Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
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|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
032646,000002: ## Copyright: Public domain.
032647,000003: ## Filename: P40-P47.agc
032648,000004: ## Purpose: A log section of Zerlina 56, the final revision of
032649,000005: ## Don Eyles's offline development program for the variable
032650,000006: ## guidance period servicer. It also includes a new P66 with LPD
032651,000007: ## (Landing Point Designator) capability, based on an idea of John
032652,000008: ## Young's. Neither of these advanced features were actually flown,
032653,000009: ## but Zerlina was also the birthplace of other big improvements to
032654,000010: ## Luminary including the terrain model and new (Luminary 1E)
032655,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
032656,000012: ## and revision 56 includes all changes up to and including Luminary
032657,000013: ## 183. It is therefore quite close to the Apollo 14 program,
032658,000014: ## Luminary 178, where not modified with new features.
032659,000015: ## Reference: pp. 738-770
032660,000016: ## Assembler: yaYUL
032661,000017: ## Contact: Ron Burkey <info@sandroid.org>.
032662,000018: ## Website: www.ibiblio.org/apollo/index.html
032663,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
032664,000020: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
032665,000021: ## 2017-08-26 MAS Updated for Zerlina 56.
032666,000022: ## 2021-05-30 ABS TGDCALC -> TGOCALC
032667,000023:
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Page 738 |
032669,000025: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
032670,000026: # MOD 03 BY PETER ADLER MARCH 3, 1967
032671,000027: # CALLED VIA JOB FROM V37E
032672,000028:
032673,000029: # FUNCTIONAL DESCRIPTION
032674,000030:
032675,000031: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032676,000032: # THRUSTING MANEUVER.
032677,000033:
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(There is no item #2 in the original program listing.) |
032679,000035:
032680,000036: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032681,000037:
032682,000038: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032683,000039: # PGNCS CONTROLLED DPS MANEUVER.
032684,000040:
032685,000041: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032686,000042: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032687,000043:
032688,000044: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032689,000045: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032690,000046:
032691,000047: # SUBROUTINES USED
032692,000048:
032693,000049: # R02 IMU STATUS CHECK
032694,000050: # S40.1 COMPUTATION OF THRUST DIRECTION
032695,000051: # S40.13 LENGTH OF BURN
032696,000052: # S40.2,3 PREFERRED IMU ORIENATTION
032697,000053: # S40.8 X PRODUCT STEERING
032698,000054: # S40.9 LAMBERT VTOGAIN
032699,000055: # R60LEM ATTITUDE MANEUVER
032700,000056: # LEMPREC EXTRAPOLATE STATE VECTOR
032701,000057: # PREREAD AVERAGE G, SERVICER
032702,000058: # ALLCOAST DAP COASTING INITIALIZATION
032703,000059: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
032704,000060: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032705,000061: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032706,000062: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032707,000063:
032708,000064: # RESTARTS VIA GROUP 4
032709,000065:
032710,000066: # DISPLAYS
032711,000067:
032712,000068: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032713,000069: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032714,000070: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032715,000071: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032716,000072: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032717,000073: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032718,000074: # V05N09 POSSIBLE ALARMS
032719,000075: # V50N07 PLEASE SELECT P00
032720,000076:
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Page 739 |
032722,000078: # VIA R30
032723,000079:
032724,000080: # V06N44 HAPO, PERI, TFF
032725,000081: # V06N35 TIME TO PERIGEE, HMS
032726,000082:
032727,000083: # ALARM OR ABORT EXIT MODES
032728,000084:
032729,000085: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032730,000086: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032731,000087:
032732,000088: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032733,000089: # TIG BY 45 SECS.
032734,000090:
032735,000091: # ERASABLE INITIALIZATION
032736,000092: # DEBRIS
032737,000093: # OUTPUT
032738,000094:
032739,000095: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032740,000096: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032741,000097: # = 0 FOR AIMPT (LAMBERT) COMP
032742,000098:
032743,000099: 27,2246 COUNT* $$/P40
032744,000100: 27,2246 E7,1455 EBANK= WHICH
032745,000101:
032746,000102: 36,3146 BANK 36
032747,000103: 36,2000 SETLOC P40S
032748,000104: 36,2000 BANK
032749,000105:
032750,000106: 36,3146 05364 P40LM TC PHASCHNG
032751,000107: 36,3147 04024 OCT 04024
032752,000108:
032753,000109: 36,3150 33132 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032754,000110: 36,3151 55455 TS WHICH
032755,000111:
032756,000112: 36,3152 30106 CA FLGWRD10
032757,000113: 36,3153 74737 MASK APSFLBIT
032758,000114: 36,3154 10000 CCS A
032759,000115: 36,3155 13120 TCF P40ALM
032760,000116: 36,3156 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032761,000117: 36,3157 11241 CADR R02BOTH
032762,000118:
032763,000119: 36,3160 40111 CS DAPBOOLS # INITIALIZE DVMON
032764,000120: 36,3161 74737 MASK CSMDOCKD
032765,000121: 36,3162 10000 CCS A
032766,000122: 36,3163 32022 CAF THRESH1
032767,000123: 36,3164 62023 AD THRESH3
032768,000124: 36,3165 55251 TS DVTHRUSH
032769,000125: 36,3166 34751 CAF FOUR
032770,000126: 36,3167 55513 TS DVCNTR
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Page 740 |
032772,000128: 36,3170 06051 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032773,000129: 36,3171 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032774,000130: 36,3172 34001 FDPS
032775,000131: 36,3173 02663 NOTHROTL
032776,000132: 36,3174 03735 STORE F
032777,000133: 36,3175 77735 SLOAD
032778,000134: 36,3176 26002 DPSVEX
032779,000135: 36,3177 70476 P40IN DCOMP SR1
032780,000136: 36,3200 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032781,000137: 36,3201 56246 S40.1 # COMPUTES UT AND VGTIG
032782,000138: 36,3202 77624 CALL
032783,000139: 36,3203 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032784,000140: 36,3204 77776 EXIT
032785,000141:
032786,000142: 36,3205 00004 INHINT
032787,000143: 36,3206 04674 TC IBNKCALL
032788,000144: 36,3207 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032789,000145:
032790,000146: 36,3210 03212 TC P40SXT4
032791,000147:
032792,000148: # ***********************
032793,000149: 36,3211 12130 TCF BURNBABY
032794,000150: # ***********************
032795,000151:
032796,000152: 36,3212 00006 P40SXT4 EXTEND
032797,000153: 36,3213 23141 QXCH P40/RET
032798,000154: 36,3214 00003 P41MANU RELINT
032799,000155:
032800,000156: 36,3215 05527 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032801,000157: 36,3216 00124 ADRES 3AXISFLG
032802,000158:
032803,000159: 36,3217 04616 TC BANKCALL
032804,000160: 36,3220 54125 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032805,000161: 36,3221 01141 TC P40/RET
032806,000162:
032807,000163:
032808,000164: 36,3222 E7,1462 EBANK= TRKMKCNT
032809,000165: 36,3222 30005 POSTBURN CA Z
032810,000166: 36,3223 55162 TS DISPDEX
032811,000167: 36,3224 00006 EXTEND
032812,000168: 36,3225 32060 DCA ACADN85
032813,000169: 36,3226 53253 DXCH AVEGEXIT
032814,000170: 36,3227 33751 CAF V16N40
032815,000171: 36,3230 04616 TC BANKCALL
032816,000172: 36,3231 20636 CADR GOFLASHR
032817,000173: 36,3232 03255 TC TERM40
032818,000174: 36,3233 13240 TCF TIGNOW
032819,000175: 36,3234 03222 TC POSTBURN
032820,000176:
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Page 741 |
032822,000178: 36,3235 05364 P40PHS1 TC PHASCHNG
032823,000179: 36,3236 00014 OCT 00014
032824,000180: 36,3237 15155 TCF ENDOFJOB
032825,000181:
032826,000182: 36,3240 00004 TIGNOW INHINT
032827,000183: 36,3241 04674 TC IBNKCALL
032828,000184: 36,3242 40154 CADR ZATTEROR
032829,000185: 36,3243 04674 TC IBNKCALL
032830,000186: 36,3244 40141 CADR SETMINDB
032831,000187: 36,3245 00003 RELINT
032832,000188: 36,3246 33752 CAF V16N85B
032833,000189: 36,3247 04616 TC BANKCALL
032834,000190: 36,3250 20463 CADR REFLASHR
032835,000191: 36,3251 03255 TC TERM40
032836,000192: 36,3252 13255 TCF TERM40
032837,000193: 36,3253 03246 TC -5
032838,000194:
032839,000195: 36,3254 13235 TCF P40PHS1
032840,000196:
032841,000197: 36,3255 00006 TERM40 EXTEND
032842,000198: 36,3256 32110 DCA SERVCADR
032843,000199: 36,3257 53253 DXCH AVEGEXIT
032844,000200: 36,3260 34755 CAF ZERO
032845,000201: 36,3261 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032846,000202: 36,3262 30005 CA Z
032847,000203: 36,3263 55162 TS DISPDEX
032848,000204: 36,3264 00004 INHINT
032849,000205: 36,3265 04674 TC IBNKCALL
032850,000206: 36,3266 40115 CADR RESTORDB
032851,000207: 36,3267 00003 RELINT
032852,000208: 36,3270 06001 TC GOTOPOOH
032853,000209:
032854,000210: 36,3271 E7,1455 EBANK= WHICH
032855,000211: 36,3271 COUNT* $$/P41
032856,000212: 36,3271 33133 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032857,000213: 36,3272 55455 TS WHICH
032858,000214:
032859,000215: 36,3273 04616 TC BANKCALL
032860,000216: 36,3274 11241 CADR R02BOTH
032861,000217:
032862,000218: 36,3275 34755 CA ZERO # ZERO DVTOTAL FOR NOUN 40 DISPLAY
032863,000219: 36,3276 55507 TS DVTOTAL
032864,000220: 36,3277 55510 TS DVTOTAL +1
032865,000221: 36,3300 35017 CAF PRIO5
032866,000222: 36,3301 55162 TS DISPDEX # FOR SAFETY
032867,000223: 36,3302 05105 TC FINDVAC
032868,000224: 36,3303 E7,1700 EBANK= VGPREV
032869,000225: 36,3303 03366 74067 2CADR DYNMDISP
032870,000226:
032871,000227: 36,3305 05340 TC 2PHSCHNG
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Page 742 |
032873,000229: 36,3306 00116 OCT 00116 # GROUP 6 RESTART AT FKP5RST, PRIO 17
032874,000230: 36,3307 04024 OCT 04024 # GROUP 4 RESTART HERE, PRIO 13
032875,000231:
032876,000232: 36,3310 06051 TC INTPRET # BOTH LM
032877,000233: 36,3311 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032878,000234: 36,3312 00700 NJETSFLG
032879,000235: 36,3313 75317 P41FJET1
032880,000236: 36,3314 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032881,000237:
032882,000238: 36,3315 37735 P41FJET STCALL F
032883,000239: 36,3316 75322 P41IN
032884,000240:
032885,000241: 36,3317 77745 P41FJET1 DLOAD
032886,000242: 36,3320 34021 FRCS2
032887,000243: 36,3321 03735 STORE F
032888,000244:
032889,000245: 36,3322 77624 P41IN CALL
032890,000246: 36,3323 56246 S40.1 # BOTH
032891,000247: 36,3324 77624 P41NORM CALL
032892,000248: 36,3325 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032893,000249: 36,3326 77776 EXIT # SET PFRATFLG.
032894,000250:
032895,000251: 36,3327 00004 INHINT
032896,000252: 36,3330 04674 TC IBNKCALL
032897,000253: 36,3331 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032898,000254: 36,3332 04674 TC IBNKCALL
032899,000255: 36,3333 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032900,000256: 36,3334 03212 TC P40SXT4
032901,000257:
032902,000258: 36,3335 06051 TC INTPRET
032903,000259: 36,3336 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032904,000260: 36,3337 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032905,000261: 36,3340 57266 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032906,000262: 36,3341 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032907,000263: 36,3342 77776 EXIT
032908,000264:
032909,000265: 36,3343 33752 CAF V16N85B
032910,000266: 36,3344 04616 TC BANKCALL
032911,000267: 36,3345 20447 CADR GODSPRET
032912,000268:
032913,000269:
032914,000270: 36,3346 05340 TC 2PHSCHNG
032915,000271: 36,3347 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032916,000272: 36,3350 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032917,000273:
032918,000274: # ***********************
032919,000275: 36,3351 12137 TCF B*RNB*B*
032920,000276: # ***********************
032921,000277:
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Page 743 |
032923,000279: 36,3352 34777 BLNKWAIT CAF 1SEC
032924,000280: 36,3353 04616 TC BANKCALL
032925,000281: 36,3354 01736 CADR DELAYJOB
032926,000282:
032927,000283: 36,3355 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032928,000284: 36,3356 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032929,000285: # ***********************
032930,000286:
032931,000287: 36,3357 00006 EXTEND
032932,000288: 36,3360 13352 BZF BLNKWAIT
032933,000289:
032934,000290: 36,3361 33752 CAF V16N85B
032935,000291: 36,3362 04616 TC BANKCALL
032936,000292: 36,3363 20447 CADR GODSPRET
032937,000293:
032938,000294: 36,3364 35017 FKP5RST CAF PRIO5
032939,000295: 36,3365 05146 TC PRIOCHNG
032940,000296:
032941,000297: 36,3366 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032942,000298: 36,3367 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032943,000299: 36,3370 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032944,000300: 36,3371 00006 EXTEND
032945,000301: 36,3372 41442 DCS TIG
032946,000302: 36,3373 53454 DXCH TTOGO # UPDATE TFI DISPLAY (NOUN 40)
032947,000303: 36,3374 00006 EXTEND
032948,000304: 36,3375 30025 DCA TIME2
032949,000305: 36,3376 21454 DAS TTOGO
032950,000306: 36,3377 06051 TC INTPRET
032951,000307: 36,3400 45175 VLOAD CALL
032952,000308: 36,3401 03701 VGPREV
032953,000309: 36,3402 57266 S41.1 # CONVERT VG FROM REF TO BODY
032954,000310: 36,3403 03502 STORE VGBODY
032955,000311: 36,3404 77776 EXIT
032956,000312: 36,3405 34777 CAF 1SEC
032957,000313: 36,3406 04616 TC BANKCALL
032958,000314: 36,3407 01736 CADR DELAYJOB
032959,000315: 36,3410 13366 TCF DYNMDISP # RECYCLE ONCE A SECOND
032960,000316:
032961,000317:
032962,000318: 36,3411 COUNT $$/P41
032963,000319: 32,2407 BANK 32
032964,000320: 32,2000 SETLOC P40S4
032965,000321: 32,2000 BANK
032966,000322:
032967,000323: 32,2407 06051 CALCN85 TC INTPRET
032968,000324: 32,2410 77624 CALL
032969,000325: 32,2411 75611 UPDATEVG
032970,000326: 32,2412 45175 VLOAD CALL
032971,000327: 32,2413 03701 VGPREV
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Page 744 |
032973,000329: 32,2414 57266 S41.1
032974,000330: 32,2415 03502 STORE VGBODY
032975,000331: 32,2416 77776 EXIT
032976,000332: 32,2417 04635 TC POSTJUMP
032977,000333: 32,2420 66102 CADR SERVEXIT
032978,000334:
032979,000335: 36,3411 BANK 36
032980,000336: 36,2000 SETLOC P40S
032981,000337: 36,2000 BANK
032982,000338:
032983,000339: 36,3411 COUNT* $$/P42
032984,000340: 36,3411 E7,1455 EBANK= WHICH
032985,000341:
032986,000342: 36,3411 05364 P42LM TC PHASCHNG
032987,000343: 36,3412 04024 OCT 04024
032988,000344:
032989,000345: 36,3413 33134 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032990,000346: 36,3414 55455 TS WHICH
032991,000347:
032992,000348: 36,3415 40106 CS FLGWRD10
032993,000349: 36,3416 74737 MASK APSFLBIT
032994,000350: 36,3417 10000 CCS A
032995,000351: 36,3420 03120 TC P40ALM
032996,000352: 36,3421 04616 P42STAGE TC BANKCALL
032997,000353: 36,3422 11241 CADR R02BOTH
032998,000354: 36,3423 36000 CAF THRESH2 # INITIALIZE DVMON
032999,000355: 36,3424 55251 TS DVTHRUSH
033000,000356: 36,3425 34751 CAF FOUR
033001,000357: 36,3426 55513 TS DVCNTR
033002,000358:
033003,000359: 36,3427 06051 TC INTPRET
033004,000360: 36,3430 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033005,000361: 36,3431 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
033006,000362: 36,3432 34007 FAPS
033007,000363: 36,3433 03735 STORE F
033008,000364: 36,3434 52135 SLOAD GOTO
033009,000365: 36,3435 26001 APSVEX
033010,000366: 36,3436 75177 P40IN
033011,000367:
033012,000368: 36,3437 E7,1455 EBANK= WHICH
033013,000369:
033014,000370: 36,3437 COUNT* $$/P47
033015,000371: 36,3437 04616 P47LM TC BANKCALL
033016,000372: 36,3440 11241 CADR R02BOTH
033017,000373: 36,3441 06051 TC INTPRET
033018,000374: 36,3442 77624 CALRB
033019,000375: 36,3443 27547 MIDTOAV2
033020,000376:
033021,000377: 36,3444 30155 CA MPAC +1
033022,000378: 36,3445 05204 TC TWIDDLE
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Page 745 |
033024,000380: 36,3446 03450 ADRES STARTP47
033025,000381:
033026,000382: 36,3447 15155 TCF ENDOFJOB
033027,000383:
033028,000384: 36,3450 05364 STARTP47 TC PHASCHNG
033029,000385: 36,3451 05014 OCT 05014
033030,000386: 36,3452 77777 OCT 77777
033031,000387:
033032,000388: 36,3453 00006 EXTEND
033033,000389: 36,3454 33755 DCA ACADN83
033034,000390: 36,3455 53253 DXCH AVEGEXIT
033035,000391: 36,3456 34736 CAF PRIO20
033036,000392: 36,3457 05105 TC FINDVAC
033037,000393: 36,3460 E7,1622 EBANK= DELVIMU
033038,000394: 36,3460 03513 74067 2CADR P47BODY
033039,000395:
033040,000396: 36,3462 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
033041,000397: # SEE TIG-30 IN BURNBABY.
033042,000398:
033043,000399: 36,3463 06051 CALCN83 TC INTPRET
033044,000400: 36,3464 53375 VLOAD VAD
033045,000401: 36,3465 03502 DELVCTL
033046,000402: 36,3466 03525 DELVREF
033047,000403: 36,3467 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
033048,000404: 36,3470 77624 CALL
033049,000405: 36,3471 57266 S41.1
033050,000406: 36,3472 03623 STORE DELVIMU
033051,000407: 36,3473 77776 EXIT
033052,000408: 36,3474 06042 TC SERVCHNG
033053,000409: 36,3475 06051 TC INTPRET
033054,000410: 36,3476 77775 VLOAD
033055,000411: 36,3477 03656 DELVSIN
033056,000412: 36,3500 03502 STORE DELVCTL
033057,000413: 36,3501 77776 EXIT
033058,000414:
033059,000415: 36,3502 04635 TC POSTJUMP
033060,000416: 36,3503 66102 CADR SERVEXIT
033061,000417:
033062,000418: 36,3504 33753 P47BOD CAF V1683
033063,000419: 36,3505 04616 TC BANKCALL
033064,000420: 36,3506 20636 CADR GOFLASHR
033065,000421: 36,3507 06001 TC GOTOPOOH
033066,000422: 36,3510 06001 TC GOTOPOOH
033067,000423:
033068,000424: 36,3511 13513 TCF P47BODY
033069,000425:
033070,000426: 36,3512 13235 TCF P40PHS1
033071,000427:
033072,000428: 36,3513 06051 P47BODY TC INTPRET
033073,000429: 36,3514 77775 VLOAD
|
|
Page 746 |
033075,000431: 36,3515 06520 HI6ZEROS
033076,000432: 36,3516 03623 STORE DELVIMU
033077,000433: 36,3517 03502 STORE DELVCTL
033078,000434: 36,3520 77776 EXIT
033079,000435: 36,3521 03504 TC P47BOD
033080,000436:
033081,000437: 36,3522 COUNT* $$/P40
033082,000438: 36,3522 31515 IMPLBURN CA TGO +1
033083,000439: 36,3523 03735 TC GETDT
033084,000440: 36,3524 05204 TC TWIDDLE
033085,000441: 36,3525 03542 ADRES ENGOFTSK
033086,000442: 36,3526 05527 TC DOWNFLAG # TURN OFF IGNFLAG
033087,000443: 36,3527 00153 ADRES IGNFLAG
033088,000444: 36,3530 05527 TC DOWNFLAG # TURN OFF ASTNFLG
033089,000445: 36,3531 00154 ADRES ASTNFLAG
033090,000446: 36,3532 05527 TC DOWNFLAG # TURN OFF IMPULSW
033091,000447: 36,3533 00044 ADRES IMPULSW
033092,000448: 36,3534 05364 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033093,000449: 36,3535 40114 OCT 40114
033094,000450:
033095,000451: 36,3536 05232 TC FIXDELAY # WAIT HALF A SECOND
033096,000452: 36,3537 00062 DEC 50 B-14
033097,000453:
033098,000454: 36,3540 02652 TC NOULLAGE # TURN OFF ULLAGE
033099,000455:
033100,000456: 36,3541 05272 TC TASKOVER
033101,000457:
033102,000458: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033103,000459: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033104,000460: 36,3544 05272 TC TASKOVER
033105,000461:
033106,000462: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033107,000463: 36,3546 05105 TC FINDVAC
033108,000464: 36,3547 E7,1462 EBANK= TRKMKCNT
033109,000465: 36,3547 03222 74067 2CADR POSTBURN
033110,000466:
033111,000467:
033112,000468: 36,3551 34753 ENGINOF2 CAF BIT1
033113,000469: 36,3552 05214 TC WAITLIST
033114,000470: 36,3553 E6,1422 EBANK= OMEGAQ
033115,000471: 36,3553 03606 74066 2CADR COASTSET
033116,000472:
033117,000473: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033118,000474: 36,3556 74745 MASK IDLEFBIT
033119,000475: 36,3557 26103 ADS FLAGWRD7
033120,000476:
033121,000477: 36,3560 02652 TC NOULLAGE
033122,000478:
033123,000479: 36,3561 00006 ENGINOF4 EXTEND
033124,000480: 36,3562 30025 DCA TIME2
|
|
Page 747 |
033126,000482: 36,3563 53342 DXCH TEVENT
033127,000483:
033128,000484: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033129,000485: 36,3565 70101 MASK FLAGWRD5
033130,000486: 36,3566 54101 TS FLAGWRD5
033131,000487: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033132,000488: 36,3570 00006 EXTEND # SUBROUTINE.
033133,000489: 36,3571 02011 RAND DSALMOUT
033134,000490: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033135,000491: 36,3573 00006 EXTEND
033136,000492: 36,3574 01011 WRITE DSALMOUT
033137,000493:
033138,000494: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033139,000495: 36,3576 74736 MASK USEQRJTS
033140,000496: 36,3577 26111 ADS DAPBOOLS
033141,000497:
033142,000498: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033143,000499: 36,3601 54055 TS THRUST # IS TURNED OFF.
033144,000500: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033145,000501: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033146,000502: 36,3604 05014 WOR CHAN14
033147,000503:
033148,000504: 36,3605 04707 TC ISWRETRN
033149,000505: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033150,000506: 36,3607 40205 CADR ALLCOAST
033151,000507: 36,3610 05272 TC TASKOVER
033152,000508:
033153,000509: 36,3611 E6,1422 EBANK= OMEGAQ
033154,000510: 36,3611 45020 UPDATEVG STQ CALL
033155,000511: 36,3612 03665 QTEMP1
033156,000512: 36,3613 56447 S40.8 # X-PRODUCT STEERING
033157,000513: 36,3614 43014 S40RET BON BON # WILL RETURN HERE FROM S40.8
033158,000514: 36,3615 01307 XDELVFLG
033159,000515: 36,3616 03665 QTEMP1
033160,000516: 36,3617 03705 NORMSW
033161,000517: 36,3620 75633 180SETUP
033162,000518: 36,3621 45345 DLOAD DSU
033163,000519: 36,3622 01234 PIPTIME
033164,000520: 36,3623 03763 TIGSAVE
033165,000521: 36,3624 50025 DSU BMN
033166,000522: 36,3625 03432 TNEWA
033167,000523: 36,3626 75656 GETRANS
033168,000524: 36,3627 43345 DLOAD DAD
033169,000525: 36,3630 03763 TIGSAVE
033170,000526: 36,3631 03432 TNEWA
033171,000527: 36,3632 03765 STORE TIGSAVEP
033172,000528: 36,3633 77776 180SETUP EXIT
033173,000529: 36,3634 10754 CCS PHASE2
033174,000530: 36,3635 13663 TCF NO.9
033175,000531: 36,3636 34737 CAF PRIO10
|
|
Page 748 |
033177,000533: 36,3637 00004 INHINT
033178,000534: 36,3640 05105 TC FINDVAC
033179,000535: 36,3641 E7,1706 EBANK= VG
033180,000536: 36,3641 02706 56067 2CADR S40.9 # LAMBERT VTOGAIN
033181,000537:
033182,000538: 36,3643 05340 TC 2PHSCHNG
033183,000539: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
033184,000540: 36,3645 04025 OCT 04025
033185,000541: 36,3646 06051 ENDSTEER TC INTPRET
033186,000542: 36,3647 77745 DLOAD
033187,000543: 36,3650 03765 TIGSAVEP
033188,000544: 36,3651 27763 STOVL TIGSAVE
033189,000545: 36,3652 01220 RN
033190,000546: 36,3653 26314 STOVL RINIT
033191,000547: 36,3654 01226 VN
033192,000548: 36,3655 02322 STORE VINIT
033193,000549: 36,3656 45345 GETRANS DLOAD DSU
033194,000550: 36,3657 03631 TPASS4
033195,000551: 36,3660 01234 PIPTIME
033196,000552: 36,3661 37452 STCALL DELLT4
033197,000553: 36,3662 03665 QTEMP1
033198,000554:
033199,000555: 36,3663 06051 NO.9 TC INTPRET
033200,000556: 36,3664 77650 GOTO
033201,000557: 36,3665 03665 QTEMP1
033202,000558: 36,3666 06051 STEERING TC INTPRET
033203,000559:
033204,000560: 36,3667 77624 CALL
033205,000561: 36,3670 75611 UPDATEVG
033206,000562: 36,3671 77776 EXIT
033207,000563:
033208,000564: 36,3672 E7,1513 EBANK= DVCNTR
033209,000565: 36,3672 00004 NSTEER INHINT
033210,000566: 36,3673 35016 CA EBANK7
033211,000567: 36,3674 54003 TS EBANK
033212,000568: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033213,000569: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033214,000570: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
033215,000571:
033216,000572: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
033217,000573: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033218,000574: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033219,000575: 36,3703 10000 CCS A
033220,000576: 36,3704 13707 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033221,000577: 36,3705 04635 GOPIPCYC TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033222,000578: 36,3706 66102 CADR PIPCYCLE
033223,000579:
033224,000580: 36,3707 04674 TC IBNKCALL
033225,000581: 36,3710 40166 CADR STOPRATE
033226,000582:
|
|
Page 749 |
033228,000584: 36,3711 05527 TC DOWNFLAG # TURN OFF IMPULSW
033229,000585: 36,3712 00044 ADRES IMPULSW
033230,000586:
033231,000587: 36,3713 05515 TC UPFLAG
033232,000588: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
033233,000589:
033234,000590: 36,3715 00004 INHINT
033235,000591: 36,3716 00006 EXTEND
033236,000592: 36,3717 31442 DCA TIG
033237,000593: 36,3720 52155 DXCH MPAC
033238,000594: 36,3721 00006 EXTEND
033239,000595: 36,3722 40025 DCS TIME2
033240,000596: 36,3723 20155 DAS MPAC
033241,000597: 36,3724 07271 TC TPAGREE
033242,000598: 36,3725 30155 CAE MPAC +1
033243,000599: 36,3726 03735 TC GETDT
033244,000600: 36,3727 05204 TC TWIDDLE
033245,000601: 36,3730 03542 ADRES ENGOFTSK
033246,000602: 36,3731 05340 TC 2PHSCHNG
033247,000603: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033248,000604: 36,3733 04025 OCT 04025
033249,000605: 36,3734 13705 TCF GOPIPCYC
033250,000606:
033251,000607: 36,3735 10000 GETDT CCS A
033252,000608: 36,3736 13741 TCF +3
033253,000609: 36,3737 13741 TCF +2
033254,000610: 36,3740 34755 CAF ZERO
033255,000611: 36,3741 64753 AD ONE
033256,000612: 36,3742 56001 XCH L
033257,000613: 36,3743 34755 CAF ZERO
033258,000614: 36,3744 53515 DXCH TGO
033259,000615: 36,3745 31515 CA TGO +1
033260,000616: 36,3746 00002 TC Q
033261,000617:
033262,000618:
033263,000619: # ************************************************************************
033264,000620:
033265,000621: 36,3747 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033266,000622: 36,3750 00764 5SEC DEC 500 B-14
033267,000623: 36,3751 04050 V16N40 VN 1640
033268,000624: 36,3752 04125 V16N85B VN 1685
033269,000625: 36,3753 04123 V1683 VN 1683
033270,000626: 36,3754 4777 SEC01 = 1SEC
033271,000627: 36,3754 36,2057 ACADN85 = P41TABLE +2
033272,000628:
033273,000629: 36,3754 E7,1622 EBANK= DELVIMU
033274,000630: 36,3754 03463 74067 ACADN83 2CADR CALCN83
033275,000631:
033276,000632: # *************************************************
033277,000633:
|
|
Page 750 |
033279,000635: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
033280,000636: # MOD N02 LOG SECTION P40-P47
033281,000637: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033282,000638: # FUNCTIONAL DESCRIPTION
033283,000639: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033284,000640: # VECTOR(VGTIG).
033285,000641: # CALLING SEQUENCE
033286,000642: # L CALL
033287,000643: # L+1 S40.1
033288,000644: # NORMAL EXIT MODE
033289,000645: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033290,000646: # ERROR RETURN IF NOSOFLAG =1
033291,000647: # SUBROUTINES CALLED
033292,000648: # LEMPREC
033293,000649: # INITVEL
033294,000650: # CALCGRAV
033295,000651: # MIDGIM
033296,000652: # ALARM OR ABORT EXIT MODES
033297,000653: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
033298,000654: # ERASABLE INITIALIZATION REQUIRED
033299,000655: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
033300,000656: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
033301,000657: # F THRUST FOR ENGINE USED
033302,000658: # IF DELTA-V MANEUVER
033303,000659: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033304,000660: # INERTIAL COORDS. OF ACTIVE VEHICLE
033305,000661: # AT TIME OF IGNITION VECTOR B7M/CS
033306,000662: # DELVSAB MAG. OF DELVSIN DP B7M/CS
033307,000663: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
033308,000664: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
033309,000665: # IF AIMPT STEER
033310,000666: # TIG TIME OF IGNITION DP B28CS
033311,000667: # RTARG POSITION TARGET TIME VECTOR B29M
033312,000668: # CSTEER C FOR STEER LAW DP B2
033313,000669: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
033314,000670: # OUTPUT
033315,000671: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
033316,000672: # VGTIG INITIAL VALUE OF VELOCITY
033317,000673: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
033318,000674: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
033319,000675: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033320,000676: # -GDT FOR S40.13 VECT B7M/CS
033321,000677: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
033322,000678: # POSITION AT TIME OF IGNITION
033323,000679: # DEBRIS QTEMP1
033324,000680: # MPAC, QPRET
033325,000681: # PUSHLIST
033326,000682: 14,2347 BANK 14
033327,000683: 27,2000 SETLOC P40S1
033328,000684: 27,2000 BANK
033329,000685:
|
|
Page 751 |
033331,000687: 27,2246 COUNT* $$/S40.1
033332,000688: 27,2246 71220 S40.1 STQ DLOAD
033333,000689: 27,2247 03632 QTEMP
033334,000690: 27,2250 03442 TIG
033335,000691: 27,2251 03763 STORE TIGSAVE
033336,000692: 27,2252 77614 DELVTEST BOFF
033337,000693: 27,2253 01347 XDELVFLG
033338,000694: 27,2254 56336 S40.1B
033339,000695: 27,2255 77201 CALCTHET SETPD VLOAD
033340,000696: 27,2256 00001 0
033341,000697: 27,2257 03650 VTIG
033342,000698: 27,2260 02322 STORE VINIT
033343,000699: 27,2261 53435 VXV UNIT
033344,000700: 27,2262 03642 RTIG
033345,000701: 27,2263 27673 STOVL UT # UP IN UT
033346,000702: 27,2264 03642 RTIG
033347,000703: 27,2265 02314 STORE RINIT
033348,000704: 27,2266 65236 VSQ PDDL
033349,000705: 27,2267 00045 36D
033350,000706: 27,2270 56205 DMP DDV
033351,000707: 27,2271 16412 THETACON
033352,000708: 27,2272 41205 DMP DMP
033353,000709: 27,2273 03664 DELVSAB
033354,000710: 27,2274 01246 WEIGHT/G
033355,000711: 27,2275 77671 DDV
033356,000712: 27,2276 03735 F
033357,000713: 27,2277 24017 STOVL 14D
033358,000714: 27,2300 03656 DELVSIN
033359,000715:
033360,000716: 27,2301 74241 DOT VXSC
033361,000717: 27,2302 03673 UT
033362,000718: 27,2303 03673 UT
033363,000719: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033364,000720: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
033365,000721: 27,2306 03656 DELVSIN
033366,000722: 27,2307 00017 14D
033367,000723: 27,2310 63356 SIN PDVL
033368,000724: 27,2311 00007 6D
033369,000725: 27,2312 53435 VXV UNIT
033370,000726: 27,2313 03673 UT
033371,000727: 27,2314 45561 VXSC STADR
033372,000728: 27,2315 50076 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
033373,000729: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
033374,000730: 27,2317 00017 14D
033375,000731: 27,2320 74346 COS VXSC
033376,000732: 27,2321 74255 VAD VXSC
033377,000733: 27,2322 03701 VGTIG
033378,000734: 27,2323 00045 36D
033379,000735: 27,2324 53352 VSL2 VAD
033380,000736: 27,2325 77626 STADR
|
|
Page 752 |
033382,000738: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7)M/CS
033383,000739:
033384,000740: 27,2327 77656 UNIT
033385,000741: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
033386,000742: 27,2331 03701 VGTIG
033387,000743: 27,2332 45006 PUSH CALL
033388,000744: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033389,000745: 27,2334 77650 GOTO
033390,000746: 27,2335 03632 QTEMP
033391,000747: 27,2336 77745 S40.1B DLOAD
033392,000748: 27,2337 03442 TIG
033393,000749: 27,2340 00041 STORE TDEC1
033394,000750: 27,2341 77621 BDSU
033395,000751: 27,2342 03631 TPASS4
033396,000752: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
033397,000753: 27,2344 27056 LEMPREC
033398,000754: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
033399,000755: 27,2346 00001 RATT
033400,000756: 27,2347 00001 0
033401,000757: 27,2350 03642 STORE RTIG
033402,000758: 27,2351 02314 STORE RINIT
033403,000759: 27,2352 77656 UNIT
033404,000760: 27,2353 27535 STOVL UNIT/R/
033405,000761: 27,2354 00007 VATT
033406,000762: 27,2355 03650 STORE VTIG
033407,000763: 27,2356 02322 STORE VINIT
033408,000764: 27,2357 65345 DLOAD PDDL # NUMIT = 0
033409,000765: 27,2360 06520 ZEROVECS
033410,000766: 27,2361 16406 EPS1
033411,000767: 27,2362 43214 BOFF DAD
033412,000768: 27,2363 03745 NORMSW
033413,000769: 27,2364 56366 SMALLEPS
033414,000770: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
033415,000771: 27,2366 66006 SMALLEPS PUSH SXA,1
033416,000772: 27,2367 02776 RTX1
033417,000773: 27,2370 45134 SXA,2 CALL
033418,000774: 27,2371 02777 RTX2
033419,000775: 27,2372 22000 INITVEL
033420,000776: 27,2373 41575 VLOAD PUSH
033421,000777: 27,2374 02357 DELVEET3 # VGTIG = VR - VN.
033422,000778: 27,2375 03701 STORE VGTIG
033423,000779: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
033424,000780: 27,2377 17673 STODL UT
033425,000781: 27,2400 00045 36D
033426,000782: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
033427,000783: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
033428,000784: 27,2403 77650 GOTO
033429,000785: 27,2404 03632 QTEMP
033430,000786:
033431,000787: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
033432,000788:
|
|
Page 753 |
033434,000790: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
033435,000791:
033436,000792: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
033437,000793:
|
|
Page 754 |
033439,000795: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
033440,000796:
033441,000797: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033442,000798:
033443,000799: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
033444,000800:
033445,000801: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
033446,000802:
033447,000803: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033448,000804:
033449,000805: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033450,000806: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033451,000807: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033452,000808: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
033453,000809: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033454,000810:
033455,000811:
033456,000812: # CALLING SEQUENCE:
033457,000813: # L CALL INTERPRETIVE CALL.
033458,000814: # L +1 S40.2,3
033459,000815: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
033460,000816:
033461,000817: # SUBROUTINES CALLED: NONE.
033462,000818:
033463,000819: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
033464,000820:
033465,000821: # ALARM/ABORT MODES: NONE.
033466,000822:
033467,000823: # INPUT:
033468,000824:
033469,000825: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033470,000826: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
033471,000827: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
033472,000828:
033473,000829: # OUTPUT:
033474,000830:
033475,000831: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
033476,000832: # : YSCREF : IN REFERENCE COORDINATES
033477,000833: # : ZSCREF : (PREFERRED IMU ORIENTATION).
033478,000834: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033479,000835: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033480,000836: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033481,000837:
033482,000838: # DEBRIS: NONE.
033483,000839:
|
|
Page 755 |
033485,000841: 27,2413 COUNT* $$/S40.2
033486,000842: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033487,000843: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
033488,000844: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
033489,000845: 27,2416 01732 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
033490,000846: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033491,000847: 27,2420 06516 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
033492,000848: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033493,000849:
033494,000850: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033495,000851: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
033496,000852: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
033497,000853: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
033498,000854: 27,2426 46125 PDDL BHIZ
033499,000855: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
033500,000856: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
033501,000857: 27,2431 45575 STORY VLOAD STADR
033502,000858: 27,2432 74162 STORE YSCREF
033503,000859: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
033504,000860: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033505,000861: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
033506,000862: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
033507,000863:
033508,000864: 27,2437 43414 SET RVQ
033509,000865: 27,2440 01073 PFRATFLG
033510,000866: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
033511,000867: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
033512,000868: 27,2443 03650 VTIG
033513,000869: 27,2444 41456 UNIT PUSH
033514,000870: 27,2445 77650 GOTO
033515,000871: 27,2446 56431 STORY
033516,000872:
|
|
Page 756 |
033518,000874: # SUBROUTINE S40.8
033519,000875:
033520,000876: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
033521,000877:
033522,000878: # DESCRIPTION
033523,000879:
033524,000880: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033525,000881: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033526,000882: # "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE DAP.
033527,000883:
033528,000884: # CALLING SEQUENCE
033529,000885:
033530,000886: # L-1 CALL
033531,000887: # L S40.8
033532,000888: # L+1 INTERPRETIVE RETURN
033533,000889:
033534,000890: # ALARM
033535,000891:
033536,000892: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033537,000893: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
033538,000894:
033539,000895: # INPUT AND INITIALIZATION
033540,000896:
033541,000897: # VGPREV REFERENCE 2(7) M/CS
033542,000898: # DELVREF REFERENCE 2(7) M/CS
033543,000899: # BDT REFERENCE 2(7) M/CS
033544,000900: # TDECAY TAIL-OFF TIME 2(28) CS
033545,000901: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033546,000902: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033547,000903: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033548,000904:
033549,000905: # NOTE: VGTIG EQUALS VGPREV
033550,000906:
033551,000907: # OUTPUT
033552,000908:
033553,000909: # STEERSW SEE INPUT
033554,000910: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033555,000911: # TGO TIME TO CUT-OFF 2(28) CS
033556,000912: # SEE FINDCDUW FOR STEERING OUTPUTS.
033557,000913:
033558,000914: # SUBROUTINE CALLED
033559,000915:
033560,000916: # FINDCDUW
033561,000917:
033562,000918: # DEBRIS
033563,000919:
033564,000920: # MPACS, PUSHLIST
033565,000921:
033566,000922: 27,2447 COUNT* $$/S40.8
|
|
Page 757 |
033568,000924: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033569,000925: 27,2450 01347 XDELVFLG
033570,000926: 27,2451 56730 RASTEER1
033571,000927: 27,2452 52375 VLOAD VSU
033572,000928: 27,2453 03701 VGPREV
033573,000929: 27,2454 03525 DELVREF
033574,000930: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
033575,000931: 27,2456 76521 MXV VSL1
033576,000932: 27,2457 01732 REFSMMAT
033577,000933: 27,2460 03253 STORE UNFC/2
033578,000934: 27,2461 51575 BDTOK VLOAD ABVAL
033579,000935: 27,2462 03707 VG
033580,000936: 27,2463 03664 STORE VGDISP
033581,000937: 27,2464 77776 EXIT
033582,000938: 27,2465 06042 TC SERVCHNG
033583,000939: 27,2466 06051 TC INTPRET
033584,000940: 27,2467 77201 TGOCALC SETPD VLOAD
033585,000941: 27,2470 00001 0
033586,000942: 27,2471 03707 VG
033587,000943: 27,2472 27701 STOVL VGPREV
033588,000944: 27,2473 03525 DELVREF
033589,000945: 27,2474 57414 BOFF VCOMP
033590,000946: 27,2475 01344 STEERSW
033591,000947: 27,2476 75614 S40RET # LOCATION FOLLOWING CALL TO S40.8
033592,000948: 27,2477 77656 UNIT
033593,000949: 27,2500 41441 DOT PUSH
033594,000950: 27,2501 03707 VG
033595,000951: 27,2502 56244 BPL DDV
033596,000952: 27,2503 51634 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
033597,000953: 27,2504 03743 VEX
033598,000954: 27,2505 41215 DAD DMP
033599,000955: 27,2506 06516 DPHALF
033600,000956: 27,2507 56261 SR DDV
033601,000957: 27,2510 20613 10D
033602,000958: 27,2511 00045 36D
033603,000959: 27,2512 43205 DMP DAD
033604,000960: 27,2513 16532 -FOURDT
033605,000961: 27,2514 03741 TDECAY
033606,000962: 27,2515 03515 STORE TGO
033607,000963: 27,2516 77615 DAD
033608,000964: 27,2517 01234 PIPTIME
033609,000965: 27,2520 17442 STODL TIG
033610,000966: 27,2521 03515 TGO
033611,000967: 27,2522 51025 DSU BPL
033612,000968: 27,2523 16534 FOURSECS # 400 CS
033613,000969: 27,2524 51640 GOFIND # CALL TO FINDCDUW -2
033614,000970: 27,2525 43014 SET CLRGO
033615,000971: 27,2526 01066 IMPULSW
033616,000972: 27,2527 01224 STEERSW
033617,000973: 27,2530 75614 S40RET # LOCATION FOLLOWING CALL TO S40.8
033618,000974:
|
|
Page 758 |
033620,000976: 24,3634 BANK 24
033621,000977: 24,2000 SETLOC S40BNK
033622,000978: 24,2000 BANK
033623,000979:
033624,000980: 24,3634 77776 ALARMIT EXIT
033625,000981: 24,3635 05600 TC ALARM
033626,000982: 24,3636 01407 OCT 01407 # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033627,000983: 24,3637 06051 TC INTPRET
033628,000984: 24,3640 77624 GOFIND CALL
033629,000985: 24,3641 61073 FINDCDUW -2
033630,000986: 24,3642 77650 GOTO
033631,000987: 24,3643 75614 S40RET # LOCATION FOLLOWING CALL TO S40.8
033632,000988:
033633,000989: 27,2531 BANK 27
033634,000990: 27,2000 SETLOC P40S1
033635,000991: 27,2000 BANK
033636,000992:
033637,000993: 27,2531 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B (-18)
033638,000994:
033639,000995: 27,2533 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
033640,000996:
033641,000997: 27,2535 E7,1742 2VEXHUST = VEX
033642,000998:
|
|
Page 759 |
033644,001000: # NAME S40.13 - TIMEBURN
033645,001001: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033646,001002: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033647,001003: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033648,001004: # BURN
033649,001005: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033650,001006: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033651,001007: # SIGNAL
033652,001008: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
033653,001009: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033654,001010: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033655,001011: # F APS ENGINE THRUST IN M.NEWTONS AT +7
033656,001012: # AND ALSO FOR RCS ENGINE
033657,001013: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033658,001014: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
033659,001015: # REQUIRE MODIFICATION FOR SATURN BURNS.
033660,001016: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033661,001017: # =0 DPS
033662,001018: # =1 APS
033663,001019: # OUTPUT IMPULSW ZERO FOR STEERING
033664,001020: # ONE FOR ATTITUDE HOLD
033665,001021: # NOTHROTL ZERO FOR THROTTLING
033666,001022: # ONE TO INHIBIT THROTTLING
033667,001023: # TGO TIME TO BURN IN CS
033668,001024: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033669,001025: # FORCE
033670,001026:
033671,001027: 27,2535 E7,1514 EBANK= TGO
033672,001028: 27,2535 COUNT* $$/40.13
033673,001029: 27,2535 06051 S40.13 TC INTPRET
033674,001030: 27,2536 43001 SETPD CLEAR
033675,001031: 27,2537 00001 00D
033676,001032: 27,2540 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
033677,001033: 27,2541 51575 VLOAD ABVAL
033678,001034: 27,2542 03701 VGTIG # VELOCITY TO BE GAINED AT +7
033679,001035: 27,2543 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
033680,001036: 27,2544 16705 6.5SECS # CORRECT VG FOR 6.5 SECONDS OF ULLAGE
033681,001037: 27,2545 34017 FRCS4 # ASSUME 4 JET ULLAGE
033682,001038: 27,2546 72471 DDV SL1 # SCALE
033683,001039: 27,2547 01246 WEIGHT/G
033684,001040: 27,2550 41421 BDSU PUSH
033685,001041: 27,2551 43014 BOFF SET
033686,001042: 27,2552 05342 APSFLAG
033687,001043: 27,2553 56623 S40.13D # FOR DPS ENGINE
033688,001044: 27,2554 02463 NOTHROTL
033689,001045: 27,2555 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
033690,001046: 27,2556 16001 K1VAL # M.NEWTONS-CS AT +24
033691,001047: 27,2557 01246 WEIGHT/G
033692,001048: 27,2560 50021 BDSU BMN
|
|
Page 760 |
033694,001050: 27,2561 00001 00D
033695,001051: 27,2562 56605 S40.131 # TGO LESS THAN 100 CS
033696,001052: 27,2563 41325 PDDL DMP # 02D = TEMP1 AT +7
033697,001053: 27,2564 03737 MDOT
033698,001054:
033699,001055: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033700,001056: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
033701,001057: # REQUIRE ADJUSTMENT
033702,001058:
033703,001059: 27,2565 16675 3.5SEC # 350 CS AT +14
033704,001060: 27,2566 65221 BDSU PDDL
033705,001061: 27,2567 01246 WEIGHT/G
033706,001062: 27,2570 03735 F
033707,001063: 27,2571 60405 DMP SR2 # SCALE
033708,001064: 27,2572 16677 5SECS
033709,001065: 27,2573 41471 DDV PUSH # 04D = TEMP2
033710,001066: 27,2574 51021 BDSU BPL
033711,001067: 27,2575 00003 02D
033712,001068: 27,2576 56623 S40.13D
033713,001069: 27,2577 55345 DLOAD BDDV
033714,001070: 27,2600 43205 DMP DAD
033715,001071: 27,2601 16677 5SECS
033716,001072: 27,2602 16673 1SEC2D # 100 CS AT +14
033717,001073: 27,2603 77650 GOTO
033718,001074: 27,2604 56613 S40.132
033719,001075: 27,2605 41345 S40.131 DLOAD DMP
033720,001076: 27,2606 01246 WEIGHT/G
033721,001077: 27,2607 41542 SR1 PUSH
033722,001078: 27,2610 56215 DAD DDV
033723,001079: 27,2611 16003 K2VAL # M.NEWTON CS AT +24
033724,001080: 27,2612 16005 K3VAL # M.NEWTON CS AT +10
033725,001081: 27,2613 77414 S40.132 SET EXIT
033726,001082: 27,2614 01066 IMPULSW
033727,001083: 27,2615 07271 S40.132* TC TPAGREE
033728,001084: 27,2616 30154 CA MPAC
033729,001085: 27,2617 56001 XCH L
033730,001086: 27,2620 34755 CA ZERO
033731,001087: 27,2621 53515 DXCH TGO
033732,001088: 27,2622 12645 TCF S40.134
033733,001089:
033734,001090: 27,2623 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033735,001091: 27,2624 00001 00D
033736,001092: 27,2625 01246 WEIGHT/G
033737,001093: 27,2626 43006 PUSH BON
033738,001094: 27,2627 05302 APSFLAG
033739,001095: 27,2630 56666 APSTGO
033740,001096: 27,2631 43071 DDV CLEAR
033741,001097: 27,2632 16007 S40.136
033742,001098: 27,2633 02663 NOTHROTL
033743,001099: 27,2634 41400 BOV PUSH
|
|
Page 761 |
033745,001101: 27,2635 56650 S40.130V
033746,001102: 27,2636 51025 S40.137 DSU BPL
033747,001103: 27,2637 16701 6SEC # 600.0 CS AT +14
033748,001104: 27,2640 56656 S40.138
033749,001105: 27,2641 52015 DAD GOTO
033750,001106: 27,2642 16701 6SEC
033751,001107: 27,2643 56613 S40.132
033752,001108: 27,2644 77776 S40.133 EXIT
033753,001109: 27,2645 05364 S40.134 TC PHASCHNG
033754,001110: 27,2646 00003 OCT 00003
033755,001111: 27,2647 05155 TC ENDOFJOB
033756,001112: 27,2650 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033757,001113: 27,2651 77671 DDV
033758,001114: 27,2652 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033759,001115: 27,2653 03515 STORE TGO
033760,001116: 27,2654 77776 EXIT
033761,001117: 27,2655 12645 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033762,001118:
033763,001119: 27,2656 51025 S40.138 DSU BPL
033764,001120: 27,2657 16703 89SECS
033765,001121: 27,2660 56663 STORETGO
033766,001122: 27,2661 77614 SET
033767,001123: 27,2662 02463 NOTHROTL
033768,001124: 27,2663 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033769,001125: 27,2664 77776 EXIT
033770,001126: 27,2665 12615 TCF S40.132*
033771,001127:
033772,001128: 27,2666 62471 APSTGO DDV SL2
033773,001129: 27,2667 34007 FAPS
033774,001130: 27,2670 77650 GOTO
033775,001131: 27,2671 56664 STORETGO +1
033776,001132: 27,2672 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033777,001133:
033778,001134: 27,2674 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033779,001135:
033780,001136: 27,2676 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033781,001137:
033782,001138: 27,2700 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033783,001139:
033784,001140: 27,2702 21304 00000 89SECS 2DEC 8900.0 B-14
033785,001141:
033786,001142: 27,2704 00121 10000 6.5SECS 2DEC 650. B-17 # ASSUME 6.5 SECONDS OF ULLAGE
033787,001143:
033788,001144: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033789,001145: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033790,001146: # COMPUTATION CYCLES (4 SECONDS).
033791,001147: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033792,001148: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033793,001149: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033794,001150: # CALLING SEQ VIA FINDVAC AS NEW JOB.
|
|
Page 762 |
033796,001152: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033797,001153: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
033798,001154: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033799,001155: # METERS/CS AT +7.
033800,001156: # TIG - TIME OF IGNITION IN CS AT +28.
033801,001157: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033802,001158: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033803,001159: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033804,001160: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033805,001161: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033806,001162: # METERS/CS AT +7.
033807,001163: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033808,001164: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033809,001165: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033810,001166: # BDT - B VECTOR IN METERS/CS AT +7.
033811,001167: # SUBROUTINES USED - INITVEL
033812,001168: 27,2706 E7,1700 EBANK= VGPREV
033813,001169: 27,2706 COUNT* $$/S40.9
033814,001170: 27,2706 06051 S40.9 TC INTPRET
033815,001171: 27,2707 77601 SETPD
033816,001172: 27,2710 00001 00D
033817,001173: 27,2711 71214 SET DLOAD
033818,001174: 27,2712 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033819,001175: 27,2713 06520 HI6ZEROS
033820,001176: 27,2714 77725 PDDL
033821,001177: 27,2715 16406 EPS1
033822,001178: 27,2716 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033823,001179: 27,2717 03745 NORMSW
033824,001180: 27,2720 56722 EPSSMALL
033825,001181: 27,2721 16410 EPS2
033826,001182: 27,2722 45006 EPSSMALL PUSH CALL
033827,001183: 27,2723 22002 HAVEGUES
033828,001184: 27,2724 77776 ENDS40.9 EXIT
033829,001185: 27,2725 05364 TC PHASCHNG
033830,001186: 27,2726 00002 OCT 2
033831,001187: 27,2727 15155 TCF ENDOFJOB
033832,001188:
033833,001189:
033834,001190: 27,2730 51575 RASTEER1 VLOAD ABVAL
033835,001191: 27,2731 01220 RN
033836,001192: 27,2732 53744 LXC,2 SL*
033837,001193: 27,2733 02777 RTX2
033838,001194: 27,2734 57576 0,2
033839,001195: 27,2735 27715 STOVL RMAG
033840,001196: 27,2736 03444 RTARG
033841,001197: 27,2737 47051 VSU RTB
033842,001198: 27,2740 01220 RN
033843,001199: 27,2741 21706 NORMUNX1
033844,001200: 27,2742 17656 STODL IC
033845,001201: 27,2743 00045 36D # C(36D) = ABVAL(C)
|
|
Page 763 |
033847,001203: 27,2744 53674 XAD,2 SL*
033848,001204: 27,2745 00046 X1
033849,001205: 27,2746 57576 0,2
033850,001206: 27,2747 00037 STORE 30D
033851,001207: 27,2750 41301 NORM DMP
033852,001208: 27,2751 00050 X2
033853,001209: 27,2752 03715 RMAG
033854,001210: 27,2753 57101 NORM XAD,2
033855,001211: 27,2754 00047 X1
033856,001212: 27,2755 00046 X1
033857,001213: 27,2756 77734 SXA,2
033858,001214: 27,2757 03766 MUSCALE
033859,001215: 27,2760 17725 STODL R1C # 2(+58 -X)
033860,001216: 27,2761 00037 30D
033861,001217: 27,2762 65342 SR1 PDDL
033862,001218: 27,2763 03715 RMAG
033863,001219: 27,2764 65342 SR1 PDDL
033864,001220: 27,2765 03723 RTMAG
033865,001221: 27,2766 43342 SR1 DAD
033866,001222: 27,2767 45415 DAD STADR
033867,001223: 27,2770 74044 STORE SS # SS = (R1 + R2 +C )/2
033868,001224: 27,2771 41225 DSU DMP
033869,001225: 27,2772 00037 30D
033870,001226: 27,2773 03721 MU/A
033871,001227: 27,2774 77621 BDSU
033872,001228: 27,2775 03717 MUASTEER
033873,001229: 27,2776 45325 PDDL DSU
033874,001230: 27,2777 03733 SS
033875,001231: 27,3000 03715 RMAG
033876,001232: 27,3001 70501 NORM SR1
033877,001233: 27,3002 00047 X1
033878,001234: 27,3003 41271 DDV DMP
033879,001235: 27,3004 03725 R1C
033880,001236: 27,3005 53664 XSU,2 SL*
033881,001237: 27,3006 00046 X1
033882,001238: 27,3007 57575 1,2
033883,001239: 27,3010 77754 LXA,2
033884,001240: 27,3011 03766 MUSCALE
033885,001241: 27,3012 75366 SQRT SIGN
033886,001242: 27,3013 02673 GEOMSGN
033887,001243: 27,3014 00041 STORE 32D # + OR - A
033888,001244: 27,3015 41345 DLOAD DMP
033889,001245: 27,3016 03733 SS
033890,001246: 27,3017 03721 MU/A
033891,001247: 27,3020 77621 BDSU
033892,001248: 27,3021 03717 MUASTEER
033893,001249: 27,3022 45325 PDDL DSU
033894,001250: 27,3023 03733 SS
033895,001251: 27,3024 03723 RTMAG
033896,001252: 27,3025 70501 NORM SR1
|
|
Page 764 |
033898,001254: 27,3026 00047 X1
033899,001255: 27,3027 41271 DDV DMP
033900,001256: 27,3030 03725 R1C
033901,001257: 27,3031 53664 XSU,2 SL*
033902,001258: 27,3032 00046 X1
033903,001259: 27,3033 57575 1,2
033904,001260: 27,3034 65366 SQRT PDDL # -B (NO SIGN)
033905,001261: 27,3035 03733 SS
033906,001262: 27,3036 56225 DSU DDV
033907,001263: 27,3037 00037 30D
033908,001264: 27,3040 03733 SS
033909,001265: 27,3041 41566 SQRT PUSH
033910,001266: 27,3042 67542 SR1 ASIN
033911,001267: 27,3043 65205 DMP PDDL
033912,001268: 27,3044 17215 2PI+3
033913,001269: 27,3045 56325 PDDL DDV
033914,001270: 27,3046 00037 30D
033915,001271: 27,3047 03733 SS
033916,001272: 27,3050 77600 BOV
033917,001273: 27,3051 57052 +1
033918,001274: 27,3052 41366 SQRT DMP
033919,001275: 27,3053 44242 SR3 BDSU
033920,001276: 27,3054 65365 SIGN PDDL
033921,001277: 27,3055 02673 GEOMSGN
033922,001278: 27,3056 17215 2PI+3
033923,001279: 27,3057 45302 SR2 DSU
033924,001280: 27,3060 65205 DMP PDDL
033925,001281: 27,3061 03733 SS
033926,001282: 27,3062 03733 SS
033927,001283: 27,3063 75442 SR3 SQRT
033928,001284: 27,3064 77605 DMP
033929,001285: 27,3065 52525 PDDL SL3
033930,001286: 27,3066 03717 MUASTEER
033931,001287: 27,3067 55366 SQRT BDDV
033932,001288: 27,3070 43225 DSU DAD
033933,001289: 27,3071 03631 TPASS4
033934,001290: 27,3072 01234 PIPTIME
033935,001291: 27,3073 14037 STODL 30D
033936,001292: 27,3074 77765 SIGN
033937,001293: 27,3075 00037 30D # B WITH SIGN
033938,001294: 27,3076 00037 STORE 30D
033939,001295: 27,3077 77214 BON VLOAD
033940,001296: 27,3100 03705 NORMSW
033941,001297: 27,3101 57122 180MESS
033942,001298: 27,3102 03656 IC
033943,001299: 27,3103 53451 VSU UNIT
033944,001300: 27,3104 03535 UNIT/R/
033945,001301: 27,3105 63361 VXSC PDVL
033946,001302: 27,3106 00037 30D
033947,001303: 27,3107 03656 IC
|
|
Page 765 |
033949,001305: 27,3110 53455 VAD UNIT
033950,001306: 27,3111 03535 UNIT/R/
033951,001307: 27,3112 53361 GETVRVG1 VXSC VAD
033952,001308: 27,3113 00041 32D
033953,001309: 27,3114 53744 GETVRVG2 LXC,2 VSR*
033954,001310: 27,3115 02777 RTX2
033955,001311: 27,3116 57177 0 -1,2
033956,001312: 27,3117 02330 STORE VIPRIME
033957,001313: 27,3120 77650 GOTO
033958,001314: 27,3121 57165 ASTREND -2
033959,001315: 27,3122 50375 180MESS VLOAD DOT
033960,001316: 27,3123 03656 IC
033961,001317: 27,3124 03535 UNIT/R/
033962,001318: 27,3125 77240 BMN VLOAD
033963,001319: 27,3126 57145 NEGPROD
033964,001320: 27,3127 03656 IC
033965,001321: 27,3130 63362 VSR1 PDVL
033966,001322: 27,3131 03535 UNIT/R/
033967,001323: 27,3132 53362 VSR1 VAD
033968,001324: 27,3133 77656 UNIT
033969,001325: 27,3134 57406 PUSH VCOMP # FOR A
033970,001326: 27,3135 75235 VXV SIGN
033971,001327: 27,3136 02674 UN
033972,001328: 27,3137 02673 GEOMSGN
033973,001329: 27,3140 74256 UNIT VXSC
033974,001330: 27,3141 00037 30D
033975,001331: 27,3142 77715 PDVL # UNIT(IC-IR) +-B
033976,001332: 27,3143 77650 GOTO
033977,001333: 27,3144 57112 GETVRVG1
033978,001334: 27,3145 74575 NEGPROD VLOAD VSR1
033979,001335: 27,3146 03535 UNIT/R/
033980,001336: 27,3147 74515 PDVL VSR1
033981,001337: 27,3150 03656 IC
033982,001338: 27,3151 53451 VSU UNIT
033983,001339: 27,3152 77606 PUSH
033984,001340: 27,3153 75235 VXV SIGN
033985,001341: 27,3154 02674 UN # FOR B
033986,001342: 27,3155 02673 GEOMSGN
033987,001343: 27,3156 74256 UNIT VXSC
033988,001344: 27,3157 00041 32D
033989,001345: 27,3160 77715 PDVL
033990,001346: 27,3161 53361 VXSC VAD
033991,001347: 27,3162 00037 30D
033992,001348: 27,3163 77650 GOTO
033993,001349: 27,3164 57114 GETVRVG2
033994,001350: 27,3165 77651 VSU
033995,001351: 27,3166 03551 VN1
033996,001352: 27,3167 02357 ASTREND STORE DELVEET3
033997,001353: 27,3170 53135 FIRSTTME SLOAD BZE
033998,001354: 27,3171 03000 RTX2
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|
Page 766 |
034000,001356: 27,3172 57176 GETGOBL
034001,001357: 27,3173 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
034002,001358: 27,3174 02357 DELVEET3
034003,001359: 27,3175 57211 NOGOBL
034004,001360: 27,3176 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
034005,001361: 27,3177 01220 RN
034006,001362: 27,3200 45345 DLOAD DSU
034007,001363: 27,3201 01234 PIPTIME # 2
034008,001364: 27,3202 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
034009,001365: 27,3203 56205 DMP DDV # OBL
034010,001366: 27,3204 16023 EARTHMU
034011,001367: 27,3205 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
034012,001368: 27,3206 53361 VXSC VAD
034013,001369: 27,3207 03517 UNITGOBL
034014,001370: 27,3210 02357 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
034015,001371: 27,3211 02357 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
034016,001372: 27,3212 77650 GOTO
034017,001373: 27,3213 56455 VGAIN*
034018,001374:
034019,001375:
034020,001376: 27,3214 31103 36652 2PI+3 2DEC 3.141592653 B-2
034021,001377:
034022,001378:
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|
Page 767 |
034024,001380: # TRIMGIMB (FORMERLY S40.6)
034025,001381: # MOD 0 24 FEB 67 PETER ADLER
034026,001382: # FUNCTION:
034027,001383: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034028,001384: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034029,001385: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034030,001386: # CALLING SEQUENCE:
034031,001387: # VIA WAITLIST FROM R03
034032,001388: # INPUT:
034033,001389: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
034034,001390: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
034035,001391: # SUBROUTINES USED:
034036,001392: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034037,001393:
034038,001394: 27,3216 COUNT* $$/S40.6
034039,001395: 27,3216 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
034040,001396:
034041,001397: 27,3216 05527 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034042,001398: 27,3217 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
034043,001399:
034044,001400: 27,3220 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
034045,001401: 27,3221 00006 EXTEND
034046,001402: 27,3222 03012 WAND CHAN12
034047,001403: 27,3223 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
034048,001404: 27,3224 00006 EXTEND
034049,001405: 27,3225 05012 WOR CHAN12
034050,001406: 27,3226 05232 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034051,001407: 27,3227 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
034052,001408: 27,3230 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
034053,001409: 27,3231 00006 EXTEND
034054,001410: 27,3232 03012 WAND CHAN12
034055,001411: 27,3233 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034056,001412: 27,3234 00006 EXTEND
034057,001413: 27,3235 05012 WOR CHAN12
034058,001414: 27,3236 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034059,001415: 27,3237 05204 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034060,001416: 27,3240 03257 ADRES PITCHOFF
034061,001417:
034062,001418: 27,3241 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034063,001419: 27,3242 05235 TC VARDELAY # UNTIL THEN
034064,001420: 27,3243 44740 CS BIT12
034065,001421: 27,3244 00006 EXTEND
034066,001422: 27,3245 03012 WAND CHAN12 # SHUT OFF ROLL
034067,001423: 27,3246 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034068,001424: 27,3247 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034069,001425: 27,3250 00006 EXTEND
034070,001426: 27,3251 13263 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034071,001427: 27,3252 34737 CAF PRIO10 # RETURN TO R03
034072,001428: 27,3253 05072 TC NOVAC
034073,001429: 27,3254 E7,1471 EBANK= WHOCARES
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|
Page 768 |
034075,001431: 27,3254 02330 02067 2CADR TRIMDONE
034076,001432:
034077,001433: 27,3256 05272 TC TASKOVER
034078,001434: 27,3257 44742 PITCHOFF CS BIT10
034079,001435: 27,3260 00006 EXTEND
034080,001436: 27,3261 03012 WAND CHAN12 # SHUT OFF PITCH
034081,001437: 27,3262 13246 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034082,001438: 27,3263 05515 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034083,001439: 27,3264 00137 ADRES GMBDRVSW
034084,001440: 27,3265 05272 TC TASKOVER
034085,001441:
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|
Page 769 |
034087,001443: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034088,001444:
034089,001445: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034090,001446:
034091,001447: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034092,001448:
034093,001449: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034094,001450: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034095,001451: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034096,001452: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034097,001453: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034098,001454: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034099,001455: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034100,001456: # CALLER WITH C(MPAC) = VELOCITY(LM).
034101,001457:
034102,001458:
034103,001459: # CALLING SEQUENCE:
034104,001460: # L VLOAD CALL
034105,001461: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
034106,001462: # L +2 S41.1
034107,001463: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
034108,001464:
034109,001465: # SUBROUTINES CALLED:
034110,001466:
034111,001467: # 1. CDUTRIG,
034112,001468: # WHICH CALLS CDULOGIC.
034113,001469: # 2. *SMNB*
034114,001470:
034115,001471: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034116,001472:
034117,001473: # ALARM/ABORT MODES: NONE.
034118,001474:
034119,001475: # RESTART PROTECTION: NONE.
034120,001476:
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|
Page 770 |
034122,001478: # INPUT:
034123,001479:
034124,001480: # 1. REFSMMAT.
034125,001481: # 2. CDUX, CDUY, CDUZ.
034126,001482: # 3. VELOCITY (REF) IN MPAC.
034127,001483:
034128,001484: # OUTPUT:
034129,001485:
034130,001486: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034131,001487: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034132,001488: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034133,001489: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034134,001490:
034135,001491: # DEBRIS: NONE.
034136,001492:
034137,001493: # CHECKOUT STATUS: CODED.
034138,001494:
034139,001495: 27,3266 COUNT* $$/S41.1
034140,001496: 27,3266 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034141,001497: 27,3267 01732 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034142,001498: 27,3270 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034143,001499: 27,3271 47653 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034144,001500: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc