 05221 FRCS2B3 2DEC 0.08896 B3 # 200 LBS FORCE IN NEWTONS
030647,001208: 27,3061 00016 36237 S40.136 2DEC .4671 B-9 # .4671 M NEWTONS (DPS)
030648,001209: 27,3063 35711 35663 S40.136_ 2DEC .4671 B+1 # S40.136 SHIFTED LEFT 10.
030649,001210: 27,3065 21304 00000 89SECS 2DEC 8900.0 B-14
030650,001211: 27,3067 00061 32124 FAPSB9 2DEC 1.5568 B-9 # 3500 LBS FORCE IN NEWTONS
030651,001212: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
030652,001213: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
030653,001214: # COMPUTATION CYCLES (4 SECONDS).
030654,001215: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
030655,001216: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
030656,001217: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
030657,001218: # CALLING SEQ VIA FINDVAC AS NEW JOB.
030658,001219:
030659,001220: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
030660,001221: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
030661,001222: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
030662,001223: # METERS/CS AT +7.
030663,001224: # TIG - TIME OF IGNITION IN CS AT +28.
030664,001225: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
030665,001226: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
030666,001227: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
030667,001228: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
030668,001229: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
030669,001230: # METERS/CS AT +7.
030670,001231: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
030671,001232: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
030672,001233: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
030673,001234: # BDT - B VECTOR IN METERS/CS AT +7.
030674,001235: # SUBROUTINES USED - INITVEL
030675,001236:
030676,001237: 27,3071 E7,1673 EBANK= VGPREV
030677,001238: 27,3071 COUNT* $$/S40.9
030678,001239: 27,3071 06014 S40.9 TC INTPRET
030679,001240: 27,3072 77201 SETPD VLOAD
030680,001241: 27,3073 00001 00D
030681,001242: 27,3074 01220 RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
030682,001243: 27,3075 26341 STOVL RINIT
030683,001244: 27,3076 01226 VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
030684,001245: 27,3077 16347 STODL VINIT
030685,001246: 27,3100 01234 PIPTIME
030686,001247: 27,3101 03717 STORE TNIT
030687,001248: 27,3102 77621 BDSU
030688,001249: 27,3103 03616 TPASS4
030689,001250: 27,3104 02355 STORE DELLT4 # T2 - T1
030690,001251: 27,3105 71214 SET DLOAD
030691,001252: 27,3106 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
030692,001253: 27,3107 06233 HI6ZEROS
030693,001254: 27,3110 77725 PDDL
030694,001255: 27,3111 16411 EPS1
030695,001256: 27,3112 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
030696,001257: 27,3113 03745 NORMSW
030697,001258: 27,3114 57116 EPSSMALL
030698,001259: 27,3115 16413 EPS2
030699,001260: 27,3116 74006 EPSSMALL PUSH AXC,1
030700,001261: 27,3117 00002 2
030701,001262: 27,3120 45014 S40.92 BOFSET CALL
030702,001263: 27,3121 03044 FIRSTFLG
030703,001264: 27,3122 57224 INITINIT
030704,001265: 27,3123 22024 HAVEGUES
030705,001266: 27,3124 52375 VLOAD VSU
030706,001267: 27,3125 02357 VIPRIME
030707,001268: 27,3126 03711 VRPREV
030708,001269: 27,3127 45325 PDDL DSU
030709,001270: 27,3130 03717 TNIT
030710,001271: 27,3131 03721 TNITPREV
030711,001272:
030712,001273: 27,3132 55261 SL BDDV
030713,001274: 27,3133 20223 18D
030714,001275: 27,3134 17223 100B10
030715,001276: 27,3135 77761 VXSC
030716,001277: 27,3136 76451 VSU VSL1
030717,001278: 27,3137 01236 GDT/2
030718,001279: 27,3140 03660 STORE BDT
030719,001280:
030720,001281: 27,3141 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
030721,001282: 27,3142 01220 RN
030722,001283: 27,3143 45345 DLOAD DSU
030723,001284: 27,3144 01234 PIPTIME # 2
030724,001285: 27,3145 03574 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
030725,001286: 27,3146 56205 DMP DDV # OBL
030726,001287: 27,3147 17231 EARTHMU
030727,001288: 27,3150 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
030728,001289: 27,3151 53361 VXSC VAD
030729,001290: 27,3152 03476 UNITGOBL
030730,001291: 27,3153 03363 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
030731,001292: 27,3154 03363 STORE DELVEET3 # VG = VR + GOBL - VN
030732,001293: 27,3155 77646 NOGOBL ABVAL
030733,001294: 27,3156 17651 STODL VGDISP
030734,001295: 27,3157 03717 TNIT
030735,001296: 27,3160 03721 STORE TNITPREV
030736,001297: 27,3161 77776 EXIT
030737,001298: 27,3162 05413 TC PHASCHNG
030738,001299: 27,3163 05022 OCT 05022
030739,001300: 27,3164 14000 OCT 14000
030740,001301: 27,3165 06014 TC INTPRET
030741,001302: 27,3166 77775 VLOAD
030742,001303: 27,3167 02357 VIPRIME # VR(T)
030743,001304: 27,3170 03711 STORE VRPREV
030744,001305: 27,3171 77776 EXIT
030745,001306: 27,3172 05413 TC PHASCHNG
030746,001307: 27,3173 05022 OCT 05022
030747,001308: 27,3174 14000 OCT 14000
030748,001309: 27,3175 06014 TC INTPRET
030749,001310: 27,3176 77214 BON VLOAD
030750,001311: 27,3177 01305 CYCLESW
030751,001312: 27,3200 57206 S40.91
030752,001313: 27,3201 03363 DELVEET3
030753,001314: 27,3202 03674 STORE VGPREV
030754,001315: 27,3203 52014 SET GOTO
030755,001316: 27,3204 01065 CYCLESW
030756,001317: 27,3205 57216 ENDS40.9
030757,001318: 27,3206 53375 S40.91 VLOAD VAD # EXTRAPOLATE FOR V TO GAIN
030758,001319: 27,3207 03363 DELVEET3
030759,001320: 27,3210 03660 BDT
030760,001321:
030761,001322: 27,3211 77651 VSU
030762,001323: 27,3212 03504 DELVREF
030763,001324: 27,3213 03674 STORE VGPREV
030764,001325: 27,3214 77646 ABVAL
030765,001326: 27,3215 03651 STORE VGDISP # FOR DISPLAY PURPOSES
030766,001327: 27,3216 77776 ENDS40.9 EXIT
030767,001328: 27,3217 05413 TC PHASCHNG
030768,001329: 27,3220 00002 OCT 2
030769,001330: 27,3221 05225 TC ENDOFJOB
030770,001331: 27,3222 03100 00000 100B10 2DEC 100 B-10
030771,001332: 27,3224 77624 INITINIT CALL
030772,001333: 27,3225 22024 HAVEGUES
030773,001334: 27,3226 77650 GOTO
030774,001335: 27,3227 57141 GETGOBL
030775,001336:
030776,001337: 27,3230 55340 61710 EARTHMU 2DEC* -3.986032 E10 B-36* # M(3)/CS(2)
030777,001338:
030778,001339: # MOD 0 24 FEB 67 PETER ADLER
030779,001340: # FUNCTION:
030780,001341: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
030781,001342: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
030782,001343: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
030783,001344: # CALLING SEQUENCE:
030784,001345: # VIA WAITLIST FROM R03
030785,001346: # INPUT:
030786,001347: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
030787,001348: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
030788,001349: # SUBROUTINES USED:
030789,001350: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
030790,001351:
030791,001352: 27,3232 COUNT* $$/S40.6
030792,001353: 27,3232 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
030793,001354:
030794,001355: 27,3232 05575 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
030795,001356: 27,3233 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
030796,001357:
030797,001358: 27,3234 35065 CAF EBANK6
030798,001359: 27,3235 56003 XCH EBANK
030799,001360: 27,3236 54061 TS ITEMP1
030800,001361:
030801,001362: 27,3237 45067 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
030802,001363: 27,3240 00006 EXTEND
030803,001364: 27,3241 03012 WAND CHAN12
030804,001365: 27,3242 35064 CAF EBANK5 # TURN ON + PITCH, + ROLL.
030805,001366: 27,3243 00006 EXTEND
030806,001367: 27,3244 05012 WOR CHAN12
030807,001368: 27,3245 05271 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
030808,001369: 27,3246 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
030809,001370: 27,3247 45064 CS EBANK5 # TURN OFF + PITCH, + ROLL.
030810,001371: 27,3250 00006 EXTEND
030811,001372: 27,3251 03012 WAND CHAN12
030812,001373: 27,3252 35067 CAF PRIO5 # TURN ON - PITCH, - ROLL.
030813,001374: 27,3253 00006 EXTEND
030814,001375: 27,3254 05012 WOR CHAN12
030815,001376: 27,3255 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
030816,001377: 27,3256 05243 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
030817,001378:
030818,001379: 27,3257 03300 ADRES PITCHOFF
030819,001380:
030820,001381: 27,3260 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
030821,001382: 27,3261 05274 TC VARDELAY # UNTIL THEN
030822,001383: 27,3262 45013 CS BIT12
030823,001384: 27,3263 00006 EXTEND
030824,001385: 27,3264 03012 WAND CHAN12 # SHUT OFF ROLL
030825,001386: 27,3265 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
030826,001387: 27,3266 75015 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
030827,001388: 27,3267 00006 EXTEND
030828,001389: 27,3270 13304 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
030829,001390: 27,3271 30061 CA ITEMP1
030830,001391: 27,3272 54003 TS EBANK
030831,001392: 27,3273 35012 CAF PRIO10 # RETURN TO R03
030832,001393: 27,3274 05142 TC NOVAC
030833,001394: 27,3275 E7,1456 EBANK= WHOCARES
030834,001395: 27,3275 02171 40067 2CADR TRIMDONE
030835,001396: 27,3277 05321 TC TASKOVER
030836,001397: 27,3300 45015 PITCHOFF CS BIT10
030837,001398: 27,3301 00006 EXTEND
030838,001399: 27,3302 03012 WAND CHAN12 # SHUT OFF PITCH
030839,001400: 27,3303 13265 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
030840,001401: 27,3304 05563 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
030841,001402: 27,3305 00137 ADRES GMBDRVSW
030842,001403: 27,3306 05321 TC TASKOVER
030843,001404:
030844,001405: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
030845,001406:
030846,001407: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
030847,001408:
030848,001409: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
030849,001410:
030850,001411: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
030851,001412: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
030852,001413: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
030853,001414: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
030854,001415: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
030855,001416: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
030856,001417: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
030857,001418: # CALLER WITH C(MPAC) = VELOCITY(LM).
030858,001419:
030859,001420:
030860,001421: # CALLING SEQUENCE:
030861,001422: # L VLOAD CALL
030862,001423: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
030863,001424: # L +2 S41.1
030864,001425: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
030865,001426:
030866,001427: # SUBROUTINES CALLED:
030867,001428:
030868,001429: # 1. CDUTRIG,
030869,001430: # WHICH CALLS CDULOGIC.
030870,001431: # 2. *SMNB*
030871,001432:
030872,001433: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
030873,001434:
030874,001435: # ALARM/ABORT MODES: NONE.
030875,001436:
030876,001437: # RESTART PROTECTION: NONE.
030877,001438:
030878,001439: # INPUT:
030879,001440:
030880,001441: # 1. REFSMMAT.
030881,001442: # 2. CDUX, CDUY, CDUZ.
030882,001443: # 3. VELOCITY (REF) IN MPAC.
030883,001444:
030884,001445: # OUTPUT:
030885,001446:
030886,001447: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
030887,001448: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
030888,001449: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
030889,001450: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
030890,001451:
030891,001452: # DEBRIS: NONE.
030892,001453:
030893,001454: # CHECKOUT STATUS: CODED.
030894,001455:
030895,001456: 27,3307 COUNT* $$/S41.1
030896,001457: 27,3307 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
030897,001458: 27,3310 01736 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
030898,001459: 27,3311 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
030899,001460: 27,3312 47370 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
030900,001461: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc